Mechanical arm and cleaning device

Abstract

The present disclosure provides a mechanical arm and a cleaning device, and relates to the technical field of cleaning devices. The mechanical arm comprises an arm body, a folding mechanism and a turnover mechanism. The arm body is provided in plurality, and the plurality of arm bodies are connected in sequence. The folding mechanism is connected to at least two adjacent arm bodies, and drives the adjacent arm bodies to fold and unfold. The turnover mechanism is connected to adjacent arm bodies or connected to the arm body and the cleaning device. When the turnover mechanism is driven by a driving mechanism, the arm body can be turned over, and the turning axis of the arm body is perpendicular to the axis of the cleaning device. The mechanical arm of the present disclosure is convenient to store in the top of the cleaning device, and the mechanical arm does not need to occupy the internal space of the cleaning device. The folding mechanism drives the adjacent arm bodies to fold to reduce the length of the mechanical arm, thereby facilitating the storage of the mechanical arm in the top of the cleaning device.

Description

Technical Field

[0001] This disclosure relates to the field of cleaning equipment technology, and more particularly to a robotic arm and cleaning equipment. Background Technology

[0002] With the widespread use of cleaning equipment, its functions are becoming increasingly diverse to meet different needs. Some cleaning equipment is equipped with robotic arms to enrich its functions, such as using the robotic arm to pick up larger dirt items, place and organize items, or even allowing the cleaning equipment to climb, thus expanding its working range. However, the internal space of cleaning equipment is relatively compact. If the robotic arm were directly stored inside the cleaning equipment, it would affect the internal layout and make it inconvenient to plan the internal space. Utility Model Content

[0003] This disclosure provides a robotic arm and a cleaning device to improve the technical problem of inconvenient storage of existing robotic arms.

[0004] The first aspect of this disclosure provides a robotic arm installed on a cleaning device. The robotic arm includes an arm body, a folding mechanism, and a flipping mechanism. Multiple arm bodies are provided and connected sequentially. The folding mechanism connects at least two adjacent arm bodies, driving adjacent arm bodies to fold and unfold. The flipping mechanism connects adjacent arm bodies or connects an arm body to the cleaning device. When driven by a drive mechanism, the flipping mechanism can cause the arm body to flip, with the flipping axis of the arm body perpendicular to the axis of the cleaning device.

[0005] When the cleaning equipment is in operation, its axis is perpendicular to the surface to be cleaned. The arm's rotation axis is perpendicular to the equipment's axis. The rotation mechanism rotates the arm from its extension position to its top position, allowing for easy storage of the robotic arm without occupying internal space. When the robotic arm is needed, the rotation mechanism rotates it from its top position to its extension position, enabling it to perform its function.

[0006] The folding mechanism can fold and unfold adjacent arms. When the robotic arm is retracted, the folding mechanism drives the adjacent arms to fold, reducing the length of the robotic arm. This makes it easier to store the robotic arm on top of the cleaning equipment, preventing the robotic arm from extending out of the cleaning equipment and affecting its movement. When the robotic arm needs to be used, the folding mechanism drives the adjacent arms to unfold, thereby increasing the length of the robotic arm, expanding its functional coverage, and enriching its application scenarios.

[0007] In an exemplary embodiment of this disclosure, the flipping mechanism includes a first input end, a first output end, a second input end, and a second output end. The first input end is configured to be connected to a drive mechanism. The first output end is drively connected to the first input end and is capable of revolving around the axis of the first input end and rotating on its own axis. The second input end is connected to the first output end. The second output end is configured to be connected to the arm body and is drively connected to the second input end, such that the second input end drives the second output end to rotate along the axis of the second output end. The axis of the first input end is perpendicular to the axis of the second output end, and the axis of the second output end coincides with the flipping axis of the arm body.

[0008] The first output end can revolve around the axis of the first input shaft. During this revolving motion, there is no relative transmission between the first output end and the second input end. At this time, the flipping mechanism can drive the robotic arm to swing. When the first output end rotates, it undergoes relative transmission with the second input end, resulting in relative transmission between the second input end and the second output end. The axis of the first input end is perpendicular to the axis of the second output end. The rotation of the second output end causes the arm to flip, at which point the flipping mechanism drives the robotic arm to flip. The flipping mechanism enables the robotic arm to swing, facilitating its functionality and ensuring its working range; it also enables the robotic arm to flip, allowing it to be stored on top of the cleaning equipment without occupying internal space, thus simplifying the equipment's spatial layout.

[0009] In an exemplary embodiment of this disclosure, the flipping mechanism includes a connecting portion, which is rotatably connected to a first input end and a first output end, such that the first input end drives the first output end to revolve.

[0010] The connecting part is rotatably connected to the first input end and rotatably connected to the first output end. The connecting part serves to connect the first input end and the first output end. When the first input end rotates, it drives the connecting part and the first output end to move together. When the rotational resistance torque of the first output end is greater than its revolution resistance torque, the first output end and the connecting part rotate together around the axis of the first output end, causing the first output end to revolve. When the rotational resistance torque of the first output end is less than its revolution resistance torque, the first input end drives the first output end to rotate, causing the first output end and the second input end to transmit relative power.

[0011] In an exemplary embodiment of this disclosure, the flipping mechanism includes two limiting portions. These limiting portions restrict the range of rotation of the first output end.

[0012] When the first output end rotates, it drives the robotic arm to flip. The torque of the flipping robotic arm is greater than the torque of its swing. When the first input end rotates, the first output end will revolve first. By limiting the range of the first output end's revolution, on the one hand, the swing range of the robotic arm can be limited, allowing it to swing within a preset range; on the other hand, when the first output end revolves to the limit, it can no longer revolve, and the first input end will drive the first output end to rotate, causing the first output end to transmit relative transmission with the second input end, thereby driving the robotic arm to flip, so that the robotic arm can be stored above the cleaning equipment or extended from above the cleaning equipment.

[0013] In an exemplary embodiment of this disclosure, a limiting portion is configured to be disposed on the device body of the cleaning device, and the limiting portion is located on the movement path of the connecting portion, so as to limit the revolution of the first output end by limiting the movement of the connecting portion.

[0014] The limiting part restricts the movement of the connecting part, thereby limiting the revolution of the first output end. The continuous rotation of the first input end drives the rotation of the first output end, which in turn drives the robotic arm to rotate. The limiting part makes it easier to restrict the movement of the connecting part, and the connecting part can be set on the top of the equipment body, which facilitates the arrangement of the limiting part and is beneficial to the structural design of the cleaning equipment.

[0015] In an exemplary embodiment of this disclosure, the flipping mechanism includes a first rotating shaft and a second rotating shaft. The first rotating shaft is fixed to a first output end and a second input end, and is rotatably connected to a connecting portion. The second rotating shaft is fixed to a second output end, and is configured to be fixed to a robotic arm, such that the second output end drives the robotic arm to rotate.

[0016] The first rotating shaft is fixed to both the first output end and the second input end. When the first output end rotates, it drives the first rotating shaft to rotate, causing the second input end to rotate as well, thus realizing the transmission between the first output end and the second input end. The second rotating shaft is fixed to the second output end and also to the arm body. When the second input end drives the second output end to rotate, the second output end drives the second rotating shaft to rotate, which in turn drives the arm body to rotate, realizing the flipping of the robotic arm and enabling its retraction and extension.

[0017] In an exemplary embodiment of this disclosure, the first input terminal and the first output terminal are spur gears; the second input terminal and the second output terminal are bevel gears; the axis of the second input terminal coincides with the axis of the first output terminal, and the second input terminal and the first output terminal are relatively fixed.

[0018] The first input and first output are spur gears, with their axes parallel. The second input and second output are bevel gears, with their axes forming a 90° angle. By fixing the second input to the first output relative to it, the axis of the second output is perpendicular to the axis of the first input. This allows the first input to drive the second output to rotate, thereby rotating the robotic arm.

[0019] The first input end and the first output end are spur gears. The axis of the spur gears is parallel to the axis of the main body of the equipment, which helps to reduce the thickness of the flipping mechanism, thereby reducing the thickness of the robotic arm when it is stored on the cleaning equipment, reducing the overall height of the cleaning equipment, improving the passability of the cleaning equipment, and facilitating the cleaning of surfaces such as under sofas and beds.

[0020] In an exemplary embodiment of this disclosure, the robotic arm includes a gripper assembly, a gripper motor, and a worm gear assembly. The gripper assembly is mounted on the arm body. The gripper motor drives the gripper assembly to open and close. The worm gear assembly connects the gripper motor and the gripper assembly respectively, such that the gripper motor drives the worm gear assembly to open and close the gripper assembly.

[0021] The gripper assembly can grasp items, enabling functions such as cleaning large pieces of dirt and storing items. The worm gear combination can change the axis of rotation, allowing the gripper motor to be placed horizontally, thereby reducing the thickness of the robotic arm and facilitating its storage.

[0022] In an exemplary embodiment of this disclosure, the gripper assembly includes a first gripper, a gripper gear set, and a second gripper. The first gripper is connected to a worm gear set, such that a gripper motor drives the first gripper to rotate. The input end of the gripper gear set is connected to the first gripper. The second gripper is connected to the output end of the gear set, such that the second gripper rotates synchronously in opposite directions to the first gripper via the gear set.

[0023] The transmission between the first and second grippers is achieved through a gripper gear set. Only one gripper motor is needed to drive the first and second grippers to move synchronously in opposite directions, thereby enabling the gripping and placement of items and facilitating the realization of the gripper set's functions.

[0024] In an exemplary embodiment of this disclosure, a flipping mechanism connects the first arm to the main body of the cleaning device. When the robotic arm flips over the main body, the folding mechanism is located on the side of the first arm away from the main body. When the robotic arm flips out of the main body, the folding mechanism is located on the side of the first arm closer to the main body.

[0025] The flipping mechanism connects the first arm to the cleaning equipment. When the robotic arm flips over to above the main body of the cleaning equipment, the folding mechanism is located on the side of the first arm away from the cleaning equipment. When the robotic arm flips over and extends out of the main body of the equipment, the folding mechanism is located on the side of the first arm closer to the cleaning equipment.

[0026] When the robotic arm is retracted, it flips to the top of the main body of the equipment, saving internal space. However, this arrangement results in the robotic arm being too tall when extended, affecting its functionality. By placing the folding mechanism on one side of the first arm, when the robotic arm is flipped out of the main body, the folding mechanism is located on the side of the first arm closer to the cleaning equipment. That is, the folding mechanism extends downwards from the first arm, shortening the distance between the functional end of the robotic arm and the surface to be cleaned, thus improving the robotic arm's functionality.

[0027] A second aspect of this disclosure provides a cleaning device, which includes a device body and a robotic arm as described above, the robotic arm being mounted on the device body.

[0028] The robotic arm of this cleaning equipment is mounted on the main body of the equipment. When the robotic arm needs to be stored, a flipping mechanism drives the arm to flip to the top of the main body of the equipment, reducing the space occupied by the robotic arm inside the main body of the equipment and facilitating the structural design of the cleaning equipment. When the robotic arm needs to be used, the flipping mechanism drives the arm to extend outside the main body of the equipment, realizing the function of the robotic arm.

[0029] The robotic arm of the cleaning equipment disclosed herein includes a folding mechanism. The folding mechanism can drive adjacent arms to fold and unfold. When the robotic arm is retracted, the folding mechanism drives adjacent arms to fold, reducing the length of the robotic arm, thus facilitating the storage of the robotic arm on the top of the cleaning equipment. When the robotic arm needs to be used, the folding mechanism drives adjacent arms to unfold, thereby increasing the length of the robotic arm and expanding the functional coverage of the robotic arm.

[0030] In combination with existing technologies, the beneficial effects of this disclosure are as follows:

[0031] Existing robotic arms for cleaning equipment are inconvenient to store. The disclosed design features an arm whose rotation axis is perpendicular to the axis of the cleaning equipment. A rotation mechanism drives the arm to rotate, allowing it to be moved from extending beyond the cleaning equipment to the top, facilitating easy storage of the robotic arm at the top of the equipment without occupying internal space. When the robotic arm is needed, the rotation mechanism rotates the arm from the top of the cleaning equipment to extending beyond it, enabling the robotic arm to perform its function.

[0032] The folding mechanism can fold and unfold adjacent arms. When the robotic arm is retracted, the folding mechanism drives the adjacent arms to fold, reducing the length of the robotic arm. This makes it easier to store the robotic arm on top of the cleaning equipment, preventing the robotic arm from extending out of the cleaning equipment and affecting its movement. When the robotic arm needs to be used, the folding mechanism drives the adjacent arms to unfold, thereby increasing the length of the robotic arm, expanding its functional coverage, and enriching its application scenarios. Attached Figure Description

[0033] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0034] In the attached diagram:

[0035] Figure 1 This is a schematic diagram of the retracted state of a robotic arm provided in an embodiment of the present disclosure;

[0036] Figure 2 This is a schematic diagram of the deployed state of a robotic arm provided in one embodiment of the present disclosure;

[0037] Figure 3 This is a schematic diagram of a flipping mechanism provided in one embodiment of the present disclosure;

[0038] Figure 4 This is a schematic diagram of the flipping mechanism provided in one embodiment of the present disclosure from another angle;

[0039] Figure 5 This is a schematic diagram of the robotic arm structure provided in one embodiment of the present disclosure;

[0040] Figure 6 This is a schematic diagram of the robotic arm structure provided in one embodiment of the present disclosure from another angle;

[0041] Figure 7 This is a schematic diagram of a drive gripper motion mechanism provided in one embodiment of the present disclosure.

[0042] The attached figures are labeled as follows:

[0043] 100. Flipping mechanism; 110. First input end; 120. First output end; 130. Second input end; 140. Second output end; 150. Connecting part; 160. Limiting part;

[0044] 200. Robotic arm; 220. Gripper assembly; 221. First gripper; 222. Second gripper; 223. Gripper gear assembly; 230. Gripper motor; 240. Worm gear assembly; 260. Arm body; 261. First arm body; 262. Second arm body; 263. Third arm body; 270. Folding mechanism. Detailed Implementation

[0045] The following specific examples illustrate the implementation of this disclosure. Those skilled in the art can easily understand other advantages and effects of this disclosure from the content disclosed in this specification. This disclosure can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this disclosure. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0046] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this disclosure. The drawings only show components related to this disclosure and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0047] Numerous details are explored in the following description to provide a more thorough explanation of embodiments of the present disclosure. However, it will be apparent to those skilled in the art that embodiments of the present disclosure may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the present disclosure.

[0048] It should be noted that the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity of description and are not intended to limit the scope of this disclosure. Any changes or adjustments to their relative relationships, without substantially altering the technical content, shall also be considered within the scope of this disclosure.

[0049] Cleaning equipment equipped with robotic arms can overcome cleaning blind spots and increase coverage. For example, robotic arms can clean low spaces such as under sofas and beds, and clean areas that traditional cleaning equipment cannot clean, such as corners.

[0050] Some robotic arms can help cleaning equipment overcome obstacles and expand the cleaning scenarios. For example, some robotic arms have climbing capabilities, enabling cleaning equipment to clean different floors; they can also help cleaning equipment move from the ground to areas such as windowsills and tabletops to clean different surfaces.

[0051] Some robotic arms can expand the functions of cleaning equipment. For example, robotic arms can sort and organize items by gripping and placing them; some robotic arms can even automatically open and close doors and windows to achieve timed or scene-specific ventilation, meeting the needs of different scenarios.

[0052] Robotic arms can expand the functionality of cleaning equipment and enrich its application scenarios. However, the structural design of cleaning equipment is relatively compact. If the robotic arm is housed inside the cleaning equipment, it will affect the internal layout of the cleaning equipment and hinder the realization of its traditional functions.

[0053] Please see Figures 1 to 7 Therefore, this disclosure provides a robotic arm 200 and a cleaning device. The cleaning device includes a robotic arm 200 and a device body. The robotic arm 200 can be installed on the top of the device body. The robotic arm 200 is retracted and extended through a flipping mechanism 100. Adjacent arm bodies 260 are folded through a folding mechanism 270, shortening the retracted length of the robotic arm 200. The robotic arm 200 and cleaning device of this disclosure reduce the space occupied inside the cleaning device, facilitate the storage of the robotic arm 200, and expand the functionality of the cleaning device.

[0054] Please see Figures 1 to 7 The first aspect of this disclosure provides a robotic arm 200, installed on a cleaning device. The robotic arm 200 includes an arm body 260, a folding mechanism 270, and a flipping mechanism 100. Multiple arm bodies 260 are provided and connected sequentially. The folding mechanism 270 connects at least two adjacent arm bodies 260, and the folding mechanism 270 drives adjacent arm bodies 260 to fold and unfold. The flipping mechanism 100 connects adjacent arm bodies 260 or connects an arm body 260 to the cleaning device; when driven by a drive mechanism, the flipping mechanism 100 can drive the arm body 260 to flip, and the flipping axis of the arm body 260 is perpendicular to the axis of the cleaning device.

[0055] When the cleaning equipment is in operation, its axis is perpendicular to the surface to be cleaned. The rotation axis of the arm 260 is perpendicular to the axis of the cleaning equipment. The rotation mechanism 100 drives the arm 260 to rotate, allowing it to move from extending beyond the cleaning equipment to the top, facilitating the storage of the robotic arm 200 on top of the equipment. The robotic arm 200 does not occupy internal space, simplifying its storage. When the robotic arm 200 is needed, the rotation mechanism 100 rotates the arm 260, causing it to rotate from the top of the cleaning equipment to extending beyond it, enabling the robotic arm 200 to perform its function, expanding the cleaning equipment's capabilities and enriching its application scenarios.

[0056] The folding mechanism 270 can fold and unfold adjacent arms 260. When the robotic arm 200 is retracted, the folding mechanism 270 drives the adjacent arms 260 to fold, reducing the length of the robotic arm 200. This makes it easier to store the robotic arm 200 on top of the cleaning equipment, preventing the robotic arm 200 from extending out of the cleaning equipment and affecting its movement. When the robotic arm 200 needs to be used, the folding mechanism 270 drives the adjacent arms 260 to unfold, thereby increasing the length of the robotic arm 200, expanding its functional coverage, and enriching its application scenarios.

[0057] Please see Figure 3 and Figure 4 In one embodiment, the flipping mechanism 100 includes a first input end 110, a first output end 120, a second input end 130, and a second output end 140. The first input end 110 is configured to be connected to a drive mechanism. The first output end 120 is drive-connected to the first input end 110, and the first output end 120 is capable of revolving around the axis of the first input end 110 and rotating on its own axis. The second input end 130 is connected to the first output end 120. The second output end 140 is configured to be connected to the arm body 260, and the second output end 140 is drive-connected to the second input end 130, such that the second input end 130 drives the second output end 140 to rotate along its axis. The axis of the first input end 110 is perpendicular to the axis of the second output end 140, and the axis of the second output end 140 coincides with the flipping axis of the arm body 260.

[0058] The first output end 120 can revolve around the axis of the first input end 110. During this revolving motion, the first output end 120 does not undergo relative transmission with the second input end 130. At this time, the flipping mechanism 100 can drive the robotic arm 200 to swing. When the first output end 120 rotates, it undergoes relative transmission with the second input end 130, resulting in relative transmission between the second input end 130 and the second output end 140. The axis of the first input end 110 is perpendicular to the axis of the second output end 140. The rotation of the second output end 140 causes the arm body 260 to flip, at which point the flipping mechanism 100 drives the robotic arm 200 to flip. The flipping mechanism 100 can both enable the robotic arm 200 to swing, facilitating its functionality and ensuring its working range; and enable it to flip, allowing it to be stored on top of the cleaning equipment without occupying internal space, thus simplifying the equipment's spatial layout.

[0059] If the flipping mechanism 100 needs to be located on top of the main body of the equipment, and the motor is horizontally installed, then the motor also needs to be located on top of the main body of the equipment, which could easily cause the motor to be damaged by impact. Furthermore, if the axis of the first input end 110 is horizontal, then the height of the first input end 110 will be relatively high, which will increase the height of the flipping mechanism 100, resulting in a relatively high overall height of the cleaning equipment and affecting the passage of the cleaning equipment.

[0060] Therefore, in one embodiment, the axis of the first input terminal 110 is perpendicular to the axis of the second output terminal 140, and the axis of the first input terminal 110 is parallel to the axis of the cleaning device, thereby facilitating the arrangement of the drive mechanism. For example, the drive mechanism is a motor, which can be installed inside the main body of the device. The output axis of the motor extends upward and is directly or indirectly connected to the first input terminal 110, facilitating the arrangement of the motor and preventing damage to the motor from impacts.

[0061] Please see Figure 3 and Figure 4 In one embodiment, the flipping mechanism 100 includes a connecting portion 150, which is rotatably connected to the first input end 110 and the first output end 120 respectively, so that the first input end 110 drives the first output end 120 to revolve.

[0062] The connecting part 150 is rotatably connected to the first input terminal 110 and the first output terminal 120. The connecting part 150 serves to connect the first input terminal 110 and the first output terminal 120. When the first input terminal 110 rotates, it can drive the connecting part 150 and the first output terminal 120 to move together. When the rotational resistance torque of the first output terminal 120 is greater than the revolution resistance torque of the first output terminal 120, the first output terminal 120 and the connecting part 150 rotate together around the axis of the first output terminal 120, causing the first output terminal 120 to revolve. When the rotational resistance torque of the first output terminal 120 is less than the revolution resistance torque of the first output terminal 120, the first input terminal 110 drives the first output terminal 120 to rotate, causing the first output terminal 120 to transmit relative transmission to the second input terminal 130.

[0063] In one embodiment, the connecting part 150 is rotatably mounted on the main body of the device, and the rotation axis of the connecting part 150 coincides with the rotation axis of the first input end 110 to facilitate the rotation of the connecting part 150.

[0064] For example, the connecting part 150 can be a plate-shaped structure or a strip-shaped structure. On the one hand, it can connect the first output end 120 and the first input end 110. On the other hand, the plate-shaped structure or the strip-shaped structure is thinner and occupies less space in the height direction, which is beneficial to reducing the overall height of the cleaning equipment.

[0065] Please see Figure 3 and Figure 4In one embodiment, the flipping mechanism 100 includes a limiting portion 160. Two limiting portions 160 are provided, and the limiting portions 160 limit the range of the first output terminal 120's revolution.

[0066] When the first output end 120 rotates, it drives the robotic arm 200 to flip. The flipping torque of the robotic arm 200 is greater than the swinging torque of the robotic arm 200. When the first input end 110 rotates, the first output end 120 will revolve first. The range of the first output end 120's revolution is limited by the limiting part 160. On the one hand, it can limit the swinging range of the robotic arm 200, so that the robotic arm 200 swings within a preset range. On the other hand, when the first output end 120 revolves to the limit, the first output end 120 can no longer revolve. Then, the first input end 110 will drive the first output end 120 to rotate, so that the first output end 120 and the second input end 130 are relative to each other, thereby driving the robotic arm 200 to flip, so that the robotic arm 200 can be stored above the cleaning equipment or extended from above the cleaning equipment.

[0067] In one embodiment, the limiting part 160 is configured to be disposed on the main body of the cleaning device, and the limiting part 160 is located on the movement path of the connecting part 150, so as to limit the revolution of the first output end 120 by limiting the movement of the connecting part 150.

[0068] The limiting part 160 restricts the movement of the connecting part 150, thereby limiting the revolution of the first output end 120. The continuous rotation of the first input end 110 drives the first output end 120 to rotate, which in turn drives the robotic arm 200 to rotate. The limiting part 160 makes it easier to restrict the movement of the connecting part 150, and the connecting part 150 can be set on the top of the main body of the equipment, which facilitates the arrangement of the limiting part 160 and is beneficial to the structural design of the cleaning equipment.

[0069] Of course, as some alternatives, the limiting part 160 can also be provided in other positions of the device body. For example, the limiting part 160 can limit the revolution of the first output shaft by limiting the rotation axis position of the first output shaft.

[0070] In one embodiment, the flipping mechanism 100 includes a first rotating shaft and a second rotating shaft.

[0071] The first rotating shaft is fixed to the first output terminal 120 and the second input terminal 130, and is rotatably connected to the connecting part 150. When the first output terminal 120 rotates, it drives the first rotating shaft to rotate, causing the second input terminal 130 to rotate as well, thus realizing the transmission between the first output terminal 120 and the second input terminal 130. Simultaneously, the first rotating shaft is rotatably connected to the connecting part 150. When the torque generated by the force applied by the first rotating shaft to the connecting part 150 is about the axis of the first input terminal 110, the first rotating shaft drives the connecting part 150 to rotate about the axis of the first input terminal 110, and the first rotating shaft and the connecting part 150 do not rotate relative to each other. However, when the first output terminal 120 rotates, the first rotating shaft and the connecting part 150 can rotate relative to each other.

[0072] The second rotating shaft is fixed to the second output end 140. The second rotating shaft is configured to be fixed to the robotic arm 200 so that the second output end 140 drives the robotic arm 200 to rotate.

[0073] The second rotating shaft is fixed to the second output end 140 and the arm body 260. When the second input end 130 drives the second output end 140 to rotate, the second output end 140 drives the second rotating shaft to rotate, which in turn drives the arm body 260 to rotate, thereby realizing the flipping of the robotic arm 200 and realizing the storage and extension of the robotic arm 200.

[0074] For example, the revolution range of the first output end 120 is 30° to 120°. The revolution range can be any value between 30° and 120°, such as 30°, 45°, 60°, 90°, 120°, etc., which not only allows the robotic arm 200 to swing, but also makes it convenient for the robotic arm 200 to be stored and deployed.

[0075] Of course, as some alternatives, the revolution range of the first output terminal 120 can also be other values ​​to make the swing range of the robotic arm 200 smaller or larger, depending on the actual needs.

[0076] The second output end 140 is fixed relative to the arm body 260. Therefore, the rotation of the second output end 140 will cause the robotic arm 200 to rotate. Since the robotic arm 200 itself has a certain mass, the second output end 140 needs to generate a large torque to cause the robotic arm 200 to rotate. Analysis shows that the first output end 120 needs to generate a large torque to cause the robotic arm 200 to rotate.

[0077] When the robotic arm 200 needs to be stored, the torque required for the robotic arm 200 to swing left and right is much less than the torque required for the robotic arm 200 to flip. Therefore, when the first input end 110 rotates, since the torque required for the robotic arm 200 to swing is much less than the torque required for the robotic arm 200 to flip, the first input end 110 first drives the first output end 120 to revolve. The second input end 130, the second output end 140, and the robotic arm 200 all revolve with the first output end 120, causing the robotic arm 200 to swing left and right. When the first output end 120 revolves to the limit part 160, the first output end 120 can no longer revolve. Then, a transmission occurs between the first input end 110 and the first output end 120. The first input end 110 drives the first output end 120 to rotate. The second input end 130 rotates synchronously with the first output end 120. The second input end 130 drives the second output end 140 to rotate, thereby causing the robotic arm 200 to flip.

[0078] When the robotic arm 200 needs to flip out of the top of the equipment body, the first input end 110 reverses, first causing the robotic arm 200 to swing left and right until the revolution of the first output end 120 reaches the limit part 160, causing the robotic arm 200 to flip out of the top of the equipment body.

[0079] Please see Figure 3 and Figure 4 In one embodiment, the first input terminal 110 and the first output terminal 120 are spur gears; the second input terminal 130 and the second output terminal 140 are bevel gears; the axis of the second input terminal 130 coincides with the axis of the first output terminal 120, and the second input terminal 130 and the first output terminal 120 are relatively fixed.

[0080] The first input terminal 110 and the first output terminal 120 are spur gears, with the axis of the first input terminal 110 and the axis of the first output terminal 120 being parallel. The second input terminal 130 and the second output terminal 140 are bevel gears, with the included angle between the axes of the two bevel gears of the second input terminal 130 and the second output terminal 140 being 90°. By fixing the second input terminal 130 relative to the first output terminal 120, the axis of the second output terminal 140 is perpendicular to the axis of the first input terminal 110. This allows the first input terminal 110 to drive the second output terminal 140 to rotate through the first output terminal 120 and the second input terminal 130, thereby causing the robotic arm 200 to rotate.

[0081] The first input end 110 and the first output end 120 are spur gears. The axis of the spur gears is parallel to the axis of the main body of the equipment, which helps to reduce the thickness of the flipping mechanism 100, thereby reducing the thickness of the robotic arm 200 when it is stored on the cleaning equipment, reducing the overall height of the cleaning equipment, improving the passability of the cleaning equipment, and facilitating the cleaning of surfaces such as under sofas and beds.

[0082] Please see Figure 1 and Figure 2 For example, the robotic arm 200 includes multiple arm bodies 260, which can increase the length and flexibility of the robotic arm 200, thereby facilitating the realization of the functions of the robotic arm 200.

[0083] The connection between adjacent arm bodies 260 can be a rotating connection, a sliding connection, etc. Preferably, the connection between adjacent arm bodies 260 is a rotating connection, so as to facilitate the folding and storage of the arm bodies 260, which is beneficial to improve the joint flexibility of the robotic arm 200 and ensure the realization of the functions of the robotic arm 200.

[0084] The connection methods between adjacent arms 260 can be the same, for example, adjacent arms 260 can all be rotatably connected. The connection methods between adjacent arms 260 can also be different, for example, some adjacent arms 260 are rotatably connected, and some adjacent arms 260 are slidably connected, and the combination is based on the function of the robotic arm 200.

[0085] For example, the arm 260 near the connection point with the main body of the device is the first arm 261, the arm 260 connected to the first arm 261 is the second arm 262, and the arm 260 connected to the functional area of ​​the robotic arm 200 is the end arm 260.

[0086] In one embodiment, the flipping mechanism 100 connects the first arm 261 to the cleaning device. When the robotic arm 200 flips over the main body of the cleaning device, the folding mechanism 270 is located on the side of the first arm 261 away from the cleaning device. When the robotic arm 200 flips out of the main body of the device, the folding mechanism 270 is located on the side of the first arm 261 closer to the cleaning device.

[0087] When the robotic arm 200 is stored, it flips to the top of the main body of the equipment, which can save internal space of the cleaning equipment. However, the storage capacity causes the robotic arm 200 to be too high when it is extended, which affects the realization of the robotic arm 200's functions. For example, the robotic arm 200 includes a gripping function. When the height of the robotic arm 200 is too high, it is inconvenient for the robotic arm 200 to grip small pieces of trash, thus limiting the functionality of the robotic arm 200.

[0088] Please see Figure 1 and Figure 2 By placing the folding mechanism 270 on one side of the first arm 261, when the robotic arm 200 flips and extends out of the main body of the device, the folding mechanism 270 is located on the side of the first arm 261 closer to the cleaning device, that is, the folding mechanism 270 extends downward from the first arm 261, which shortens the distance between the functional end of the robotic arm 200 and the surface to be cleaned, thus facilitating the realization of the robotic arm 200's functions. For example, it can be used to pick up small pieces of trash on the surface to be cleaned, or to store small items on the surface to be cleaned.

[0089] When the robotic arm 200 flips over the main body of the equipment, the folding mechanism 270 is located on the side of the first arm 261 away from the main body of the equipment, that is, the folding mechanism 270 extends upward from the first arm 261. Compared with the folding mechanism 270 being located on other sides of the first arm 261, the upward extension of the folding mechanism 270 from the first arm 261 does not increase the overall height of the cleaning equipment, ensuring the passage of the cleaning equipment.

[0090] In one embodiment, the first arm 261 is a plate-like structure. The first arm 261 mainly serves to connect the main body of the equipment and the robotic arm 200. The plate-like structure has a smaller height, which can reduce the overall height of the cleaning equipment when the robotic arm 200 is stored on the main body of the equipment. This helps to ensure the passage of the cleaning equipment, reduce the blind spots of the cleaning equipment, and ensure the cleaning effect of the cleaning equipment.

[0091] When the robotic arm 200 is retracted above the main body of the equipment, if the cleaning equipment cannot pass through low areas such as under sofas and beds, the robotic arm 200 can be extended outside the main body of the equipment. At this time, the height H1 of the cleaning equipment is not greater than the sum of the height H2 of the main body of the equipment, the height H3 of the flipping mechanism 100, and the thickness H4 of the first arm body 261, that is, H1≤H2+H3+H4, which can reduce the height of the cleaning equipment and improve its passability.

[0092] In one embodiment, the folding mechanism 270 includes a folding motor fixed to one arm 260, and the output end of the folding motor connected to an adjacent arm 260. For example, the folding motor is fixed to a first arm 261, and the output end of the folding motor is connected to a second arm 262. The folding motor drives the second arm 262 to rotate relative to the first arm 261, thereby realizing the folding and unfolding of the first arm 261 and the second arm 262.

[0093] One or more folding mechanisms 270 may be provided, and one folding mechanism 270 can realize one fold of the robotic arm 200. When two or more folding mechanisms 270 are provided, multiple folds of the robotic arm 200 can be realized to further reduce the length of the robotic arm 200 when it is stored, making it easier to store the robotic arm 200.

[0094] Please see Figure 1 and Figure 2 In one embodiment, a folding mechanism 270 is provided between the second arm 262 and the third arm 263. The second arm 262 and the third arm 263 are rotatably connected, and the rotation threshold between the second arm 262 and the third arm 263 is 180°, so as to realize the relative folding and unfolding of the second arm 262 and the third arm 263.

[0095] Of course, as an optional approach, the rotation threshold between the second arm 262 and the third arm 263 can also be other angles, such as a rotation threshold of 90° to 180°. The rotation threshold can be any value between 90° and 180°, such as 90°, 120°, 160°, 180°, etc.

[0096] For example, the robotic arm 200 includes a functional part for performing the functions of the robotic arm 200. For example, the functional part can be a gripping mechanism to grip garbage or objects; the functional part can be a suction cup structure to facilitate the robotic arm 200 to drive the cleaning equipment to climb; the functional part can also be a cleaning component to expand the cleaning range of the cleaning equipment and reduce blind spots.

[0097] Of course, the functional section can also be a structure with other functions, which will not be elaborated in this disclosure.

[0098] Please see Figures 5 to 7 In one embodiment, the robotic arm 200 includes a gripper assembly 220, a gripper motor 230, and a worm gear assembly 240. The gripper assembly 220 is mounted on the arm body 260. The gripper motor 230 drives the gripper assembly 220 to open and close. The worm gear assembly 240 connects the gripper motor 230 and the gripper assembly 220 respectively, so that the gripper motor 230 drives the worm gear assembly 240 to drive the gripper assembly 220 to open and close.

[0099] The gripper assembly 220 can grip items, thus enabling functions such as cleaning large pieces of dirt and storing items. The worm gear assembly 240 can change the axis of rotation, allowing the gripper motor 230 to be placed horizontally, thereby reducing the thickness of the robotic arm 200 and facilitating its storage.

[0100] Please see Figure 6 In one embodiment, the gripper assembly 220 includes a first gripper 221, a gripper gear set 223, and a second gripper 222. The first gripper 221 is connected to a worm gear assembly 240 so that the gripper motor 230 drives the first gripper 221 to rotate. The input end of the gripper gear set 223 is connected to the first gripper 221. The second gripper 222 is connected to the output end of the gear set so that the second gripper 222 rotates synchronously and in opposite directions with the first gripper 221 through the gear set.

[0101] The transmission between the first gripper 221 and the second gripper 222 is achieved by the gripper gear set 223. Only one gripper motor 230 is needed to drive the first gripper 221 and the second gripper 222 to move synchronously in opposite directions. This reduces the number of gripper motors 230 and lowers production costs. It also achieves the synchronous reverse movement of the first gripper 221 and the second gripper 222, enabling the gripping and placement of items and facilitating the realization of the functions of the gripper set 220.

[0102] A second aspect of this disclosure provides a cleaning device, which includes a device body and a robotic arm 200 as described above, the robotic arm 200 being mounted on the device body.

[0103] The main body of the device is used to at least realize the basic functions of a cleaning device. Taking a self-moving cleaning robot as an example, some of its components are described. However, those skilled in the art will understand that other robots that include the robotic arm 200 of this disclosure can also have the same beneficial effects.

[0104] The main body of the equipment consists of a casing, the interior of which can accommodate some of the cleaning equipment's components. The casing can be any shape, such as cylindrical, elliptical, or D-shaped, among others.

[0105] The main body of the equipment also includes a walking system conventionally found on existing cleaning equipment, used to drive the machine body to move independently across the surface to be cleaned. The walking system includes at least a driver and drive wheels, which rotate under the action of the driver. There are generally two drive wheels, symmetrically located at the bottom of the machine body. The specific structure of the walking system and its connection to the machine body can be found in the relevant structural descriptions of existing cleaning equipment, and will not be repeated here.

[0106] To perform its cleaning function, a cleaning device must include at least a cleaning component. This cleaning component is detachably connected to the main body, using methods such as snap-fit ​​or bolt-fit connections. The cleaning component can be configured for dry mopping or wet mopping; it can also be configured to have a dust extraction function.

[0107] In addition to the above, the cleaning equipment may also include a sensing system and a control system. The sensing system and control system are electrically connected. The sensing system includes a main sensor located on the top of the unit, a buffer and vision sensor located at the front of the unit, and an edge sensor located on the front side wall of the unit. Among them, the main sensor, buffer, and edge sensor can measure or sense distance to obtain the distance between the edge of the unit and obstacles. The control system uses this distance to control the cleaning equipment to perform corresponding actions. For example, controlling the cleaning equipment to perform obstacle avoidance, edge cleaning, and return to the base station.

[0108] The robotic arm 200 of this cleaning equipment is mounted on the main body of the equipment. When the robotic arm 200 needs to be stored, the flipping mechanism 100 drives the arm 260 to flip to the top of the main body of the equipment, reducing the space occupied by the robotic arm 200 inside the main body of the equipment and facilitating the structural design of the cleaning equipment. When the robotic arm 200 needs to be used, the flipping mechanism 100 drives the arm 260 to extend outside the main body of the equipment, realizing the function of the robotic arm 200.

[0109] The robotic arm 200 of the cleaning equipment disclosed herein includes a folding mechanism 270, which can drive adjacent arm bodies 260 to fold and unfold. When the robotic arm 200 is retracted, the folding mechanism 270 drives the adjacent arm bodies 260 to fold, reducing the length of the robotic arm 200, thereby facilitating the storage of the robotic arm 200 on the top of the cleaning equipment. When the robotic arm 200 needs to be used, the folding mechanism 270 drives the adjacent arm bodies 260 to unfold, thereby increasing the length of the robotic arm 200 and expanding the functional coverage of the robotic arm 200.

[0110] The robotic arm 200 and cleaning equipment disclosed herein, by mounting the robotic arm 200 on top of the main body of the equipment and using a flipping mechanism 100 to retract or extend the robotic arm 200 outside the main body of the equipment, not only realize the function of the robotic arm 200 and expand the application scenarios of the cleaning equipment, but also do not occupy the internal space of the main body of the equipment, which is beneficial to the structural design of the main body of the equipment. Therefore, this disclosure effectively overcomes some practical problems in the prior art and thus has high utilization value and practical significance.

[0111] The above embodiments are merely illustrative of the principles and effects of this disclosure and are not intended to limit this disclosure. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this disclosure. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this disclosure should still be covered by the claims of this disclosure.

Claims

1. A robotic arm, mounted on a cleaning device, characterized in that, include: Multiple arm bodies (260) are provided, and the multiple arm bodies (260) are connected in sequence; A folding mechanism (270) connects at least two adjacent arm bodies (260), and the folding mechanism (270) drives the adjacent arm bodies (260) to fold and unfold. A flipping mechanism (100) connects an adjacent arm (260) or connects the arm (260) to the cleaning device; when the flipping mechanism (100) is driven by the driving mechanism, it can cause the arm (260) to flip, and the flipping axis of the arm (260) is perpendicular to the axis of the cleaning device.

2. The robotic arm according to claim 1, characterized in that, The flipping mechanism includes: The first input terminal (110) is configured to be connected to the drive mechanism; The first output terminal (120) is connected to the first input terminal (110) in a transmission manner. The first output terminal (120) can revolve around the axis of the first input terminal (110) and rotate around the axis of the first output terminal (120). The second input terminal (130) is connected to the first output terminal (120); The second output terminal (140) is configured to be connected to the arm body, and the second output terminal (140) is drively connected to the second input terminal (130) so that the second input terminal (130) drives the second output terminal (140) to rotate along the axis of the second output terminal (140); The axis of the first input terminal (110) is perpendicular to the axis of the second output terminal (140), and the axis of the second output terminal (140) coincides with the flipping axis of the arm body (260).

3. The robotic arm according to claim 2, characterized in that, The flipping mechanism includes: The connecting part (150) is rotatably connected to the first input end (110) and the first output end (120) respectively, so that the first input end (110) drives the first output end (120) to revolve.

4. The robotic arm according to claim 3, characterized in that, The flipping mechanism includes: Two limiting parts (160) are provided, and the limiting parts (160) restrict the range of the first output terminal (120) to revolve.

5. The robotic arm according to claim 4, characterized in that, The limiting part (160) is configured to be disposed on the main body of the cleaning device, and the limiting part (160) is located on the movement path of the connecting part (150) to limit the revolution of the first output terminal (120) by limiting the movement of the connecting part (150).

6. The robotic arm according to claim 3, characterized in that, The flipping mechanism (100) includes: The first rotating shaft is fixed to the first output end (120) and the second input end (130), and is rotatably connected to the connecting part (150); The second rotating shaft is fixed to the second output end (140). The second rotating shaft is configured to be fixed to the arm body (260) so that the second output end (140) drives the arm body (260) to rotate.

7. The robotic arm according to claim 2, characterized in that, The first input terminal (110) and the first output terminal (120) are spur gears; The second input terminal (130) and the second output terminal (140) are bevel gears; The axis of the second input terminal (130) coincides with the axis of the first output terminal (120), and the second input terminal (130) and the first output terminal (120) are relatively fixed.

8. The robotic arm according to claim 1, characterized in that, The robotic arm includes: A gripper assembly (220) is mounted on the arm body; The gripper motor (230) drives the gripper assembly (220) to open and close; The worm gear assembly (240) is connected to the gripper motor (230) and the gripper assembly (220) respectively, so that the gripper motor (230) drives the worm gear assembly (240) to drive the gripper assembly (220) to open and close.

9. The robotic arm according to claim 8, characterized in that, The gripper assembly (220) includes: The first gripper (221) is connected to the worm gear assembly (240) so that the gripper motor (230) drives the first gripper (221) to rotate; A gripper gear set (223), the input end of which is connected to the first gripper (221); The second gripper (222) is connected to the output end of the gear set so that the second gripper (222) and the first gripper (221) rotate synchronously in opposite directions through the gear set.

10. The robotic arm according to claim 1, characterized in that, The flipping mechanism (100) connects the first arm (261) to the main body of the cleaning equipment; When the robotic arm (200) flips over to the top of the device body, the folding mechanism (270) is located on the side of the first arm (261) away from the device body; When the robotic arm (200) flips out of the main body of the device, the folding mechanism (270) is located on the side of the first arm (261) close to the main body of the device.

11. A cleaning device, characterized in that, include: Equipment body; The robotic arm (200) according to any one of claims 1 to 9, wherein the robotic arm is mounted on the main body of the device.

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