Robotic hand and cleaning device
By designing a robotic arm with multiple degrees of rotational freedom, the problem of traditional cleaning devices being unable to remove small debris and clean narrow spaces has been solved, achieving high applicability to various working conditions.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- DREAM INNOVATION TECH (SUZHOU) CO LTD
- Filing Date
- 2025-04-30
- Publication Date
- 2026-07-07
AI Technical Summary
Traditional cleaning devices are ineffective at removing small debris from the ground and cannot clean the bottom surface in narrow spaces, which affects their applicability.
A robotic hand was designed, comprising a basic folding mechanism, an execution folding mechanism, and an intermediate folding mechanism. Through multiple rotational degrees of freedom and joint connections, it enables precise movement of the gripper to pick up small objects and clean narrow spaces.
This improves the applicability of the cleaning device to different working conditions, effectively removing small debris and cleaning special areas such as under sofas, table edges, and corners.
Smart Images
Figure CN224464680U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of cleaning device technology, and in particular to a robotic arm and a cleaning device. Background Technology
[0002] Cleaning devices are important smart home appliances, and their applications are becoming increasingly widespread with the rapid development of artificial intelligence. These devices can automatically clean floors using brushing or vacuuming methods, leveraging AI. However, traditional cleaning devices are typically unable to remove small debris or clean surfaces in confined spaces, thus limiting their applicability to various working conditions. Utility Model Content
[0003] One technical problem addressed by this application is how to improve the applicability of cleaning devices to various working conditions.
[0004] A robotic arm, applied to a cleaning device, the robotic arm comprising:
[0005] A basic folding mechanism includes a mounting base and a basic rotating assembly. The mounting base is used to be mounted on a cleaning device, and the basic rotating assembly is rotatable about a first basic axis parallel to a horizontal plane to be rotatably connected to the mounting base.
[0006] A folding mechanism includes a gripper, a first actuating arm, and a second actuating arm. The first actuating arm is located between the gripper and the second actuating arm. One end of the first actuating arm is rotatable about a first actuating axis to be rotatably connected to the gripper, and the other end of the first actuating arm is rotatable about a second actuating axis perpendicular to the first actuating axis to be rotatably connected to the second actuating arm.
[0007] The intermediate folding mechanism includes an intermediate arm, the two ends of which are rotatably connected to the second actuator arm and the basic rotating assembly, respectively. When retracted, the intermediate arm can be stacked between the basic folding mechanism and the actuator folding mechanism to put the robot in a folded state.
[0008] In one embodiment, the base rotation assembly includes a first base arm and a second base arm. One end of the first base arm is rotatable about the first base axis to be rotatably connected to the mounting base. The other end of the first base arm is rotatable about a second base axis perpendicular to the first base axis to be rotatably connected to one end of the second base arm. The other end of the second base arm is rotatably connected to the intermediate folding mechanism.
[0009] In one embodiment, the lengths of the mounting base, the base rotating assembly, the gripper, the first actuator arm, and the second actuator arm are all less than the length of the intermediate arm.
[0010] In one embodiment, the basic folding mechanism further includes a first basic joint disposed on the mounting base, the output shaft of the first basic joint being rotatable about the first basic axis, and the first basic arm being connected to the output shaft of the first basic joint.
[0011] In one embodiment, the mounting base includes a first base body and a second base body. The first base body is used to connect to the host, and the second base body protrudes from the end of the first base body and forms a mounting groove with the first base body. The first base arm includes a first base portion and a second base portion. The first base portion is connected to the second base arm, and the second base portion protrudes from the end of the first base portion and forms a base groove with the first base portion. The second base body cooperates with the base groove, and the second base portion cooperates with the mounting groove.
[0012] In one embodiment, the basic folding mechanism further includes a second basic joint disposed on the first basic arm, the output shaft of the second basic joint being rotatable about the second actuation axis, and the second basic arm being connected to the output shaft of the second basic joint.
[0013] In one embodiment, the intermediate folding mechanism further includes a first collar and a first intermediate joint. The first intermediate joint is disposed on the basic folding mechanism. The output shaft of the first intermediate joint is rotatable about a first intermediate axis perpendicular to the second actuation axis. A first slot is provided on the basic folding mechanism. The first collar is connected to the end of the intermediate arm. The first collar is rotatably disposed in the first slot and connected to the output shaft of the first intermediate joint.
[0014] In one embodiment, the intermediate folding mechanism further includes a second collar and a second intermediate joint. The second intermediate joint is disposed on the second actuating arm, and the output shaft of the second intermediate joint is rotatable about a second intermediate axis perpendicular to the second actuating axis. A second slot is provided on the second actuating arm, and the second collar is connected to the end of the intermediate arm. The second collar is rotatably disposed in the second slot and connected to the output shaft of the second intermediate joint.
[0015] In one embodiment, at least one of the following schemes is also included:
[0016] The folding mechanism further includes a first execution joint, which is disposed on the first execution arm. The output shaft of the first execution joint is rotatable around the first execution axis, and the gripper is connected to the output shaft of the first execution joint.
[0017] The folding mechanism further includes a second execution joint, which is disposed on the second execution arm. The output shaft of the second execution joint is rotatable around the second execution axis, and the first execution arm is connected to the output shaft of the second execution joint.
[0018] A cleaning device includes a main unit and a robotic arm as described above. The main unit has a mounting slot, and the mounting base is connected to the main unit. The basic folding mechanism, the intermediate folding mechanism, and the actuating folding mechanism, which are stacked on top of each other, can be at least partially accommodated in the mounting slot.
[0019] One technical advantage of one embodiment of this application is that, given that the robotic arm is mounted on the main unit of the cleaning device, when there are small debris of relatively small weight and volume on the ground, the robotic arm can begin to move, causing the grippers to pick up the small debris and discard it to a designated location, thereby effectively removing the small debris. Furthermore, for special locations such as under sofas, on table edges, and in corners, the grippers can hold cleaning tools such as brushes or cloths to effectively clean these special locations, thus improving the applicability of the cleaning device to different working conditions. Attached Figure Description
[0020] Figure 1 This is a top view of a cleaning device provided in one embodiment.
[0021] Figure 2 for Figure 1 A three-dimensional structural diagram of the robotic arm in the cleaning device shown, when it is deployed.
[0022] Figure 3 for Figure 2 The diagram shows a three-dimensional structure of the robotic arm when it is folded.
[0023] Figure 4 for Figure 2 The diagram shows the planar structure of the robotic arm during folding.
[0024] Figure 5 for Figure 2 The diagram shows a first example of the exploded structure of the robotic arm when it is deployed.
[0025] Figure 6 for Figure 2 The diagram shows a second example of the exploded structure of the robotic arm when it is deployed.
[0026] Figure 7 for Figure 2 The diagram shows a three-dimensional cross-sectional view of the robotic arm when it is deployed.
[0027] Figure 8 for Figure 2The diagram shows the planar structure of the robotic arm when it is deployed.
[0028] Reference numerals: Cleaning device 10, Main unit 11, Mounting slot 13, Robotic arm 12, Base folding mechanism 100, Mounting base 110, First base body 111, Second base body 112, Mounting recess 113, Base rotating assembly 120, First base arm 121, First base section 1211, Second base section 1212, Base recess 1213, Second base arm 122, First gap 1221, First base joint 130, Second base joint 140, First base axis 151 The components include: second basic axis 152, intermediate folding mechanism 200, intermediate arm 210, first collar 221, second collar 222, first intermediate joint 231, second intermediate joint 232, first intermediate axis 251, second intermediate axis 252, execution folding mechanism 300, first execution arm 310, second execution arm 320, second gap 321, gripper 330, first execution joint 341, second execution joint 342, first execution axis 351, and second execution axis 352. Detailed Implementation
[0029] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.
[0030] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.
[0031] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0032] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.
[0033] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.
[0034] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.
[0035] See Figure 1 , Figure 2 , Figure 3 and Figure 4This application provides an embodiment of a robotic arm 12 applied to a cleaning device 10, which can be a sweeper, etc. The robotic arm 12 includes a basic folding mechanism 100, an intermediate folding mechanism 200, and an execution folding mechanism 300. The basic folding mechanism 100 includes a mounting base 110 and a basic rotating assembly 120. The mounting base 110 is fixed to the main unit 11 of the cleaning device 10. The basic rotating assembly 120 is capable of rotating around a first basic axis 151 parallel to the horizontal plane (e.g., ...). Figure 7 The base rotating assembly 120 and the mounting base 110 can rotate relative to each other about a first base axis 151. The folding mechanism 300 includes a first actuating arm 310, a second actuating arm 320, and a gripper 330. The first actuating arm 310 is located between the gripper 330 and the second actuating arm 320. One end of the first actuating arm 310 can rotate about a first actuating axis 351 to rotate and connect with the gripper 330, meaning the first actuating arm 310 and the gripper 330 can rotate relative to each other about the first actuating axis 351. The other end of the first actuating arm 310 can rotate about a second actuating axis 352 to rotate and connect with the second actuating arm 320. The second actuating axis 352 is perpendicular to the first actuating axis 351, meaning the first actuating arm 310 and the second actuating arm 320 can rotate relative to each other about the second actuating axis 352. The intermediate folding mechanism 200 includes an intermediate arm 210, the two ends of which are rotatable about an axis perpendicular to the second execution axis 352 to be rotatably connected to the second execution arm 320 and the base rotating assembly 120. That is, both the second execution arm 320 and the base rotating assembly 120 can rotate relative to the intermediate arm 210 about an axis perpendicular to the second execution axis 352. This allows the intermediate arm 210 to be stacked between the base folding mechanism 100 and the execution folding mechanism 300 during storage, thereby realizing the folding of the entire robotic arm 12. At this time, the robotic arm 12 is in a folded state.
[0036] This gives the entire robotic arm 12 at least five rotational degrees of freedom, allowing the gripper 330 to move accurately to a designated position in three-dimensional space to perform the task, ultimately improving the motion accuracy of the robotic arm 12. When the robotic arm 12 needs to perform a task, it can be unfolded; when it does not need to perform a task, it can be folded. This reduces the space occupied by the robotic arm 12 and prevents collisions and interference between the robotic arm 12 and other objects during the operation of the cleaning device 10.
[0037] If the cleaning device is designed without a robotic arm, it will be unable to remove small, heavy objects from the floor. This means it will have to navigate around these objects. Furthermore, it will be unable to clean areas such as under sofas, along table edges, and in corners, thus limiting its applicability to various working conditions.
[0038] Regarding the robotic arm 12 in the above embodiment, it is mounted on the main unit 11 of the cleaning device 10. When there are small debris of relatively small weight and volume on the ground, the robotic arm 12 can start moving, causing the gripper 330 to pick up the small debris and discard it to a designated location, thereby effectively removing the small debris. Furthermore, for special locations such as under sofas, table edges, and corners, the gripper 330 can hold cleaning tools such as brushes or cloths to effectively clean these special locations, thus improving the applicability of the cleaning device 10 to different working conditions.
[0039] See Figure 2 , Figure 5 and Figure 7 In some embodiments, the base rotation assembly 120 includes a first base arm 121 and a second base arm 122. One end of the first base arm 121 is rotatable about a first base axis 151 to be rotatably connected to the mounting base 110, and the other end of the first base arm 121 is rotatable about a second base axis 152 to be rotatably connected to one end of the second base arm 122. The first base axis 151 and the second base axis 152 are perpendicular to each other. The other end of the second base arm 122 is rotatable about a first intermediate axis 251 to be rotatably connected to the intermediate folding mechanism 200. By making the first base arm 121 and the second base arm 122 rotatably connected, the robot arm 12 can gain an additional degree of freedom, thereby giving the robot arm 12 six rotational degrees of freedom, which can further improve the motion accuracy of the gripper 330.
[0040] See Figure 2 , Figure 5 and Figure 7 In some embodiments, the basic folding mechanism 100 further includes a first basic joint 130, which is disposed on the mounting base 110. The first basic joint 130 may include a gearbox or a motor, etc. The output shaft of the first basic joint 130 is rotatable about a first basic axis 151, and the first basic arm 121 is fixedly connected to the output shaft of the first basic joint 130, thereby enabling the first basic arm 121 to rotate relative to the mounting base 110 about the first basic axis 151. In other embodiments, the first basic joint 130 may also be disposed on the first basic arm 121, as long as it allows the first basic arm 121 to rotate relative to the mounting base 110.
[0041] See Figure 2 , Figure 5 and Figure 7 In some embodiments, the basic folding mechanism 100 further includes a second basic joint 140, which is disposed on the first basic arm 121. The second basic joint 140 can be a motor or the like. The output shaft of the second basic joint 140 is rotatable about a second basic axis 152. The second basic arm 122 is connected to the output shaft of the second basic joint 140, thus enabling the second basic arm 122 to rotate relative to the first basic arm 121 about the second basic axis 152. In other embodiments, the second basic joint 140 can also be disposed on the first basic arm 121, as long as it allows the first basic arm 121 and the second basic arm 122 to rotate relative to each other.
[0042] See Figure 6 In some embodiments, the mounting base 110 includes a first base body 111 and a second base body 112. The first base body 111 is used to connect to the main unit 11, and the second base body 112 protrudes from the end of the first base body 111. The first base body 111 and the second base body 112 form a mounting recess 113. The first base arm 121 includes a first base portion 1211 and a second base portion 1212. The second base portion 1212 protrudes from the end of the first base portion 1211, and the second base portion 1212 and the first base portion 1211 form a base recess 1213. The second base body 112 mates with the base recess 1213, and the second base portion 1212 mates with the mounting recess 113. This allows the second base 112 and the second base part 1212 to abut against each other along the extension direction of the first base axis 151, the second base 112 and the first base part 1211 to abut against each other along the extension direction of the second base axis 152, and the second base part 1212 and the first base 111 to abut against each other along the extension direction that is perpendicular to both the first base axis 151 and the second base axis 152. This effectively limits the rotation of the first base joint 130 relative to the mounting base 110, prevents the first base joint 130 from vibrating during rotation, and improves the rotation accuracy of the first base joint 130 relative to the mounting base 110.
[0043] See Figure 5 , Figure 6 and Figure 7In some embodiments, the intermediate folding mechanism 200 further includes a first collar 221 and a first intermediate joint 231. The first collar 221 is connected to one end of the intermediate arm 210. The first intermediate joint 231 is disposed on the second base arm 122 of the basic folding mechanism 100. The first intermediate joint 231 can be a motor, etc. The output shaft of the first intermediate joint 231 can rotate around a first intermediate axis 251. The first intermediate axis 251 is perpendicular to the second execution axis 352. A first slot 1221 is provided on the second base arm 122. The output shaft of the first intermediate joint 231 passes through the first slot 1221. The first collar 221 is received in the first slot 1221 and is fixedly sleeved on the output shaft of the first intermediate joint 231. When the output shaft of the first intermediate joint 231 rotates, it will drive the first collar 221 and the intermediate arm 210 to rotate relative to the second base arm 122. By setting the first gap 1221, the rotation of the first collar 221 can be limited along the extension direction of the first intermediate axis 251, thereby reducing the vibration of the intermediate arm 210 during rotation and improving the rotation accuracy of the intermediate arm 210.
[0044] See Figure 5 , Figure 6 and Figure 7 In some embodiments, the intermediate folding mechanism 200 further includes a second collar 222 and a second intermediate joint 232. The second collar 222 is connected to the other end of the intermediate arm 210. The second intermediate joint 232 is disposed on the second actuating arm 320. The second intermediate joint 232 can be a motor or the like. The output shaft of the second intermediate joint 232 can rotate around the second intermediate axis 252. The second intermediate axis 252 is parallel to the first intermediate axis 251, making the second intermediate axis 252 perpendicular to the second actuating axis 232. The second actuating arm 320 is provided with a second slot 321. The output shaft of the second intermediate joint 232 passes through the second slot 321. The second collar 222 is received in the second slot 321 and is fixedly sleeved on the output shaft of the second intermediate joint 232. When the output shaft of the second intermediate joint 232 rotates, it will drive the second collar 222 and the intermediate arm 210 to rotate relative to the second actuating arm 320. By setting the second gap 321, the rotation of the second collar 222 can be limited along the extension direction of the second intermediate axis 252, thereby reducing the vibration of the intermediate arm 210 during rotation and improving the rotation accuracy of the intermediate arm 210.
[0045] See Figure 6 , Figure 7 and Figure 8In some embodiments, the folding mechanism 300 further includes a first actuation joint 341, which may be a motor or the like. The first actuation joint 341 is mounted on the first actuation arm 310, and its output shaft is rotatable about a first actuation axis 351. The gripper 330 is connected to the output shaft of the first actuation joint 341, thus enabling the gripper 330 and the first actuation arm 310 to rotate relative to each other about the first actuation axis 351. In other embodiments, the first actuation joint 341 may also be mounted on the gripper 330.
[0046] See Figure 6 , Figure 7 and Figure 8 In some embodiments, the folding mechanism 300 further includes a second actuating joint 342, which may be a gearbox or the like. The output shaft of the second actuating joint 342 is rotatable about a second actuating axis 352. The first actuating arm 310 is connected to the output shaft of the second actuating joint 342, thus enabling the first actuating arm 310 and the second actuating arm 320 to rotate relative to each other about the second actuating axis 352. In other embodiments, the second actuating joint 342 may also be disposed on the first actuating arm 310, and the second actuating joint 342 may be a motor.
[0047] See Figure 2 , Figure 3 and Figure 4 In some embodiments, the lengths of the mounting base 110, the base rotating assembly 120, the gripper 330, the first actuator arm 310, and the second actuator arm 320 are all less than the length of the intermediate arm 210. This eliminates interference, allowing the intermediate arm 210 to be smoothly stacked between the base folding mechanism 100 and the actuator folding mechanism 300, ultimately achieving the folding of the entire robotic arm 12.
[0048] See Figure 1 This application also provides a cleaning device 10, which includes a main unit 11 and a robotic arm 12. The main unit 11 has a mounting slot 13, and a mounting base 110 is connected to the main unit 11. The mounting base 110 can be at least partially accommodated in the mounting slot 13. The mutually stacked basic folding mechanism 100, intermediate folding mechanism 200 and execution folding mechanism 300 can be at least partially accommodated in the mounting slot 13, so that the folded robotic arm 12 can be at least partially accommodated in the mounting slot 13, thereby reducing the space occupied by the entire cleaning device 10 and improving the convenience of transportation and storage of the cleaning device 10.
[0049] When the robotic arm 11 is in the folded state, the first basic axis 151, the first intermediate axis 251, the second intermediate axis 252, and the first execution axis 351 are parallel to each other and all four are perpendicular to the paper surface. The second basic axis 152 and the second execution axis 352 are both perpendicular to the above four axes, making the second basic axis 152 and the second execution axis 352 parallel to the paper surface.
[0050] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0051] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.
Claims
1. A robotic arm applied to a cleaning device, characterized in that, The robotic arm includes: A basic folding mechanism includes a mounting base and a basic rotating assembly. The mounting base is used to be mounted on a cleaning device, and the basic rotating assembly is rotatable about a first basic axis parallel to a horizontal plane to be rotatably connected to the mounting base. A folding mechanism includes a gripper, a first actuating arm, and a second actuating arm. The first actuating arm is located between the gripper and the second actuating arm. One end of the first actuating arm is rotatable about a first actuating axis to be rotatably connected to the gripper, and the other end of the first actuating arm is rotatable about a second actuating axis perpendicular to the first actuating axis to be rotatably connected to the second actuating arm. The intermediate folding mechanism includes an intermediate arm, the two ends of which are rotatably connected to the second actuator arm and the basic rotating assembly, respectively. When retracted, the intermediate arm can be stacked between the basic folding mechanism and the actuator folding mechanism to put the robot in a folded state.
2. The robotic arm according to claim 1, characterized in that, The basic rotating assembly includes a first basic arm and a second basic arm. One end of the first basic arm can rotate around the first basic axis to be rotatably connected to the mounting base. The other end of the first basic arm can rotate around a second basic axis perpendicular to the first basic axis to be rotatably connected to one end of the second basic arm. The other end of the second basic arm is rotatably connected to the intermediate folding mechanism.
3. The robotic arm according to claim 2, characterized in that, The lengths of the mounting base, the basic rotating assembly, the gripper, the first actuator arm, and the second actuator arm are all less than the length of the intermediate arm.
4. The robotic arm according to claim 2, characterized in that, The basic folding mechanism also includes a first basic joint, which is disposed on the mounting base. The output shaft of the first basic joint is rotatable around the first basic axis, and the first basic arm is connected to the output shaft of the first basic joint.
5. The robotic arm according to claim 2, characterized in that, The mounting base includes a first base body and a second base body. The first base body is used to connect to the main unit. The second base body protrudes from the end of the first base body and forms a mounting groove with the first base body. The first base arm includes a first base portion and a second base portion. The first base portion is connected to the second base arm. The second base portion protrudes from the end of the first base portion and forms a base groove with the first base portion. The second base body cooperates with the base groove, and the second base portion cooperates with the mounting groove.
6. The robotic arm according to claim 2, characterized in that, The basic folding mechanism further includes a second basic joint, which is disposed on the first basic arm. The output shaft of the second basic joint is rotatable around the second actuation axis, and the second basic arm is connected to the output shaft of the second basic joint.
7. The robotic arm according to claim 1, characterized in that, The intermediate folding mechanism further includes a first collar and a first intermediate joint. The first intermediate joint is disposed on the basic folding mechanism. The output shaft of the first intermediate joint is rotatable about a first intermediate axis perpendicular to the second execution axis. A first slot is provided on the basic folding mechanism. The first collar is connected to the end of the intermediate arm. The first collar is rotatably disposed in the first slot and connected to the output shaft of the first intermediate joint.
8. The robotic arm according to claim 1, characterized in that, The intermediate folding mechanism further includes a second collar and a second intermediate joint. The second intermediate joint is disposed on the second actuating arm. The output shaft of the second intermediate joint can rotate about a second intermediate axis perpendicular to the second actuating axis. A second slot is provided on the second actuating arm. The second collar is connected to the end of the intermediate arm. The second collar is rotatably disposed in the second slot and connected to the output shaft of the second intermediate joint.
9. The robotic arm according to claim 1, characterized in that, It also includes at least one of the following options: The folding mechanism further includes a first execution joint, which is disposed on the first execution arm. The output shaft of the first execution joint is rotatable around the first execution axis, and the gripper is connected to the output shaft of the first execution joint. The folding mechanism further includes a second execution joint, which is disposed on the second execution arm. The output shaft of the second execution joint is rotatable around the second execution axis, and the first execution arm is connected to the output shaft of the second execution joint.
10. A cleaning device, characterized in that, The device includes a host and a robotic arm as described in any one of claims 1 to 9, wherein the host has a mounting slot, the mounting base is connected to the host, and the basic folding mechanism, the intermediate folding mechanism, and the execution folding mechanism, which are stacked on top of each other, can be at least partially accommodated in the mounting slot.