Robotic arm and cleaning device

Abstract

The utility model discloses a kind of mechanical arm and cleaning equipment, mechanical arm is used to install cleaning piece, and mechanical arm includes: arm main body, configured to one end is connected to cleaning equipment main body, the other end is used to install the cleaning piece, the arm main body has working state, in the working state, the arm main body drives the cleaning piece to stretch out cleaning equipment main body;Buffer structure, between the two ends of the arm main body to be arranged to the arm main body is divided into the first segment arm for connecting the cleaning equipment main body and the second segment arm for installing the cleaning piece, the first segment arm and the second segment arm are movably connected by the buffer structure, the buffer structure is configured to in the working state, in response to the second segment arm collides object, make the second segment arm relatively the first segment arm moves to buffer the impact force that the object exerts to the second segment arm, to avoid rigid impact resulting in the damage of collided object and mechanical arm itself structure loss.

Description

Technical Field

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

[0002] With the increasing popularity of cleaning equipment (such as robotic vacuum cleaners and floor scrubbers), users are demanding higher cleaning ranges and greater safety. Currently, cleaning equipment typically uses robotic arms equipped with side brushes, roller brushes, and other cleaning components to achieve area cleaning, with the side brush robotic arms of robotic vacuum cleaners being the most widely used. However, the main body of the robotic arms in these cleaning equipment technologies is often a one-piece rigid structure. When the robotic arm collides with furniture, ornaments, or other objects, the rigid connection can easily lead to damage to the objects or the robotic arm itself. Utility Model Content

[0003] The purpose of this disclosure is to provide a robotic arm and a cleaning device that aims to solve the problem that the robotic arm of a cleaning device in the related art is prone to damage to the object or itself when it collides with an object.

[0004] Additional aspects and advantages of this disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this disclosure.

[0005] According to a first aspect of this disclosure, a robotic arm is provided for mounting cleaning components, comprising:

[0006] The arm body is configured such that one end is connected to the cleaning equipment body and the other end is used to install the cleaning component. The arm body has a working state in which the arm body drives the cleaning component to extend out of the cleaning equipment body.

[0007] A buffer structure is disposed between the two ends of the arm body to divide the arm body into a first arm segment for connecting the main body of the cleaning device and a second arm segment for setting the cleaning component. The first arm segment and the second arm segment are movably connected by the buffer structure. The buffer structure is configured to, in the working state, in response to the second arm segment colliding with an object, move the second arm segment relative to the first arm segment to buffer the collision force exerted on the second arm segment by the object.

[0008] The robotic arm provided in this embodiment has two advantages. First, when the arm body is in operation, it drives the cleaning component to extend out of the cleaning device body. Compared to cleaning components (such as the side brush of a robot vacuum cleaner) that are set in the cleaning device body in related technologies, the extension distance of the cleaning component can be extended to expand the cleaning range, thereby covering deeper low areas (such as under sofas or deep under beds) and eliminating cleaning dead corners. Second, a buffer structure is provided between the two ends of the arm body, dividing the arm body into a first segment and a second segment that are movably connected, providing a structural basis for buffering collision forces. Furthermore, by configuring the buffer structure so that, in the working state, in response to the collision of the second segment with an object, the second segment moves relative to the first segment to buffer the collision force applied to the second segment by the object, when the second segment of the robotic arm, which is away from the cleaning device body, collides with an obstacle or a moving object actively collides with the second segment, the second segment can move relative to the first segment under the action of the buffer structure to buffer the collision force applied to the second segment by the object, thereby avoiding damage to the collided object and wear and tear on the robotic arm itself caused by rigid impact.

[0009] In one exemplary embodiment of this disclosure, the buffer structure includes a connector and an elastic member; the first segment arm and the second segment arm are movably connected by the connector, and the elastic member is disposed between the first segment arm and the second segment arm and is configured to store elastic potential energy to buffer the collision force when the second segment arm collides with an object.

[0010] The robotic arm provided in this embodiment further defines a buffer structure including a connector and an elastic member. The connector is used to enable a movable connection between the first arm segment and the second arm segment. On the one hand, the elastic member is located between the two arm segments, without requiring additional space in the main body of the robotic arm, which is compatible with the compact structural design of cleaning equipment (such as a small robotic vacuum cleaner) and avoids increasing the size of the robotic arm due to the buffer structure. On the other hand, when the second arm segment collides with an object, the elastic member can absorb the impact energy of the collision through buffering elasticity. Compared with a flexible movable connection, the buffering effect is better and more controllable.

[0011] In one exemplary embodiment of this disclosure, the elastic element is further configured to release the elastic potential energy to reset the second arm when the second arm leaves the object.

[0012] The robotic arm provided in this embodiment automatically releases elastic potential energy when the second arm leaves the object, driving the second arm to reset to its initial state. On the one hand, there is no need to set up an additional drive mechanism (such as a motor) for reset, simplifying the structure of the robotic arm and reducing energy consumption. On the other hand, automatic reset can ensure the continuity of the cleaning process. After collision avoidance, there is no need for manual intervention or equipment shutdown for adjustment. The robotic arm can restore its normal cleaning posture, improving cleaning efficiency.

[0013] In one exemplary embodiment of this disclosure, the connector includes a connecting shaft, and the first segment arm and the second segment arm are rotatably connected via the connecting shaft;

[0014] The elastic element includes at least one pair of torsion springs, which are fitted onto the connecting shaft. The at least one pair of torsion springs are configured such that at least one torsion arm of the torsion spring acts on a first portion of the second arm, and at least another torsion arm acts on a second portion of the second arm, so that the second arm provides a buffering torque when it rotates in a first or second direction upon colliding with the object, wherein the first direction is opposite to the second direction.

[0015] Alternatively, the elastic element may include a torsion spring fitted onto the connecting shaft, and the torsion spring may have two force-applying torsion arms that act on different parts of the second arm, so that the second arm can provide a buffering torque when the colliding object rotates in a first direction or a second direction, wherein the first direction is opposite to the second direction.

[0016] The robotic arm provided in this embodiment has two advantages. First, the connecting member uses a connecting shaft to achieve a rotatable connection between the two arm segments, which can adapt to the angle adjustment requirements of the extended form of the robotic arm, such as outward swing or folding. Moreover, the rotatable connection has low frictional resistance, ensuring smooth movement of the two arm segments during buffering. Second, the elastic element uses at least one pair of torsion springs or one double-force torsion arm torsion spring, which can provide buffering torque for the bidirectional rotation of the second arm segment (first direction and second direction), solving the defect that the unidirectional buffer structure can only cope with a single collision direction. Furthermore, the torsion spring is mounted on the connecting shaft, which has a compact structure and is suitable for small robotic arm designs.

[0017] In one exemplary embodiment of this disclosure, when the elastic element includes at least one pair of torsion springs, at least one torsion spring is configured to apply a first preload torque to the second segment arm, and at least another torsion spring is configured to apply a second preload torque to the second segment arm, wherein the first preload torque and the second preload torque are of the same magnitude and have opposite directions of application.

[0018] The robotic arm provided in this embodiment has two advantages. First, at least one pair of torsion springs apply pre-tightening torques of the same magnitude but opposite directions to the second arm, which allows the second arm to stably maintain its initial state with the first arm (coaxial straight state) when there is no external force. This avoids natural tilting of the arm body due to unbalanced torsion spring force, ensuring accurate cleaning path of the cleaning components and reducing cleaning deviation. Second, the bidirectional pre-tightening torque makes the initial connection stiffness of the two arms uniform, preventing false deflection when facing small resistance (such as the friction force of the ground when cleaning dust). Buffering is only activated when the collision force exceeds the pre-tightening torque, balancing structural stability during normal cleaning and buffering protection during collisions.

[0019] In one exemplary embodiment of this disclosure, the connector includes a connecting shaft, through which the first segment arm and the second segment arm are rotatably connected; the elastic element includes at least one pair of springs, which are symmetrically connected between the first segment arm and the second segment arm in a plane perpendicular to the connecting shaft and along the axis of the connecting shaft, and the at least one pair of springs are configured to provide a buffering spring force to the second segment arm when the second segment arm collides with the object and rotates in a first direction or a second direction, wherein the first direction is opposite to the second direction.

[0020] The robotic arm provided in this embodiment uses at least one pair of springs as its elastic element, and they are symmetrically arranged on the left and right sides of the arm body along the axis of the connecting shaft. On the one hand, the linear buffering characteristics of the springs can make the buffering process of the collision force smoother, further protecting fragile objects and the robotic arm. On the other hand, the symmetrical arrangement of the springs on the left and right sides of the arm body along the axis of the connecting shaft does not occupy additional axial (arm body length direction) space of the arm body, which can realize the short arm body and long extension design of the robotic arm, which is more suitable for the cleaning needs of deep and low areas. At the same time, the symmetrical arrangement ensures that the buffering force is consistent when the two arm sections rotate in both directions, avoiding structural damage caused by weak buffering on one side.

[0021] In one exemplary embodiment of this disclosure, the at least one pair of springs are further configured to apply a symmetrical preload force to the second segment arm.

[0022] The robotic arm provided in this embodiment applies symmetrical pre-tensioning force to at least one pair of springs, which can keep the second arm stably attached to the first arm in the initial state, reduce or even eliminate the relative swaying of the two arms caused by vibration (such as the rotation vibration of the side brush) during the cleaning process, and improve the cleaning accuracy of the cleaning components (such as avoiding the deviation of the cleaning trajectory caused by the swaying of the side brush).

[0023] In one exemplary embodiment of this disclosure, the robotic arm further includes an active space disposed between the first segment arm and the second segment arm for the second segment arm to move relative to the first segment arm.

[0024] The robotic arm provided in this embodiment has an active space between the two arms to provide sufficient stroke for the movement of the second arm relative to the first arm (such as rotation or slight sliding), avoids collision and interference between the two arms due to insufficient space, and ensures that the buffer structure can play its full role (such as the elastic element can be fully deformed and the two arms can be rotated to a safe angle).

[0025] In one exemplary embodiment of this disclosure, the elastic element includes a colloid filling the active space.

[0026] The robotic arm provided in this embodiment uses a colloid (such as silicone or rubber) as its elastic element. On the one hand, the colloid has good elastic deformation capability and eliminates friction noise from metal parts during the buffering process, improving the quietness of the cleaning equipment. On the other hand, the colloid can be directly filled into the moving space without the need for complex installation structures (such as bushings for torsion springs or hooks for springs), simplifying the robotic arm assembly process and reducing production costs. In addition, a colloid of appropriate hardness can be selected so that, while meeting the buffering performance, the colloid can provide a holding force to keep the second arm stable against the first arm in the initial state. In some cases, there is no need to set up an additional positioning structure to provide a preset holding force, further simplifying the robotic arm structure and reducing production costs.

[0027] In one exemplary embodiment of this disclosure, the connector includes a connecting shaft, and the first segment arm and the second segment arm are rotatably connected via the connecting shaft; the movable space is disposed in a plane perpendicular to the connecting shaft and is symmetrically arranged between the first segment arm and the second segment arm along the axis of the connecting shaft; the colloid is filled in the movable space, and one end of the colloid is fixedly connected to one of the first segment arm and the second segment arm, and the other end is movably connected to the other of the first segment arm and the second segment arm.

[0028] The robotic arm provided in this embodiment has an active space symmetrically arranged along the connecting shaft axis. On the one hand, the symmetrical filling of the colloid can ensure that the buffering force is uniform when the second arm rotates in both directions, avoiding buffering imbalance caused by excessively thick / thin colloid on one side (such as one side being easy to deform and the other side being difficult to deform), thus improving the reliability of collision protection. On the other hand, the method of fixing one end of the colloid and movably connecting the other end ensures a stable connection between the colloid and the arm body, while reserving deformation space for the relative movement of the two arm segments, taking into account both structural stability and buffering flexibility, and can be adapted to robotic arms that require different movement trajectories, such as rotating, folding, and fixed types.

[0029] In one exemplary embodiment of this disclosure, the robotic arm further includes a detection structure configured to perform collision detection to cause the arm body and / or cleaning device body to perform avoidance maneuvers.

[0030] The robotic arm provided in this embodiment has two advantages. First, the detection structure can detect the collision state of the second arm in real time, avoiding the problem of continuous force on the robotic arm after a collision. Furthermore, by triggering an avoidance action, the collision time and force can be minimized, further protecting the object and the robotic arm. Second, the design of the detection structure enables the robotic arm to have active protection capabilities, rather than relying on passive buffering, thus improving the intelligence level of the cleaning equipment.

[0031] In one exemplary embodiment of this disclosure, the avoidance action includes at least one of the following: the arm body moving away from the object, shortening the outward extension length of the arm body, the cleaning equipment body stopping its movement, and the cleaning equipment body retracting.

[0032] The robotic arm provided in this disclosure can flexibly select from various avoidance actions, such as moving the arm body away from the object, shortening the extension length, stopping the device, and retracting the device, according to different cleaning scenarios. For example, when colliding in a narrow gap, choosing to shorten the extension length makes it easier to avoid the collision. When colliding in an open area, choosing to move the arm body away from the object will not affect the cleaning progress. The adaptability of various avoidance actions makes the robotic arm applicable to different types of cleaning equipment such as sweeping robots, floor scrubbing robots, and commercial cleaning machines.

[0033] In one exemplary embodiment of this disclosure, the detection structure includes a trigger switch and a trigger element, the trigger switch being disposed on one of the first segment arm and the second segment arm, and the trigger element being disposed on the other of the first segment arm and the second segment arm;

[0034] When the second segment arm moves relative to the first segment arm, the trigger element triggers the trigger switch.

[0035] The robotic arm provided in this embodiment uses a combination of a trigger switch and a trigger element in its detection structure, which is simple in structure and low in cost.

[0036] In one exemplary embodiment of this disclosure, the connector includes a connecting shaft, and the first segment arm and the second segment arm are rotatably connected via the connecting shaft;

[0037] The trigger switch includes a pair of microswitches and a pair of first levers. The pair of microswitches are stacked in a direction perpendicular to the axial direction of the corresponding segment arm, and the two contacts of the pair of microswitches face opposite directions in the relative rotation direction between the second segment arm and the first segment arm. The pair of first levers are movably disposed outside the pair of contacts. The triggering element includes a toggle member with one end fixed to another segment arm and the other end extending between the pair of first levers. When the second segment arm rotates relative to the first segment arm, the toggle member actuates the corresponding first lever, thereby actuating the corresponding contact.

[0038] Alternatively, the trigger switch includes a pair of microswitches stacked in a direction perpendicular to the axial direction of the corresponding segment arm, with the two contacts of the pair of microswitches facing opposite directions in the relative rotational direction between the second segment arm and the first segment arm. The pair of microswitches are arranged at an angle so that the two contacts of the pair of microswitches are close together in the rotational direction. The trigger includes a pair of second levers extending outward from the two contacts. When the second segment arm rotates relative to the first segment arm, the pair of second levers actuate the corresponding contacts.

[0039] The robotic arm provided in this embodiment includes a pair of microswitches and a pair of first levers. When the trigger switch includes a pair of microswitches and a pair of first levers, the microswitches are stacked in a direction perpendicular to the axial direction of the arm body, saving axial space and adapting to small robotic arms. The bidirectional contacts of the pair of microswitches face opposite directions, which can detect the rotation of the second arm in the first and second directions respectively, without detection blind spots. The lever design makes the triggering more sensitive (a slight rotation can trigger the moving contact of the microswitches), avoiding missed detections due to small collision force.

[0040] When the trigger switch includes a pair of microswitches, the microswitches can be stacked along the axis perpendicular to the segment arm to save axial space; the angled placement of the microswitches brings the bidirectional contacts closer together, shortens the travel of the lever (trigger element), and further improves the trigger sensitivity; the dual levers directly trigger the contacts, reducing intermediate transmission links, which simplifies the structure on the one hand, reduces the probability of failure on the other hand, and ensures the reliability of detection.

[0041] In one exemplary embodiment of this disclosure, a positioning structure is further included, disposed between the first segment arm and the second segment arm, and configured to provide a preset holding force to the second segment arm to maintain the second segment arm in an initial state relative to the first segment arm.

[0042] The robotic arm provided in this embodiment has two advantages. First, the positioning structure provides a preset holding force, which allows the second arm to maintain its initial state (coaxially straight) with the first arm during normal cleaning (without collision or only under small resistance). This prevents the arm from naturally deflecting due to the centrifugal force of the rotating cleaning component or the friction of the ground, ensuring a precise cleaning path. Second, the presence of the preset holding force ensures that the buffer structure is activated only when the collision force exceeds the holding force, preventing cleaning interruptions caused by small resistance. This balances the stability of normal cleaning with the buffer protection during collisions, resolving the contradiction that robotic arms are either too rigid and easily damaged or too soft and easily deviated.

[0043] In one exemplary embodiment of this disclosure, the connector includes a connecting shaft, and the first segment arm and the second segment arm are rotatably connected via the connecting shaft;

[0044] The positioning structure includes a positioning bead and a positioning groove adapted to the positioning bead. The positioning bead is disposed on one of the first segment arm and the second segment arm and arranged along the axial direction of the corresponding segment arm. The positioning groove is disposed on the other of the first segment arm and the second segment arm. The positioning bead includes a positioning bead body and a positioning elastic element that applies a positioning preload to the positioning bead body.

[0045] When the second arm is in the initial state, the positioning bead is embedded inside the positioning groove;

[0046] When the second segment arm rotates relative to the first segment arm, the positioning groove rotates with the corresponding segment arm, pressing the positioning bead to move away from the corresponding segment arm.

[0047] The robotic arm provided in this embodiment has a positioning structure including a positioning bead, a positioning groove, and a positioning elastic element. On the one hand, when the positioning bead is embedded in the positioning groove, the two arm segments can be accurately positioned through physical fitting, which is more reliable than simply relying on the pre-tightening force of the elastic element for positioning. The positioning elastic element applies a pre-tightening force to the positioning bead, which can ensure the tight fit between the positioning bead and the positioning groove, further improving the stability of the initial state. On the other hand, when the collision force exceeds the pre-tightening force of the positioning elastic element, the positioning bead can be pressed and moved by the positioning groove, without hindering the relative buffered movement of the two arm segments. After the collision, the positioning elastic element can drive the positioning bead to re-embed in the positioning groove, achieving automatic and accurate reset without manual adjustment, ensuring the continuity of the cleaning process.

[0048] In one exemplary embodiment of this disclosure, the positioning structure further includes a preload adjustment member configured to adjust the positioning preload.

[0049] The robotic arm provided in this embodiment has two advantages. First, the pre-tension adjustment component can flexibly adjust the positioning pre-tension of the positioning bead to adapt to different cleaning scenarios and object types. For example, when cleaning around fragile objects, the pre-tension can be reduced so that the robotic arm can activate the buffer under a small impact force to avoid damaging the fragile object. When cleaning hard objects, the pre-tension can be increased to avoid the buffer being accidentally triggered by a slight impact, thus ensuring cleaning efficiency. Second, the adjustment function enables the robotic arm to have scene customization capabilities, improving the user experience of the cleaning equipment (users can adjust it according to their home environment) and market competitiveness.

[0050] In one exemplary embodiment of this disclosure, one end of the arm body is controllably rotatably connected to the cleaning equipment body; the robotic arm further includes a controllably rotatable rotary joint disposed on the arm body to divide the arm body into a first controllable rotary arm for connecting to the cleaning equipment body and a second controllable rotary arm for setting the cleaning component.

[0051] The robotic arm provided in this embodiment has two advantages. First, by controlling the rotatable connection between one end of the arm body and the main body of the cleaning equipment, the robotic arm can rotate around the main body of the cleaning equipment to adjust the cleaning angle (e.g., from forward cleaning to lateral cleaning), further expanding the cleaning range and avoiding the inconvenience of having to move the equipment to adjust the cleaning direction. Second, by setting a controllable rotatable joint on the arm body to divide the arm body into a first controllable rotatable arm and a second controllable rotatable arm, the robotic arm can achieve multi-degree-of-freedom movement (e.g., the first controllable rotatable arm is used to adjust the overall direction, and the second controllable rotatable arm is used to adjust the angle of the cleaning part), thereby adapting to complex cleaning scenarios (e.g., at the corner of a deep and low area, it is necessary to adjust the direction of the arm body and the angle of the cleaning part at the same time).

[0052] In one exemplary embodiment of this disclosure, the buffer structure is located between the rotary joint and the connection position between the arm body and the cleaning device body, and the drive motor of the rotary joint is arranged on the second controllable rotary arm;

[0053] Alternatively, the rotary joint is located between the buffer structure and the connection point between the arm body and the cleaning device body, and the drive motor of the rotary joint is arranged on the first controllable rotary arm.

[0054] The robotic arm provided in this disclosure, when the buffer structure is located between the rotary joint and the connection point between the arm body and the cleaning equipment body (i.e., the buffer structure is closer to the cleaning equipment body), allows for a longer extension length of the second arm segment used to buffer collision forces, expanding the collision buffering range and improving the collision detection range. When the rotary joint is located between the buffer structure and the connection point between the arm body and the cleaning equipment body (i.e., the rotary joint is closer to the cleaning equipment body), on the one hand, the rotary joint increases the weight of the first arm segment, improving its stability and thus enhancing the rotational accuracy of the robotic arm; on the other hand, the rotary joint's location on the first arm segment reduces the weight of the second arm segment, improving its collision buffering flexibility. These two arrangements adapt to different robotic arm design requirements, further enhancing the robotic arm's versatility and design flexibility.

[0055] According to a second aspect of this disclosure, a cleaning device is provided, including a cleaning device body and a robotic arm provided in the first aspect of this disclosure.

[0056] The cleaning equipment provided in this embodiment, equipped with the aforementioned robotic arm, can directly obtain the advantages of expanding the cleaning range, collision protection, and adapting to various connection or extension forms, thus solving the technical problems of related technologies such as numerous cleaning blind spots and easy damage to objects or themselves.

[0057] According to a third aspect of this disclosure, a cleaning device is provided, comprising a cleaning device body, a control module, a cleaning component, and a robotic arm as described in the first aspect of this disclosure. One end of the robotic arm body is connected to the cleaning device body, and the other end is fitted with the cleaning component. The control module is configured to control the arm body and / or the cleaning device body to perform an avoidance action when the second arm collides with an object. The avoidance action includes at least one of the following: the arm body moving away from the object, shortening the extension length of the arm body, the cleaning device body stopping its movement, and the cleaning device body retracting.

[0058] The cleaning equipment provided in this embodiment achieves automated closed-loop control of collision detection and avoidance actions through the setting of the control module. Without manual intervention, the robotic arm can automatically trigger avoidance upon collision, avoiding the trouble of manual adjustment by the user and improving ease of use. Furthermore, the control module can intelligently select avoidance actions (e.g., moving the arm for small collisions and retracting the equipment for large collisions) based on the signals from the detected structure (such as the magnitude of the collision force), balancing cleaning efficiency and protection effect.

[0059] In one exemplary embodiment of this disclosure, the cleaning device is a robotic vacuum cleaner, and the cleaning component is a side brush. Attached Figure Description

[0060] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0061] Figure 1 A structural schematic diagram of the robotic arm and cleaning equipment in the assembled state provided in Embodiment 1;

[0062] Figure 2 for Figure 1 A schematic diagram of the structure of the robotic arm in its initial state (represented by solid lines) before colliding with an object and its movement state (represented by dashed lines) after colliding with an object;

[0063] Figure 3 This is a schematic diagram of the robotic arm provided in Embodiment 1;

[0064] Figure 4 for Figure 3 Side view;

[0065] Figure 5 for Figure 4 Cross-sectional view along BB;

[0066] Figure 6This is a schematic diagram of another robotic arm provided in Embodiment 1;

[0067] Figure 7 This is a schematic diagram of the robotic arm provided in Embodiment 2;

[0068] Figure 8 A schematic diagram of the triggering of the detection structure in the robotic arm provided in Embodiment 1;

[0069] Figure 9 This is a schematic diagram of another robotic arm provided in Embodiment 1;

[0070] Figure 10 This is a schematic diagram of another robotic arm provided in Embodiment 1;

[0071] Figure 11 for Figure 10 Cross-sectional view;

[0072] Figure 12 This is a schematic diagram of another robotic arm provided in Embodiment 1;

[0073] Figure 13 for Figure 12 Side view;

[0074] Figure 14 for Figure 13 Sectional view along AA;

[0075] Figure 15 A schematic diagram of the deflection state of the positioning structure in the robotic arm provided in Embodiment 1;

[0076] Figure 16 A three-dimensional structural diagram of the robotic arm provided in Embodiment 3;

[0077] Figure 17 This is a schematic diagram of the robotic arm swinging left and right in the cleaning equipment provided in Embodiment 4;

[0078] Figure 18 A bottom view of the robotic arm of the cleaning equipment provided in Embodiment 4 in the deployed state;

[0079] Figure 19 This is a bottom view of the robotic arm of the cleaning equipment provided in Embodiment 4 in its retracted state.

[0080] Wherein, 1-cleaning equipment body; 2-arm body; 21-first arm section; 211-first end; 212-first drive motor; 213-rotating groove; 22-second arm section; 221-second end; 222-rotating protrusion; 23-first controllable rotating arm; 24-second controllable rotating arm; 3-buffering structure; 31-connector; 311-connecting shaft; 312-rotating protrusion; 32-elastic element; 321-torsion spring; 3211-force-applying torsion arm; 322-compression spring; 323-tension spring; 324-colloid; 33-Active space; 4-Detection structure; 41-Trigger switch; 411-Micro switch; 4111-Contact; 412-First lever; 413-Second lever; 42-Trigger element; 421-Actuating element; 5-Positioning structure; 51-Positioning bead; 511-Positioning bead body; 512-Positioning elastic element; 52-Positioning groove; 53-Set screw; 6-Rotating joint; 61-Second drive motor; 7-Cleaning element; 81-First storage trigger switch; 82-Second storage trigger switch; 9-Outer contour plate. Detailed Implementation

[0081] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore detailed descriptions of them will be omitted. Furthermore, the drawings are merely illustrative of this disclosure and are not necessarily drawn to scale.

[0082] Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples in the accompanying drawings. It is understood that if the device of the icon is flipped so that it is upside down, the component described as "upper" will become the component described as "lower." When a structure is "upper" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.

[0083] The terms “a,” “one,” “the,” and “at least one” are used to indicate the existence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first” and “second” are used only as markers and are not a limitation on the number of objects.

[0084] With the increasing popularity of cleaning equipment (such as robotic vacuum cleaners and floor scrubbers), users are demanding higher cleaning ranges and greater safety. Currently, cleaning equipment typically uses robotic arms equipped with side brushes, roller brushes, and other cleaning components to achieve area cleaning, with the side brush robotic arms of robotic vacuum cleaners being the most widely used. However, the main body of the robotic arms in these cleaning equipment technologies is often a one-piece rigid structure. When the robotic arm collides with furniture, ornaments, or other objects, the rigid connection can easily lead to damage to the objects or the robotic arm itself.

[0085] Therefore, such as Figure 1As shown, this disclosure provides a robotic arm for cleaning equipment, including: an arm body 2 and a buffer structure 3. The arm body 2 is configured such that one end (the end closer to the cleaning equipment body 1) is connected to the cleaning equipment body 1, and the other end (the end farther from the cleaning equipment body 1) is used to mount the cleaning component 7. In this embodiment, the other end of the arm body 2 has a mounting portion for mounting the cleaning component 7, and the cleaning component 7 is mounted on the arm body 2 through the mounting portion. It should be noted that in some embodiments, the cleaning component 7 can be integrally formed with the arm body 2, for example, the cleaning component 7 can be integrated at the other end of the arm body 2. The cleaning equipment can be a sweeping robot or a floor scrubbing robot, etc. As long as it has a robotic arm and a cleaning component 7, the equipment used for cleaning work should be included in the scope of the cleaning equipment of this disclosure, and this disclosure does not impose any special limitations on this. Correspondingly, the cleaning component 7 can be a side brush, a roller brush, etc., specifically configured according to the actual needs of the cleaning equipment, and this disclosure does not impose any special limitations on this either. In this disclosure, the arm body 2 has a working state. In the working state, the arm body 2 drives the cleaning component 7 to extend out of the cleaning equipment body 1. In some embodiments, the arm body 2 can also have a retracted state, in which the arm body 2 pulls the cleaning component 7 into the cleaning device. In this disclosure, a buffer structure 3 is disposed between the two ends of the arm body 2 to divide the arm body 2 into a first arm segment 21 for connecting to the main body 1 of the cleaning device and a second arm segment 22 for mounting the cleaning component 7. The first arm segment 21 and the second arm segment 22 are movably connected through the buffer structure 3. In this disclosure, the movable connection can be a rotational connection, a telescopic connection, a folding connection, etc., and the specific connection method can be set according to the actual needs of the cleaning device; this disclosure does not impose any particular limitation on this. Further, the buffer structure 3 is configured to, in the working state, in response to the second arm segment 22 colliding with an object, cause the second arm segment 22 to move relative to the first arm segment 21 to buffer the collision force exerted on the second arm segment 22 by the object (the object being collided with).Therefore, on the one hand, by having the cleaning component 7 extend out of the cleaning device body 1 when the arm body 2 is in operation, compared to the cleaning component 7 set in the cleaning device body 1 in related technologies (such as the side brush of a robot vacuum cleaner), the extension distance of the cleaning component 7 can be extended to expand the cleaning range, thereby covering deeper low areas (such as under sofas and deep under beds) and eliminating cleaning dead corners; on the other hand, the buffer structure 3 is set between the two ends of the arm body 2, dividing the arm body 2 into a movable first arm segment 21 and a second arm segment 22, providing a structural basis for buffering collision forces. Furthermore, by using the buffer structure 3... The system is configured so that, in the working state, in response to the collision of the second arm 22 with an object, the second arm 22 moves relative to the first arm 21 to buffer the collision force applied to the second arm 22 by the object. This means that when the second arm 22, which is away from the main body 1 of the cleaning equipment, collides with an obstacle or a moving object actively collides with the second arm 22, the second arm 22 can move relative to the first arm 21 under the action of the buffer structure 3 to buffer the collision force applied to the second arm 22 by the object, thereby avoiding damage to the collided object and wear and tear on the mechanical arm itself caused by rigid impact.

[0086] The robotic arm and cleaning equipment provided in the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings.

[0087] Example 1

[0088] Figure 1 This is a schematic diagram of the robotic arm provided in Embodiment 1; Figure 2 for Figure 1 A schematic diagram showing the initial state (solid line) of the robotic arm before colliding with an object and its movement state (dashed line) after the collision. (See attached diagram.) Figure 1 and Figure 2 As shown, the robotic arm in this embodiment includes an arm body 2 and a buffer structure 3. One end of the arm body 2 (the end closer to the cleaning device body 1) is connected to the cleaning device body 1, and the other end of the arm body 2 (the end farther from the cleaning device body 1) is fitted with a cleaning component 7. For ease of understanding, the one end of the arm body 2 will be designated as the first end 211, and the other end as the second end 221. The buffer structure 3 is located between the first end 211 and the second end 221 of the arm body 2, dividing the arm body 2 into a first arm segment 21 for connecting to the cleaning device body 1 and a second arm segment 22 for mounting the cleaning component 7. The first arm segment 21 and the second arm segment 22 are movably connected to each other via the buffer structure 3.

[0089] In this embodiment, the buffer structure 3 is configured such that when the arm body 2 is in the working state, the buffer structure 3 can respond to the collision of the second arm segment 22 with an object (or the object colliding with the second arm segment 22), allowing the second arm segment 22 to move relative to the first arm segment 21 to buffer the collision force applied to the second arm segment 22 by the object. Figure 2 As shown, before colliding with an object, the second arm 22 and the first arm 21 remain in their initial state, and the cleaning component 7 extends out of the main body 1 of the cleaning device, ready for cleaning. When the second arm 22 collides with an object or is actively collided with by an object, the second arm 22 moves relative to the first arm 21 to buffer the collision force exerted on the second arm 22 by the collided object.

[0090] Figure 3 This is a three-dimensional structural diagram of the robotic arm in this embodiment; Figure 4 for Figure 3 Side view; Figure 5 for Figure 3 A cross-sectional view along the middle section BB. The buffer structure 3 includes a connector 31 and an elastic element 32. The first arm 21 and the second arm 22 are movably connected by the connector 31. The elastic element 32 is disposed between the first arm 21 and the second arm 22 and is configured to store elastic potential energy to buffer the collision force when the second arm 22 collides with an object. The elastic element 32 can absorb the impact energy of the collision by buffering the elastic force when the second arm 22 collides with an object. Compared with a flexible movable connection, the buffering effect is better and more controllable. Furthermore, the elastic element 32 is also configured to automatically release the elastic potential energy when the second arm 22 leaves the object, driving the second arm 22 to reset to the initial state. With this configuration, there is no need to set up an additional drive mechanism (such as a motor) for reset, simplifying the structure of the robotic arm and reducing energy consumption. Moreover, automatic reset can ensure the continuity of the cleaning process. After collision avoidance, there is no need for manual intervention or equipment shutdown for adjustment. The robotic arm can resume normal cleaning posture, improving cleaning efficiency.

[0091] Specifically, such as Figure 3 and Figure 5As shown, the elastic element 32 includes at least one pair of torsion springs 321, and the connecting element 31 uses a connecting shaft 311. The first arm 21 and the second arm 22 are rotatably connected via the connecting shaft 311. At least one pair of torsion springs 321 are fitted onto the connecting shaft 311, wherein the force-applying torsion arm 3211 of at least one torsion spring 321 acts on the first part of the second arm 22, and the force-applying torsion arm 3211 of at least another torsion spring 321 acts on the second part of the second arm 22, so that the second arm 22 provides a buffering torque when it rotates in a first direction or a second direction upon colliding with the object, where the first direction is opposite to the second direction. Thus, the connecting element 31 uses the connecting shaft 311 to achieve a rotatable connection between the two arms, which can adapt to the angle adjustment requirements of the extended form of the robotic arm, such as outward swing or folding, and the frictional resistance of the rotatable connection is small, ensuring smooth movement of the two arms during buffering. In addition, the elastic element 32 adopts at least one pair of torsion springs 321 or a torsion spring 321 with a double-force torsion arm 3211, which can provide buffering torque for the bidirectional rotation (first direction and second direction) of the second arm 22, solving the defect that the unidirectional buffer structure can only cope with a single collision direction; furthermore, the torsion spring 321 is mounted on the connecting shaft 311, which is compact and suitable for small robotic arm design.

[0092] As an example, such as Figure 5 As shown, the elastic element 32 employs a pair of torsion springs 321. The connecting shaft 311 passes through the connection between the first arm 21 and the second arm 22 in a direction perpendicular to the first arm 21 and the second arm 22. The pair of torsion springs 321 are symmetrically mounted on the connecting shaft 311. The force-applying torsion arm 3211 of the upper torsion spring 321 abuts against the upper boss of the second arm 22 to the lower right, and the force-applying torsion arm 3211 of the lower torsion spring 321 abuts against the lower boss of the second arm 22 to the lower left. When the second arm 22 rotates clockwise, the upper torsion spring 321 is twisted, providing a buffering torque in the counterclockwise direction. When the second arm 22 rotates counterclockwise, the lower torsion spring 321 is twisted, providing a buffering torque in the clockwise direction, thus achieving bidirectional buffering.

[0093] Furthermore, to facilitate the installation of the aforementioned connecting shaft 311 and torsion spring 321, such as Figure 3As shown, the end of the first arm 21 facing the second arm 22 has a rotating groove 213, and the end of the second arm 22 facing the first arm 21 has a rotating protrusion 222. The rotating protrusion 222 extends into the rotating groove 213, and the rotating protrusion 222 and the rotating groove 213 can rotate relative to each other. More specifically, the outer contour of the rotating protrusion 222 is arc-shaped, and the inner contour of the rotating groove 213 is an arc shape that matches the rotating protrusion 222. A connecting shaft hole is formed in the center of the rotating protrusion 222, and a connecting shaft 311 is installed in the connecting shaft hole to realize the rotatable connection between the first arm 21 and the second arm 22. As an example, a gap is provided between the outer contour of the rotating protrusion 222 and the inner contour of the rotating groove 213 to facilitate their relative rotation.

[0094] In this embodiment, when the elastic element 32 includes at least one pair of torsion springs 321, at least one torsion spring 321 is configured to apply a first preload torque to the second arm segment 22, and at least another torsion spring 321 is configured to apply a second preload torque to the second arm segment 22. The first preload torque and the second preload torque are of the same magnitude but opposite in direction. Figure 5 As shown, the upper and lower torsion springs 321 are pre-twisted during assembly: the upper torsion spring 321 is pre-twisted clockwise by a preset angle with a first pre-tightening torque, and the force-applying torsion arm 3211 applies a leftward pre-tightening force to the upper boss of the second arm 22; the lower torsion spring 321 is pre-twisted counterclockwise by the same preset angle with a second pre-tightening torque, and the force-applying torsion arm 3211 applies a rightward pre-tightening force to the lower boss of the second arm 22. The two pre-tightening torques are of the same magnitude but opposite in direction, forming a balancing torque. During use, the preload torque keeps the second arm 22 coaxial and straight with the first arm 21 when there is no external force (such as the friction of the ground during cleaning). When the external force (such as dust resistance) on the second arm 22 is less than the preload torque, the preload balance of the torsion spring 321 is not broken, the second arm 22 does not deflect, and the cleaning path is stable. When the collision force is greater than the preload torque, the preload balance is broken, and the corresponding side torsion spring 321 is further deformed to provide buffer torque, achieving the dual effect of stability with low resistance and buffering with large collision.

[0095] As an alternative implementation for adjusting preload torque, an adjusting bolt can be installed at the fixed end of the torsion spring 321. By rotating the bolt, the preload angle of the torsion spring 321 can be changed, thereby adjusting the magnitude of the preload torque to suit cleaning parts 7 of different weights. The torsion spring 321 can be made of a high-elasticity alloy material to improve the stability of the preload torque and avoid preload attenuation due to metal fatigue after long-term use, making it suitable for high-frequency use scenarios.

[0096] Figure 6 A schematic diagram showing the replacement of the torsion spring with a pair of springs for a buffer structure. (See diagram below.) Figure 6As shown, the connecting member 31 is a connecting shaft 311. The first arm 21 and the second arm 22 are rotatably connected through the connecting shaft 311. The elastic element 32 is replaced by a pair of compression springs 322. The axis of the compression springs 322 is perpendicular to the connecting shaft 311 and is symmetrically arranged on the left and right sides along the axis of the connecting shaft 311. One end of each compression spring 322 is connected to a hanging ring on the inner wall of the first arm 21 through a hook. The hanging ring is integrally formed with the first arm 21. The other end is connected to a hanging ear at the end of the second arm 22 through a hook. In some embodiments, in the initial state, the pair of compression springs 322 are in a naturally extended state or a slightly pre-compressed state, applying a symmetrical pre-tightening force to the second arm 22, keeping the second arm 22 coaxial with the first arm 21. When the second arm 22 deflects to the left, the left spring is compressed and the right spring is stretched. Both store elastic potential energy through deformation, generating a buffer spring force that resists deflection. The opposite is true when deflecting to the right, achieving bidirectional buffering. Compared to the torsion spring 321, the compression spring 322 has a smoother linear buffering characteristic, and the rotation speed of the second arm 22 is more uniform during a collision, making it suitable for scenarios sensitive to impact. In some embodiments, the compression spring 322 can also be replaced by a tension spring 323. In this case, the two ends of the tension spring are connected to the attachment points of the first arm 21 and the second arm 22, respectively. Initially, it is in a pre-stretched state, maintaining the stability of the second arm 22 through tension. During deflection, one side of the tension spring is further stretched while the other side is relaxed, achieving the same buffering effect. Its advantage is that it requires less installation space and can be adapted to a more compact arm structure.

[0097] In this embodiment, the robotic arm further includes an active space 33 disposed between the first segment arm 21 and the second segment arm 22, for the second segment arm 22 to move relative to the first segment arm 21. Figure 5 In this embodiment, the second arm 22 rotates around the connecting shaft 311, and the movable space 33 is fan-shaped. In other embodiments, if the second arm 22 slides relative to the first arm 21, the movable space 33 can be rectangular. A lubricating coating can be provided on the inner wall of the movable space 33 to reduce frictional resistance during the rotation of the second arm 22. The movable space 33 provides travel redundancy for the relative movement of the second arm 22. In the event of a collision, the second arm 22 can rotate around the connecting shaft 311 within the movable space 33 (or slide along the slide rail), preventing direct contact and collision between the two arms. An elastic element 32 (such as colloid 324) fills the movable space 33. When the second arm 22 moves, it squeezes the colloid 324, causing the colloid 324 to deform within the movable space 33. The boundary of the movable space 33 limits excessive deformation of the colloid 324, ensuring controllable cushioning effect.

[0098] To further protect the collided object and the robotic arm, in this embodiment, the robotic arm also includes a detection structure 4 to perform collision detection, causing the arm body 2 and / or the cleaning equipment body 1 to perform an avoidance maneuver. Figure 5 and Figure 8As shown, the detection structure 4 is located inside the cavity of the first arm 21, including a trigger switch 41 and a trigger element 42. The trigger switch 41 is a pair of microswitches 411 stacked vertically, and the housing is fixed to the inner wall support of the first arm 21 by screws. The trigger element 42 is a protrusion (toggle element 421) extending into the cavity of the first arm 21 from the lower end of the second arm 22. It is cylindrical and has a smooth surface. When the second arm 22 deflects, the toggle element 421 rotates with it, triggering the microswitches 411. Specifically, in the event of a collision, the second arm 22 deflects, the toggle element 421 rotates and presses the contact 4111 of the microswitches 411. The microswitches 411 emit an electrical signal (such as a collision detection signal), which is transmitted to the control module of the cleaning equipment. After receiving the signal, the control module controls the arm body 2 and / or the cleaning equipment body 1 to perform avoidance actions (such as the arm body 2 rotating away from the object and the cleaning equipment body 1 retracting) according to a preset program to avoid continuous collisions.

[0099] As an alternative implementation of detection structure 4, detection structure 4 can also use a pressure sensor (attached to the outer wall of the second arm 22) instead of micro switch 411. The sensor detects pressure changes upon collision and outputs an analog signal, which is suitable for scenarios requiring precise detection of collision force. For the signal transmission method of the sensor, a wireless transmission module (such as Bluetooth) can be used instead of wired transmission to avoid wire tangling when the arm rotates, which is suitable for robotic arms with multiple degrees of freedom of rotation.

[0100] As alternative implementations of the trigger switch 41 and the trigger element 42, such as Figure 9As shown, the trigger switch 41 includes a pair of micro switches 411, which are stacked in a direction perpendicular to the axial direction of the corresponding segment arm. The two contacts 4111 of the pair of micro switches 411 face opposite directions in the relative rotational direction between the second segment arm 22 and the first segment arm 21. The pair of micro switches 411 are arranged at an angle so that the two contacts 4111 of the pair of micro switches 411 are close together in the rotational direction. The trigger 42 includes a pair of second levers 413 extending outward from the two contacts 4111. When the second segment arm 22 rotates relative to the first segment arm 21, the pair of second levers 413 actuate the corresponding contacts 4111. Specifically, a pair of microswitches 411 are stacked vertically at a 45° angle (so that the contacts 4111 are close together), with the contacts 4111 reversed. A pair of second levers 413 are fixedly connected to the lower end of the second arm 22, extending outwards from the contacts 4111. When the second arm 22 deflects, the corresponding second lever 413 directly presses the contact 4111, triggering the microswitch 411, thus omitting the first lever 412 and simplifying the structure. In use, the deflection of the second arm 22 directly drives the second lever 413 to rotate, and the end of the lever presses the contact 4111, triggering a signal. During reset, the lever returns to its original position with the second arm 22, and the contact 4111 disconnects, reducing transmission links and improving trigger sensitivity.

[0101] It should be noted that the included angle of the micro switch 411 can be 30° or 60° in addition to 45°. The smaller the included angle, the closer the contacts 4111 are and the shorter the trigger stroke, which is suitable for robotic arms with small-angle deflection. The larger the included angle, the longer the trigger stroke, which is suitable for large-angle deflection scenarios.

[0102] like Figure 10-12 As shown, the robotic arm in this embodiment also includes a positioning structure 5, disposed between the first segment arm 21 and the second segment arm 22, configured to provide a preset holding force to the second segment arm 22 to maintain the second segment arm 22 in an initial state relative to the first segment arm 21. Specifically, as shown... Figure 11As shown, the positioning structure 5 is located inside the second arm 22 near the connecting shaft 311, and includes a positioning bead 51 and a positioning groove 52. The positioning bead 51 includes a positioning bead body 511 and a positioning elastic element 512, which is installed in the cylindrical mounting hole of the second arm 22. The top of the mounting hole is narrowed, and its diameter is smaller than that of the positioning bead body 511 to prevent it from falling off. The end of the positioning elastic element 512 facing away from the first arm 21 abuts against the stepped surface at the bottom of the mounting hole, and the end near the first arm 21 abuts against the positioning bead body 511, applying a pre-tightening force towards the first arm 21, i.e., a preset holding force. The positioning groove 52 is a hemispherical groove at the lower end of the first arm 21, and the diameter of the hemispherical groove matches that of the positioning bead body 511. In the initial state, the positioning bead body 511 is embedded in the positioning groove 52 under the action of the positioning elastic element 512, providing a holding force to keep the second arm 22 straight. When the second segment arm 22 rotates relative to the first segment arm 21, the positioning groove 52 rotates with the corresponding segment arm, pressing the positioning bead 511 to move away from the corresponding segment arm. It should be noted that the preset holding force is determined by the preload of the positioning elastic element 512. When the external force (such as cleaning resistance) on the second segment arm 22 is less than the holding force, the engagement state of the positioning bead 511 and the positioning groove 52 remains unchanged, and the second segment arm 22 maintains its initial state. When the impact force is greater than the holding force, the positioning groove 52 squeezes the positioning bead 511, compressing the positioning elastic element 512, causing the positioning bead 511 to disengage from the groove, and the second segment arm 22 can move relative to the first segment arm 21, achieving the effect of stable movement with low force and high-force movement.

[0103] As an alternative implementation of positioning structure 5, positioning structure 5 can also employ pin hole positioning. The first arm 21 is fitted with a positioning pin, and the second arm 22 is fitted with a positioning hole. The positioning pin is driven by spring 322 to extend into the positioning hole, providing a retaining force. Upon collision, the pin is pushed out of the hole, suitable for scenarios with high retaining force. The number of positioning beads 51 can be multiple positioning beads 51 evenly distributed circumferentially. For example, three positioning beads 51 are distributed at 120° circumferentially along the connecting shaft 311, corresponding to three positioning grooves 52, which improves the stability of the retaining force and avoids a decrease in retaining force due to wear of a single positioning bead 51.

[0104] Furthermore, in this embodiment, the positioning structure 5 also includes a preload adjusting member for adjusting the positioning preload. Figure 12As shown, the preload adjustment component is a set screw 53, located on the outer wall of the second arm 22. The threaded section of the set screw 53 engages with the threaded hole of the second arm 22, and its end extends into the mounting hole, abutting against the end of the positioning elastic element 512 away from the first arm 21. When the preload needs to be increased, the set screw 53 is rotated clockwise, and the end of the screw pushes the positioning elastic element 512 upward, increasing the compression and thus the preload on the positioning bead 511. The second arm 22 requires a greater impact force to disengage from the positioning. When the preload needs to be decreased, the set screw 53 is rotated counterclockwise, and the end of the screw moves away from the positioning elastic element 512, decreasing the compression and the preload. The second arm 22 can disengage from the positioning with a smaller impact force.

[0105] As an alternative implementation of the adjustment mechanism, a knob-type adjustment mechanism (knob and screw integrated) can be used to replace the set screw 53, allowing for manual adjustment without tools and improving user convenience. Furthermore, adjustment feedback can be provided, with a pressure gauge next to the adjustment mechanism to display the positioning preload in real time, facilitating precise adjustment by the user.

[0106] Example 2

[0107] Figure 7 This is a schematic diagram of a robotic arm provided in this embodiment. The main difference between this embodiment and Embodiment 1 is that in this embodiment, the elastic element 32 includes a colloid 324 filled in the movable space 33. The movable space 33 is symmetrically arranged along the axis of the connecting shaft 311; the colloid 324 fills the movable space 33, with one end fixed to one segment of the arm and the other end movably connected to another segment of the arm. Figure 7As shown, the active space 33 is an annular space between the ends of the first arm 21 and the second arm 22. The elastic element 32 is a silicone gel 324, which is fixedly connected to the end wall of the first arm 21 by bonding or encapsulation. The other end of the gel 324 is clearance-fitted to the end wall of the second arm 22, ensuring that the second arm 22 can move relative to the gel 324. The cross-section of the gel 324 is trapezoidal, wider at the outside and narrower at the inside, to fit the shape of the active space 33. During a collision, the second arm 22 rotates around the connecting shaft 311, squeezing the gel 324 on one side. The gel 324 undergoes elastic deformation, converting the collision kinetic energy into deformation potential energy, thus achieving buffering. Since the gel 324 fills the entire active space 33, it is constrained by the inner wall of the active space 33 during deformation, avoiding excessive deformation and ensuring uniform buffering force. After the collision, the gel 324 returns to its original shape, driving the second arm 22 to reset. The colloid 324 material can be made of nitrile rubber colloid 324 to improve oil resistance and abrasion resistance; or polyurethane colloid 324 to improve the elastic deformation range, depending on the actual needs of the scenario. In addition, the colloid 324 structure can be hollow colloid 324 (with honeycomb channels inside), which can absorb more impact energy under the same deformation, resulting in better cushioning effect, and reducing the weight of colloid 324, thus reducing the load on the arm.

[0108] The elastic element 32 uses colloid 324. On the one hand, colloid 324 has good elastic deformation capability and no friction noise from metal parts during the buffering process, improving the quiet performance of the cleaning equipment. On the other hand, colloid 324 can be directly filled into the active space 33 without the need for complex installation structures (such as the bushing of torsion spring 321 and the hook of spring 322), simplifying the assembly process of the robotic arm and reducing production costs. In addition, colloid 324 with appropriate hardness can be selected so that, while meeting the buffering performance, colloid 324 can provide a holding force to keep the second arm 22 stable with the first arm 21 in the initial state. In some cases, there is no need to set up an additional positioning structure 5 to provide a preset holding force, further simplifying the robotic arm structure and reducing production costs.

[0109] Example 3

[0110] Figure 16 This is a schematic diagram of the structure of a robotic arm provided in this embodiment. The main difference between the robotic arm provided in this embodiment and that in Embodiment 1 is that, in this embodiment, the first end 211 of the arm body 2 is controllably rotatably connected to the cleaning equipment body 1, and the robotic arm also includes a controllably rotatable rotary joint 6, which is disposed on the arm body 2 to divide the arm body 2 into a first controllable rotary arm 23 for connecting to the cleaning equipment body 1 and a second controllable rotary arm 24 for setting the cleaning component 7.

[0111] On the one hand, the first end 211 of the arm body 2 is rotatably connected to the cleaning equipment body 1, allowing the robotic arm to rotate around the cleaning equipment body 1 to adjust the cleaning angle (e.g., from forward cleaning to lateral cleaning), further expanding the cleaning range and avoiding the inconvenience of having to move the equipment to adjust the cleaning direction. On the other hand, by setting a controllable rotating joint 6 on the arm body 2 to divide the arm body 2 into a first controllable rotating arm 23 and a second controllable rotating arm 24, the robotic arm can achieve multi-degree-of-freedom movement (e.g., the first controllable rotating arm 23 is used to adjust the overall direction, and the second controllable rotating arm 24 is used to adjust the angle of the cleaning component 7), thereby adapting to complex cleaning scenarios (e.g., at the corner of a deep and low area, it is necessary to adjust the direction of the arm body 2 and the angle of the cleaning component 7 simultaneously).

[0112] In this embodiment, the first end 211 of the arm body 2 is controllably rotatably connected to the cleaning equipment body 1, such as... Figure 16 As shown, the first end 211 of the arm body 2 is connected to the cleaning device body 1 via a rotating base. A first drive motor 212 is integrated within the rotating base. The motor output shaft meshes with the gear at the first end 211 of the arm body 2 via a gear set, driving the arm body 2 to rotate controllably 360° around a vertical axis to adapt to different cleaning direction requirements. A rotating joint 6 is located in the middle of the arm body 2 and houses a second drive motor 61. The motor output shaft is fixedly connected to a second controllable rotating arm 24. The first controllable rotating arm 23 is fixed to the outer shell of the rotating joint 6. The second drive motor 61 can drive the second controllable rotating arm 24 to rotate around a horizontal axis, enabling the arm body 2 to be folded (in storage mode) or unfolded (in working mode).

[0113] During operation, the control module sends a rotation command, driving the first drive motor 212 inside the rotating seat to rotate. Through gear transmission, this drives the arm body 2 to rotate around the vertical axis, adjusting the cleaning direction of the cleaning component 7 (e.g., from front cleaning to side cleaning) and expanding the cleaning range. Then, the control module sends a folding / unfolding command, causing the second drive motor 61 inside the rotating joint 6 to rotate, driving the second controllable rotating arm 24 to rotate relative to the first controllable rotating arm 23. When unfolded, the second controllable rotating arm 24 rotates to be coaxial with the first controllable rotating arm 23, and the arm body 2 extends. When folded, it rotates to be parallel to the first controllable rotating arm 23, and the arm body 2 shortens for easy storage.

[0114] As an alternative implementation method for the drive system, belt drive is used instead of gear drive to reduce transmission noise and is suitable for scenarios with high requirements for quiet operation.

[0115] Furthermore, in this embodiment, the buffer structure 3 is located between the rotary joint 6 and the connection position between the arm body 2 and the cleaning device body 1, and the second drive motor 61 of the rotary joint 6 is arranged on the second controllable rotary arm 24. Figure 7As shown, when the buffer structure 3 is located between the rotating joint 6 and the connection position between the arm body 2 and the cleaning equipment body 1, that is, when the buffer structure 3 is close to the cleaning equipment body 1, the extension length of the second arm 22 used to buffer the collision force is longer, which expands the buffer collision range and improves the collision detection range.

[0116] Alternatively, in other embodiments, when the rotary joint 6 is located between the buffer structure 3 and the connection point between the arm body 2 and the cleaning device body 1, i.e., the rotary joint 6 is close to the cleaning device body 1, on the one hand, the rotary joint 6 increases the weight of the first arm segment 21, which can improve the stable support of the first arm segment 21 and thus improve the rotational accuracy of the robotic arm; on the other hand, the rotary joint 6 being located on the first arm segment 21 can reduce the weight of the second arm segment 22 and improve the flexibility of the second arm segment 22 in buffering collisions. These two arrangements adapt to different robotic arm design requirements, further improving the versatility and design flexibility of the robotic arm.

[0117] Example 4

[0118] This embodiment provides a cleaning device, such as... Figure 17 As shown, the cleaning device is a robotic vacuum cleaner. The main body 1 of the cleaning device is a circular shell with drive wheels and a suction port at the bottom. The robotic arm 2 is installed on the edge of the main body 1, extending out of the shell in the working state and folded into the storage cavity inside the shell in the storage state. The robotic arm adopts the robotic arm provided in any one of the embodiments one to three, and the cleaning component 7 is a side brush, which achieves large-area cleaning by driving the robotic arm.

[0119] When the robot vacuum is working, the control module drives the robotic arm to unfold and extend out of the housing, and the side brush rotates to clean. When the side brush collides with an object, the buffer structure 3 buffers the collision force, the detection structure 4 triggers an avoidance action, and the positioning structure 5 ensures the stability of the arm during cleaning. After cleaning, the rotating joint 6 drives the robotic arm to fold and store it in the housing, reducing the space occupied by the device.

[0120] Regarding the types of cleaning equipment the robotic arm is applicable to, in addition to sweeping robots, it can be used in floor scrubbers (robotic arm equipped with a roller brush) and window cleaning robots (robotic arm equipped with a mop). Only the cleaning component type 7 needs to be changed, while the core structure of the robotic arm remains unchanged, thus improving its versatility. As for the number of robotic arms used in the cleaning equipment, dual robotic arms (one on each side of the main body 1 of the cleaning equipment) can be used for simultaneous cleaning, improving cleaning efficiency and making it suitable for large-area cleaning scenarios.

[0121] Furthermore, the main body 1 of the cleaning equipment is equipped with a control module, which is connected to the detection structure 4 of the robotic arm, the drive motor, and the cleaning component 7 via wires. The control module has pre-stored avoidance action programs (such as "the arm moves backward in the event of a small collision, and the equipment retreats in the event of a large collision"), and can select the corresponding avoidance action according to the signal strength (collision force) of the detection structure 4.

[0122] When the second arm 22 collides with an object, the detection structure 4 emits an electrical signal, which is transmitted to the control module. The module determines the collision force based on the signal strength (e.g., the longer the high-level signal lasts, the greater the collision force). The control module calls the corresponding program according to the collision force: for a small collision (signal duration less than 0.1s), the main body of the arm 2 is driven to move backward; for a large collision (signal duration more than 0.1s), the main body of the cleaning device 1 is driven to move backward, and the side brush rotation is stopped to avoid secondary collisions.

[0123] In this embodiment, as Figure 18 and 19 As shown, the main body 2 of the robotic arm is divided into a first controllable rotating arm 23 and a second controllable rotating arm 24 via a rotary joint 6. A second drive motor 61 is integrated inside the rotary joint 6, and its output shaft is fixedly connected to one end of the second controllable rotating arm 24. The housing is fixedly connected to one end of the first controllable rotating arm 23. The folding and unfolding of the two arms are achieved by the forward and reverse rotation of the drive motor 61.

[0124] The buffer structure 3 of the robotic arm is located between the second controllable rotating arm 24 and the second segment arm 22 to ensure the stability of the arm body during operation; the cleaning component 7 is detachably connected to the second segment arm 22 by a buckle, and the side brush folds with the arm body when stored.

[0125] The main body 1 of the cleaning equipment has a storage cavity reserved inside to accommodate the folded robotic arm.

[0126] The following describes the unfolding and retraction process of the robotic arm.

[0127] Unfolding process: such as Figure 18 As shown, after the cleaning equipment is started, the control module sends an unfolding command to the drive motor 61 of the rotating joint 6. The motor output shaft rotates 90° clockwise, driving the second controllable rotating arm 24 to rotate around the axis of the rotating joint 6 until it is coaxial with the first controllable rotating arm 23. At this time, the arm body 2 drives the cleaning component 7 to extend out of the cleaning equipment body 1 and enter the working state. The positioning bead 511 of the positioning structure 5 is embedded in the positioning groove 52, and the preload adjusted by the set screw 53 keeps the arm body stable.

[0128] Storage process: such as Figure 19 As shown, after the cleaning task is completed, the control module sends a storage command, drives the motor 61 to rotate 90° counterclockwise, and the second controllable rotating arm 24 folds towards the first controllable rotating arm 23 until the two arms are parallel and close together. The entire arm body 2 is completely embedded in the storage cavity of the cleaning device body 1, and the cleaning component 7 is stored with the arm body and removed from the external environment.

[0129] Furthermore, the storage trigger switch includes a first storage trigger switch 81 (located on the opposite arm of the two controllable rotating arms) and / or a second storage trigger switch 82 (located in a preset position inside the main body 1 of the cleaning equipment), which respectively emit a first / second storage status signal.

[0130] The first storage trigger switch 81 is a surface mount micro switch, which is bonded and fixed to the inner side of the first controllable rotating arm 23 (the side opposite to the second controllable rotating arm 24), with the contact facing the second controllable rotating arm 24. The corresponding position of the second controllable rotating arm 24 is provided with a protruding trigger block. When the two arms are folded and close together, the trigger block presses the contact of the first storage trigger switch 81 and sends out a first storage status signal to confirm that the two arms are folded in place.

[0131] The second storage trigger switch 82 is a micro switch, which is fixed to the bottom inner wall of the storage cavity of the main body 1 of the cleaning equipment by screws (not shown in the figure). The bottom of the first controllable rotating arm 23 is provided with a trigger block that cooperates with the micro switch. When the arm is fully embedded in the storage cavity, the trigger block of the first controllable rotating arm 23 presses the micro switch contact, triggering the second storage trigger switch 82 and sending a second storage status signal to confirm that the robotic arm is fully stored.

[0132] The main body of the cleaning device also includes an outer contour plate 9 disposed opposite to the robotic arm. The outer contour plate has an open state and a closed state. In the open state, the robotic arm can extend from the main body of the cleaning device. When the robotic arm switches to the retracted state, the outer contour plate can switch to the closed state to cover the robotic arm. The first side of the second controllable rotating arm is configured with the same outer contour as the outer contour plate, so that when the robotic arm switches to the retracted state, the outer contour of the first side of the second controllable rotating arm is flush with the outer contour of the outer contour plate. In this embodiment, the outer contour of the side arm is designed to be an arc shape that is completely consistent with the outer contour plate 9. The length of the first side of the second controllable rotating arm 24 matches the height of the outer contour plate 9. When the robotic arm is in the retracted state, the side arm is tightly fitted with the inner side of the outer contour plate 9, and the arc-shaped outer contours of the two are completely overlapped. When viewed from the outside of the cleaning device, the outer contour plate 9 and the arm form a continuous arc-shaped surface without protrusions or depressions. The inner edge of the outer contour plate 9 is provided with a positioning notch, and the first side of the second controllable rotating arm 24 is provided with a positioning protrusion at the corresponding position. When the outer contour plate 9 is closed, the protrusion is inserted into the notch, further ensuring that the outer contours of the two are aligned.

[0133] It should be noted that if the main body 1 of the cleaning equipment is square (such as a commercial floor scrubber), the outer contour of the first side of the second controllable rotating arm 24 can be designed as a straight line consistent with the outer contour plate 9 to ensure that a continuous square surface is formed when stored, which is suitable for the appearance design of square equipment.

[0134] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the embodiments thereof. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not claimed herein. The specification and embodiments are to be considered as such only, and the true scope and spirit of this disclosure are indicated by the appended claims.

Claims

1. A robotic arm, characterized in that, For installing cleaning components, including: The arm body is configured such that one end is connected to the cleaning equipment body and the other end is used to install the cleaning component. The arm body has a working state in which the arm body drives the cleaning component to extend out of the cleaning equipment body. A buffer structure is disposed between the two ends of the arm body to divide the arm body into a first arm segment for connecting the cleaning equipment body and a second arm segment for mounting the cleaning component. The first arm segment and the second arm segment are movably connected by the buffer structure. The buffer structure is configured to, in the working state, in response to the second arm segment colliding with an object, move the second arm segment relative to the first arm segment to buffer the collision force exerted on the second arm segment by the object.

2. The robotic arm according to claim 1, characterized in that, The buffer structure includes a connector and an elastic element; the first segment arm and the second segment arm are movably connected by the connector, and the elastic element is disposed between the first segment arm and the second segment arm and is configured to store elastic potential energy to buffer the collision force when the second segment arm collides with an object. The elastic element is also configured to release the elastic potential energy to reset the second segment arm when the second segment arm leaves the object.

3. The robotic arm according to claim 2, characterized in that, The connector includes a connecting shaft, and the first arm segment and the second arm segment are rotatably connected via the connecting shaft. The elastic element includes at least one pair of torsion springs, which are fitted onto the connecting shaft. The at least one pair of torsion springs are configured such that at least one torsion arm of the torsion spring acts on a first portion of the second arm, and at least another torsion arm acts on a second portion of the second arm, so that the second arm provides a buffering torque when it rotates in a first or second direction upon colliding with the object, wherein the first direction is opposite to the second direction. Alternatively, the elastic element may include a torsion spring fitted onto the connecting shaft, and the torsion spring may have two force-applying torsion arms that act on different parts of the second arm, so that the second arm can provide a buffering torque when the colliding object rotates in a first direction or a second direction, wherein the first direction is opposite to the second direction.

4. The robotic arm according to claim 3, characterized in that, When the elastic element includes at least one pair of torsion springs, at least one of the torsion springs is configured to apply a first preload torque to the second segment arm, and at least another torsion spring is configured to apply a second preload torque to the second segment arm, wherein the first preload torque and the second preload torque are of the same magnitude and applied in opposite directions.

5. The robotic arm according to claim 2, characterized in that, The connector includes a connecting shaft, through which the first arm segment and the second arm segment are rotatably connected; the elastic element includes at least one pair of springs, which are symmetrically connected between the first arm segment and the second arm segment in a plane perpendicular to the connecting shaft and along the axis of the connecting shaft. The at least one pair of springs are configured to provide a buffering spring force to the second arm segment when it collides with the object and rotates in a first direction or a second direction, the first direction being opposite to the second direction; the at least one pair of springs are also configured to apply a symmetrical preload force to the second arm segment.

6. The robotic arm according to claim 2, characterized in that, It also includes a movable space disposed between the first segment arm and the second segment arm for the second segment arm to move relative to the first segment arm; the elastic element includes a colloid filled in the movable space; the connector includes a connecting shaft, through which the first segment arm and the second segment arm are rotatably connected; the movable space is disposed in a plane perpendicular to the connecting shaft and is symmetrically disposed between the first segment arm and the second segment arm along the axis of the connecting shaft; the colloid is filled in the movable space, and one end of the colloid is fixedly connected to one of the first segment arm and the second segment arm, and the other end is movably connected to the other of the first segment arm and the second segment arm.

7. The robotic arm according to any one of claims 1-6, characterized in that, It also includes a detection structure configured to perform collision detection to cause the arm body and / or cleaning equipment body to perform an avoidance action, the avoidance action including at least one of the following: the arm body moving away from the object, shortening the extension length of the arm body, the cleaning equipment body stopping its movement, and the cleaning equipment body retracting.

8. The robotic arm according to claim 7, characterized in that, The detection structure includes a trigger switch and a trigger element. The trigger switch is located on one of the first segment arm and the second segment arm, and the trigger element is located on the other of the first segment arm and the second segment arm. When the second segment arm moves relative to the first segment arm, the trigger element triggers the trigger switch.

9. The robotic arm according to claim 8, characterized in that, The connector includes a connecting shaft, through which the first arm segment and the second arm segment are rotatably connected; The trigger switch includes a pair of microswitches and a pair of first levers. The pair of microswitches are stacked in a direction perpendicular to the axial direction of the corresponding segment arm, and the two contacts of the pair of microswitches face opposite directions in the relative rotation direction between the second segment arm and the first segment arm. The pair of first levers are movably disposed outside the pair of contacts. The triggering element includes a toggle member with one end fixed to another segment arm and the other end extending between the pair of first levers. When the second segment arm rotates relative to the first segment arm, the toggle member actuates the corresponding first lever, thereby actuating the corresponding contact. Alternatively, the trigger switch includes a pair of microswitches stacked in a direction perpendicular to the axial direction of the corresponding segment arm, with the two contacts of the pair of microswitches facing opposite directions in the relative rotational direction between the second segment arm and the first segment arm. The pair of microswitches are arranged at an angle so that the two contacts of the pair of microswitches are close together in the rotational direction. The trigger includes a pair of second levers extending outward from the two contacts. When the second segment arm rotates relative to the first segment arm, the pair of second levers actuate the corresponding contacts.

10. The robotic arm according to any one of claims 1-6, characterized in that, It also includes a positioning structure disposed between the first segment arm and the second segment arm, configured to provide a preset holding force to the second segment arm to maintain the second segment arm in an initial state relative to the first segment arm.

11. The robotic arm according to claim 10, characterized in that, The connector includes a connecting shaft, through which the first arm segment and the second arm segment are rotatably connected; The positioning structure includes a positioning bead and a positioning groove adapted to the positioning bead. The positioning bead is disposed on one of the first segment arm and the second segment arm and arranged along the axial direction of the corresponding segment arm. The positioning groove is disposed on the other of the first segment arm and the second segment arm. The positioning bead includes a positioning bead body and a positioning elastic element that applies a positioning preload to the positioning bead body. When the second arm is in the initial state, the positioning bead is embedded inside the positioning groove; When the second segment arm rotates relative to the first segment arm, the positioning groove rotates with the corresponding segment arm, pressing the positioning bead to move away from the corresponding segment arm.

12. The robotic arm according to claim 11, characterized in that, The positioning structure further includes a preload adjustment element configured to adjust the positioning preload.

13. The robotic arm according to any one of claims 1-6, characterized in that, One end of the arm body is rotatably connected to the cleaning equipment body; the robotic arm also includes a rotatable joint, which is disposed on the arm body to divide the arm body into a first controllable rotating arm for connecting to the cleaning equipment body and a second controllable rotating arm for setting the cleaning component. The buffer structure is located between the rotary joint and the connection position between the arm body and the cleaning equipment body, and the drive motor of the rotary joint is arranged on the second controllable rotary arm; Alternatively, the rotary joint is located between the buffer structure and the connection point between the arm body and the cleaning device body, and the drive motor of the rotary joint is arranged on the first controllable rotary arm.

14. A cleaning device, characterized in that, The device includes a cleaning equipment body, a control module, a cleaning component, and a robotic arm according to any one of claims 1-13. One end of the robotic arm body is connected to the cleaning equipment body, and the other end is equipped with the cleaning component. The control module is configured to control the arm body and / or the cleaning equipment body to perform an avoidance action when the second arm collides with an object. The avoidance action includes at least one of the following: the arm body moving away from the object, shortening the extension length of the arm body, the cleaning equipment body stopping its movement, and the cleaning equipment body retracting.

15. The cleaning equipment according to claim 14, characterized in that, The cleaning equipment is a robotic vacuum cleaner, and the cleaning component is a side brush.

Images