A robotic arm, working head, work station and lawnmower

Abstract

The application provides a mechanical arm, a working head, a working station and a mower. The mechanical arm comprises an arm body and a connecting piece. The connecting piece comprises a positioning column and a limiting part. The positioning column is rotationally connected to the arm body. The limiting part is located at one end of the positioning column away from the arm body and protrudes from the side wall of the positioning column. The connecting piece is used for connecting with the working head. The working head comprises a connecting port. The shape of the connecting port matches the shape of the end surface of the positioning column and the limiting part. The positioning column and the limiting part are used for detachably connecting with the connecting port. The application can quickly replace the working head and greatly improve the working efficiency.

Description

Technical Field

[0001] This application relates to the field of lawnmower technology, and in particular to a robotic arm, a working head, a workstation, and a lawnmower. Background Technology

[0002] A lawnmower is a mechanical tool used for trimming lawns, vegetation, etc. Compared to manual mowing with sickles, lawnmowers save lawnmower workers' time and significantly reduce manpower. Some lawnmowers are equipped with robotic arms, which can perform more functions through their flexible movement. These robotic arms typically require actuators, or working heads, to operate. Different functions require different working heads, such as gripping, mowing, and blowing. Designing an interface that allows for quick changing of working heads can greatly improve work efficiency. Utility Model Content

[0003] This application provides a robotic arm, a working head, a workstation, and a lawnmower that can quickly change working heads, greatly improving work efficiency.

[0004] This application is implemented as follows: a robotic arm includes an arm body and a connector; the connector includes a positioning post and a limiting part, the positioning post is rotatably connected to the arm body, and the limiting part is located at the end of the positioning post away from the arm body and protrudes and is connected to the side wall of the positioning post; the connector is used to connect with a working head, the working head includes a connection port, the shape of the connection port matches the end face shape of the positioning post and the limiting part, and the positioning post and the limiting part are used to be detachably connected with the connection port.

[0005] This application embodiment also provides a working head, including a working head body and an interface guide; the interface guide is disposed on the working head body, and the interface guide has a through connection port; the connection port is used to connect with a connector of a robotic arm, the connector includes a positioning post and a limiting part, the limiting part is located at one end of the positioning post and protrudes and is connected to the side wall of the positioning post, the shape of the connection port matches the end face shape of the positioning post and the limiting part, and the connection port is used for detachable connection with the positioning post and the limiting part.

[0006] This application embodiment also provides a workstation including a tool compartment with multiple placement slots for storing working heads as described above. When a working head is placed in a placement slot, the bottom surface of the placement slot abuts against the pressing plate of the working head.

[0007] This application also provides a lawnmower, including a lawnmower body and a robotic arm as described in the above embodiment; the robotic arm is connected to the lawnmower body.

[0008] This application also provides a lawnmower, including a lawnmower body, a robotic arm as described in the above embodiment, and a working head as described in the above embodiment; the robotic arm is connected to the lawnmower body, and the working head is detachably connected to the robotic arm.

[0009] The beneficial effects of the robotic arm, working head, workstation, and lawnmower provided in this application are as follows: Compared with the prior art, when connecting the robotic arm and the working head, the positioning post and limiting part of the connector pass through the connection port of the working head to detachably connect with the connection port. In this way, the robotic arm can be quickly connected or separated from the working head, which greatly improves work efficiency and makes it easier and faster for equipment using the above-mentioned robotic arm to change different working heads to meet different work needs. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of a lawnmower provided in an embodiment of this application;

[0011] Figure 2 This is a schematic diagram of another lawnmower provided in an embodiment of this application;

[0012] Figure 3 yes Figure 2 A diagram showing the lawnmower after the working head has been replaced;

[0013] Figure 4 This is a schematic diagram of the tool bay;

[0014] Figure 5 This is a schematic diagram of the structure of the robotic arm provided in the embodiments of this application;

[0015] Figure 6 yes Figure 5 Enlarged view of point I in the middle;

[0016] Figure 7 This is a schematic diagram of the working head provided in an embodiment of this application;

[0017] Figure 8 Yes, yes Figure 7 Another angle diagram of the working head;

[0018] Figure 9 yes Figure 8 Diagram showing the position of the connection port and connector of the intermediate working head. Figure 1 ;

[0019] Figure 10 yes Figure 8 Diagram showing the position of the connection port and connector of the intermediate working head. Figure 2 ;

[0020] Figure 11 This is a schematic diagram of the compressed tablet structure;

[0021] Figure 12 This is another structural schematic diagram of the robotic arm provided in the embodiments of this application;

[0022] Figure 13 This is a schematic diagram of the distribution of the first electrical contact points on the guide post. Figure 1 ;

[0023] Figure 14 This is a schematic diagram of the distribution of the second electrical contact points within the guide groove. Figure 1 ;

[0024] Figure 15 This is a schematic diagram of the distribution of the first electrical contact points on the guide post. Figure 2 ;

[0025] Figure 16 This is a schematic diagram of the distribution of the second electrical contact points within the guide groove. Figure 2 ;

[0026] Figure 17 This is a schematic diagram of the distribution of the first electrical contact points on the guide post. Figure 3 ;

[0027] Figure 18 This is a schematic diagram of the distribution of the second electrical contact points within the guide groove. Figure 3 ;

[0028] Figure 19 It is a line voltage waveform diagram;

[0029] Figure 20 It is a waveform diagram of the data signal;

[0030] Figure 21 It is a waveform overlay of data signals and line voltage;

[0031] Figure 22 yes Figure 7 A schematic diagram of a structure in which charging contacts are set on an interface guide component;

[0032] Figure 23 This is a diagram showing the working head being charged inside the tool compartment.

[0033] Reference numerals: 10, lawnmower body; 20, robotic arm; 30, working head; 40, tool compartment; 50, fastener;

[0034] 21. Arm body; 22. Connector; 221. Guide post; 222. Positioning post; 2221. Connecting hole; 223. Limiting part; 23. Wiring harness socket; 24. First electrical contact point; 241. First power supply contact point; 242. First communication contact point;

[0035] 31. Working head body; 32. Interface guide; 3201. First surface; 3202. Second surface; 321. Guide groove; 322. Connection port; 323. Limiting block; 324. Locking element; 3241. Elastic element; 3242. Guide surface; 325. Pressing piece; 33. Plug; 34. Second electrical connection contact point; 341. Second power supply contact point; 342. Second communication contact point; 35. Charging contact point; 41. Mounting slot; 42. Charging plate. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0037] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0038] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0039] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0040] It should also be noted that in the embodiments of this application, the same reference numerals are used to represent the same component or part. For the same part in the embodiments of this application, the reference numerals may only be used to mark one part or component as an example. It should be understood that the reference numerals are also applicable to other identical parts or components.

[0041] Currently, lawnmowers require different working heads to be changed according to work needs during use. For example, a cutting head with blades can be used when mowing grass, and a blower head with a blower can be used when cleaning after mowing. Based on this, this application provides a robotic arm, working head, workstation, and lawnmower that can quickly change working heads and greatly improve work efficiency.

[0042] refer to Figure 1 The lawnmower provided in this application embodiment includes a lawnmower body 10 and a robotic arm 20; the robotic arm 20 is connected to the lawnmower body 10.

[0043] In actual operation, the above-mentioned lawn mower can be connected to the working head 30 on the robotic arm 20 to meet the lawn mowing needs.

[0044] Further reference Figure 2 and Figure 3 The lawnmower includes a main body 10, a robotic arm 20, and a working head 30. The robotic arm 20 is connected to the main body 10, and the working head 30 is detachably connected to the robotic arm 20. In this way, the lawnmower can work using its own built-in working head 30, without the need for an additional working head 30.

[0045] The working head 30 can have different functions, such as a working head 30 for cutting grass, a working head 30 for blowing air to sweep the cut grass together, a working head 30 for grabbing and bagging the collected weeds, a working head 30 for gripping objects, and so on. The working heads 30 with different functions have different structures.

[0046] In this embodiment, a robotic arm 20 is connected to the lawnmower body 10. By detachably connecting the working head 30 to the robotic arm 20, the robotic arm 20 can be connected to working heads 30 with different functions, thereby enriching the functions of the lawnmower and reducing the workload of users in maintaining the lawn.

[0047] Different functional workheads 30 can be stored in the workstation's tool compartment 40. (Reference) Figure 4 As shown, the workstation includes a tool compartment 40, which has multiple placement slots 41 for storing the work head 30.

[0048] In actual use, when the working head 30 needs to be replaced, the working head 30 is first removed and placed in the placement slot 41 of the tool compartment 40. Then, the working head 30 stored in another placement slot 41 in the tool compartment 40 is installed on the robotic arm 20 to complete the replacement of the working head 30. In this way, the replaced working head 30 is placed in the placement slot 41 of the tool compartment 40, which not only facilitates the storage of the working head 30, but also prevents the replaced working head 30 from contaminating other places besides the tool compartment 40. Only the tool compartment 40 needs to be cleaned, which greatly reduces the workload of the user.

[0049] refer to Figure 5 and Figure 6 The robotic arm 20 provided in this embodiment includes an arm body 21 and a connector 22. The connector 22 includes a positioning post 222 and a limiting part 223. The positioning post 222 is rotatably connected to the arm body 21, and the limiting part 223 is located at the end of the positioning post 222 away from the arm body 21 and protrudes from and is connected to the side wall of the positioning post 222. (See reference) Figure 7 , Figure 8 and Figure 11 This application embodiment also provides a working head 30, including a working head body 31 and an interface guide 32; the interface guide 32 is disposed on the working head body 31, and the interface guide 32 has a through connection port 322. A connector 22 is used to connect to the working head 30, and the shape of the connection port 322 matches the end face shape of the positioning post 222 and the limiting part 223. When the connector 22 is connected to the working head 30, the positioning post 222 and the limiting part 223 are detachably connected to the connection port 322.

[0050] The positioning post 222 can be cylindrical or frustum-shaped. The positioning post 222 is rotatably connected to the arm 21, meaning that the positioning post 222 rotates relative to the arm 21, and the axis of rotation of the positioning post 222 relative to the arm 21 can be the central axis of the positioning post 222.

[0051] The limiting part 223 protrudes from and connects to the side wall of the positioning post 222. The limiting part 223 can extend from the side wall of the positioning post 222 in a direction away from the positioning post 222, for example, it can extend from the side wall of the positioning post 222 outwards in a direction perpendicular to the central axis of the positioning post 222. The shape of the connection between the limiting part 223 and the positioning post 222 can match the shape of the side wall of the positioning post 222. The end face of the limiting part 223 away from the arm body 21 is flush with the end face of the positioning post 222 away from the arm body 21, or the end face of the limiting part 223 away from the arm body 21 protrudes from the end face of the positioning post 222 away from the arm body 21, or the end face of the positioning post 222 away from the arm body 21 protrudes from the end face of the limiting part 223 away from the arm body 21.

[0052] The projection shape of the limiting part 223 along the central axis of the positioning post 222 can be any shape, such as a rectangle, square, triangle, semicircle, tooth, or other shapes. This specification does not limit this, as long as the limiting part 223 protrudes from the side wall of the positioning post 222 in a direction away from the positioning post 222. This achieves the limiting of the working head 30 and the connecting part 22. The limiting part 223 and the positioning post 222 can be integrally formed or separately formed and fixedly connected. The fixed connection method can be adhesive, riveting, welding, snap-fit, threaded connection, etc.

[0053] The shape of the connection port 322 matches the end face shape of the positioning post 222 and the limiting part 223. When the connection port 322 has depth along the direction of the central axis of the positioning post 222, the shape of the connection port 322 matches the end face shape of the positioning post 222 and the limiting part 223 in the depth direction of the connection port 322.

[0054] Through the above settings, the connector 22 can be quickly positioned and limited at the connection port 322. When the working head 30 is connected to the connector 22, the connector 22 needs to be rotated to a position directly opposite the connection port 322, that is, the end faces of the positioning post 222 and the limiting part 223 are aligned with the direction of the connection port 322, so that the positioning post 222 and the limiting part 223 pass through the connection port 322. The connector 22 of the robotic arm 20 can be quickly connected or disconnected from the connection port 322 of the working head 30, which greatly improves work efficiency and makes it easier for equipment using the robotic arm 20 to quickly and easily change different working heads 30 to meet different work requirements.

[0055] In some embodiments, there are multiple limiting portions 223, which are evenly distributed on the sidewalls of the positioning post 222 around the rotation center of the positioning post 222. As mentioned earlier, when the working head 30 is connected to the connector 22, the connector 22 needs to be rotated to a position directly opposite the connection port 322. When multiple limiting portions 223 are evenly distributed on the sidewalls of the positioning post 222 around the rotation center of the positioning post 222, rapid alignment of the connector 22 and the connection port 322 can be achieved. The more limiting portions 223 there are, the smaller the alignment error.

[0056] refer to Figure 6 The following description uses two limiting parts 223 as an example. The two limiting parts 223 are distributed opposite each other on the side wall of the positioning post 222, which can reduce alignment errors and reduce the difficulty of processing.

[0057] In some embodiments, reference Figure 6 and Figure 7The connector 22 also includes a guide post 221, which is rotatably connected to the arm body 21. A positioning post 222 is connected to the end of the guide post 221 away from the arm body 21. The guide post 221 is frustum-shaped, and the end of the guide post 221 with a smaller radius is connected to the positioning post 222. The working head 30 has a guide groove 321 around the connection port 322. The guide post 221 matches the contour of the guide groove 321. When the connector 22 is connected to the working head 30, the guide post 221 and the guide groove 321 are opposite each other.

[0058] refer to Figure 7 The guide groove 321 is frustum-shaped, and the opening of the guide groove 321 is located on the first surface 3201 opposite to the second surface 3202. The area of ​​the opening of the guide groove 321 is larger than the area of ​​the bottom of the groove. It should be noted that the guide groove 321 matches the contour of the guide post 221, that is, the guide groove 321 provided around the connection port 322 of the working head 30 is an inclined curved surface.

[0059] With the above settings, the side of the guide post 221 is an inclined curved surface, and the surface area of ​​the side closer to the positioning post 222 is smaller than the surface area of ​​the side farther from the positioning post 222. Similarly, the guide groove 321 provided around the connection port 322 of the working head 30 is also an inclined curved surface, and matches the contour of the guide post 221. In this way, when the positioning post 222 and the limiting part 223 are inserted into the connection port 322 of the working head 30, the side of the guide post 221 and the side wall of the guide groove 321 can play a guiding role, which is conducive to the smooth and accurate insertion of the positioning post 222 and the limiting part 223 into the connection port 322, and improves the connection efficiency between the connector 22 and the connection port 322.

[0060] In some embodiments, reference Figure 6 The positioning post 222 is cylindrical, and the radius of the bottom surface of the end where the positioning post 222 connects to the guide post 221 is the same as the radius of the end where the guide post 221 connects to the positioning post 222. This design ensures that when the positioning post 222 and the limiting part 223 are inserted into the connection port 322, the positioning post 222 contacts the side wall of the connection port 322, resulting in a more secure connection between the positioning post 222, the limiting part 223, and the connection port 322.

[0061] In some embodiments, the positioning post 222 is frustum-shaped. The radius of the bottom surface of the end where the positioning post 222 connects to the guide post 221 is the same as the radius of the end where the guide post 221 connects to the positioning post 222. The radius of the end of the positioning post 222 away from the guide post 221 is smaller than the radius of the end of the positioning post 222 closer to the guide post 221. With this configuration, when the positioning post 222 and the limiting part 223 are inserted into the connection port 322, they can pass through the connection port 322 more easily, facilitating a quick connection between the positioning post 222 and the limiting part 223 and the connection port 322.

[0062] In some embodiments, the guide post 221, the positioning post 222, and the limiting part 223 are integrally formed. In this way, the entire connector 22 is a single structure, and the rigidity and strength of the connector 22 are also greater. After the connector 22 is connected to the working head 30, the working head 30 and the arm 21 are entirely connected by the connector 22. The connector 22, with its integral structure, can withstand greater load-bearing capacity, ensuring a more reliable connection between the working head 30 and the robotic arm 20. During the operation of the working head 30, the connector 22 is less likely to break, causing the working head 30 to detach from the robotic arm 20.

[0063] It should be noted that the guide post 221, positioning post 222 and limiting part 223 can be integrally molded using the same material, which can save material costs and also make the integral molding effect better.

[0064] The connection between connector 22 and connector 322 can be automatic or manual.

[0065] During automatic connection, when the connector 22 is connected to the connector 322, the limiting part 223 passes through the connector 322 and rotates to a position that is misaligned with the connector 322, so as to abut against the second surface 3202 of the working head 30 on the side opposite to the connector 22.

[0066] When the limiting part 223 passes through the connecting port 322, the limiting part 223 and the connecting port 322 are directly opposite each other, and the shape of the limiting part 223 matches the shape of the connecting port 322. After rotating the limiting part 223, the limiting part 223 and the connecting port 322 are misaligned. That is, the orthographic projection of the limiting part 223 on the second surface 3202 does not coincide with the orthographic projection of the connecting port 322 on the second surface 3202. The limiting part 223 abuts against the second surface 3202. At this time, the limiting part 223 cannot be pulled out from the connecting port 322, thus achieving axial limiting of the connector 22 and the working head 30.

[0067] It should be noted that when the connector 22 is connected to the connection port 322, the positioning post 222 and the limiting part 223 of the connector 22 are passed through the connection port 322 of the working head 30. Since the positioning post 222 can rotate around the arm body 21, rotating the positioning post 222 will cause the limiting part 223 to rotate together, thereby causing the limiting part 223 to rotate to a position that is misaligned with the connection port 322. At this time, the limiting part 223 abuts against the second surface 3202 on the side of the working head 30 opposite to the connector 22, that is, the limiting part 223 is engaged with the connection port 322, realizing the connection between the working head 30 and the robotic arm 20. Rotating the positioning post 222 again to drive the limiting part 223 to rotate in the opposite direction will make the limiting part 223 face the connection port 322, realizing the separation of the working head 30 and the robotic arm 20.

[0068] In some embodiments, reference Figure 8 and Figure 11 The second surface 3202 of the interface guide 32 on the side opposite to the connector 22 is provided with a limiting structure around the connection port 322. When the connection port 322 is connected to the connector 22, the limiting part 223 passes through the connection port 322 and rotates to be limited and engaged with the limiting structure.

[0069] In some embodiments, reference Figures 8-11 The limiting structure includes at least one limiting block 323 and a locking member 324; at least one limiting block 323 and the locking member 324 are disposed around the connection port 322, the locking member 324 is disposed opposite to one of the limiting blocks 323, and the locking member 324 can move between a position protruding from the second surface 3202 and a position not protruding from the second surface 3202; when the connector 22 is connected to the connection port 322, the limiting part 223 is located between the limiting block 323 and the locking member 324, and the locking member 324 protrudes from the second surface 3202.

[0070] With the above settings, the specific implementation of connecting the connector 22 and the connection port 322 is as follows: When connecting the connector 22 and the connection port 322, the positioning post 222 passes through the connection port 322, and the limiting part 223 passes through the connection port 322. The connector 22 is rotated around the arm body 21 to a position that is misaligned with the connection port 322. At this time, the limiting part 223 abuts against the second surface 3202, and the limiting part 223 cannot be pulled out of the connection port 322. If the limiting part... When connector 223 is misaligned with connector 322 and abuts against a limiting block 323, it is equivalent to limiting part 223 being in a locked position. In the locked position, limiting part 223 is located between limiting block 323 and locking member 324, with locking member 324 protruding from the second surface 3202. At this time, limiting part 223 is stuck between limiting block 323 and locking member 324, and the movement of limiting part 223 is restricted, thereby achieving circumferential connection between connector 22 and connector 322. This connection method allows connector 22 and connector 322 to be quickly connected together, thereby achieving quick connection between robotic arm 20 and working head 30, facilitating quick replacement of working head 30.

[0071] in, Figure 9 The limiting part 223 shown is not connected to the connection port 322, and the locking member 324 is located at a position protruding from the second surface 3202. Figure 9 The dotted line with an arrow indicates the direction of rotation of connector 22, according to... Figure 9The rotating connector 22 rotates in the same direction. During rotation, the limiting part 223 can press the locking part 324 down from a position protruding from the second surface 3202 to a position where it does not protrude from the second surface 3202. When the limiting part 223 rotates to the locked position, the limiting part 223 moves away from the locking part 324, and the locking part 324 moves back to a position protruding from the second surface 3202. At this time, the limiting part 223 is located between the limiting block 323 and the locking part 324, achieving circumferential locking. Figure 10 The limiting part 223 shown is connected to the connection port 322. At this time, the limiting part 223 is located between the limiting block 323 and the locking member 324, and the locking member 324 protrudes from the second surface 3202.

[0072] In some embodiments, reference Figure 8 The locking member 324 includes an elastic member 3241, which is deformable between protruding from the second surface 3202 and not protruding from the second surface 3202. This facilitates the locking member 324 moving from not protruding from the second surface 3202 to protruding from the second surface 3202, thereby enabling the elastic member 3241 to automatically move to the position protruding from the second surface 3202 after the limiting part 223 rotates to the locked position, thus locking the limiting part 223.

[0073] In some embodiments, reference Figure 8 , Figure 9 and Figure 11 The elastic member 3241 has a guide surface 3242 on the side facing away from the second surface 3202. Along the direction close to the limiting block 323 which is disposed opposite to the elastic member 3241, the distance between the guide surface 3242 and the second surface 3202 increases, and the edge of the guide surface 3242 away from the limiting block 323 which is disposed opposite to the elastic member 3241 does not protrude from the second surface 3202.

[0074] Among them, the direction along the limiting block 323, which is positioned opposite to the elastic member 3241, is... Figure 9 The dotted line with an arrow indicates the direction of rotation. That is, the direction of movement of the limiting part 223 from away from the limiting block 323 to near the limiting block 323 during the rotation process.

[0075] The edge of the guide surface 3242 away from the limiting block 323 opposite to the elastic member 3241 does not protrude from the second surface 3202, so that... Figure 9 The limiting part 223 passes through the connecting port 322 and then follows... Figure 9 The direction of rotation indicated by the dotted line with arrows is directly rotated, allowing the device to rotate between the limiting block 323 and the elastic element 3241.

[0076] In some embodiments, reference Figures 8-11A pressing piece 325 is connected to the side of the elastic member 3241 near the limiting block 323 which is opposite to the elastic member 3241. When the pressing piece 325 is pressed, it causes the guide surface 3242 to not protrude from the second surface 3202.

[0077] in, Figure 9 The limiting part 223 shown is not connected to the connection port 322. Figure 9 The dotted line with an arrow indicates the direction of rotation of connector 22, according to... Figure 9 By rotating the connecting member 22 in the rotation direction, the limiting part 223 can press the locking member 324 from the position protruding from the second surface 3202 to the position not protruding from the second surface 3202. Figure 10 The limiting part 223 shown is connected to the connection port 322. Figure 10 The dotted line with arrows indicates the direction of rotation of connector 22. When the pressing piece 325 is pressed, the guide surface 3242 does not protrude from the second surface 3202, and can be adjusted according to... Figure 10 The rotating connector 22 rotates in the direction of rotation, thereby causing the locking member 324 to move from a position that does not protrude from the second surface 3202 to a position that protrudes from the second surface 3202.

[0078] With the above settings, when the robotic arm 20 connects to the working head 30, the connector 22 is inserted into the connection port 322, so that the positioning post 222 and the limiting part 223 of the connector 22 pass through the connection port 322. At this time, the limiting part 223 will protrude from the second surface 3202. Rotating the connector 22 will drive the limiting part 223 to rotate, and the limiting part 223 will pass through the guide surface 3242 of the elastic member 3241. Since the guide surface 3242 is away from the limiting block that is opposite to the elastic member 3241, One edge of 323 does not protrude from the second surface 3202, so the limiting part 223 will pass through the guide surface 3242 and press down the elastic member 3241 until the limiting part 223 reaches between the limiting block 323 and the elastic member 3241. At this time, the elastic member 3241 returns to its original state, that is, the guide surface 3242 of the elastic member 3241 protrudes from the second surface 3202, and the limiting part 223 is restricted from moving, so the connection between the working head 30 and the robotic arm 20 is more secure.

[0079] When the working head 30 is separated from the robotic arm 20, the elastic element 3241 can be deformed and pressed down by pressing the pressing piece 325 connected to the elastic element 3241, so that the guide surface 3242 of the elastic element 3241 does not protrude from the second surface 3202, thereby releasing the restriction on the limiting part 223. The connecting part 22 is rotated to drive the limiting part 223 to rotate so that it is directly opposite the connection port 322, so that the connecting part 22 can be pulled out from the connection port 322, thereby separating the working head 30 from the robotic arm 20.

[0080] The above-described configuration simplifies the connection and disconnection operations between the working head 30 and the robotic arm 20, facilitating the connection of different working heads 30 to the robotic arm 20. This allows devices using the robotic arm 20 of this application to more quickly and conveniently change different working heads 30 to meet diverse work requirements. Furthermore, the disassembly and installation of the working head 30 require minimal human intervention, significantly reducing the workload for users when changing the working head 30.

[0081] In some embodiments, the number of limiting blocks 323 may be the same as the number of limiting portions 223. Each limiting portion 223 corresponds to one limiting block 323. (See reference...) Figure 10 There are two limiting blocks 323 and two limiting parts 223. When the connection port 322 is connected to the connector 22, the two limiting blocks 323 abut against the two limiting parts 223 respectively, and the two limiting blocks 323 are located on different sides of the two limiting parts 223.

[0082] With the above settings, after the connector 22 is inserted into the connector 322 and rotated, the two limiting parts 223 will also rotate, so that different sides of the two limiting parts 223 abut against the two limiting blocks 323 respectively. In this way, the two limiting parts 223 cannot move and are more securely restricted between the limiting blocks 323 and the elastic member 3241. As a result, the entire connector 22 cannot move and is not easy to detach from the connector 322, making the connection between the working head 30 and the robotic arm 20 more secure.

[0083] In some embodiments, there may be multiple locking members 324. The number of locking members 324 may be the same as the number of limiting blocks 323. Each locking member 324 is disposed opposite to a limiting block 323 and forms a locking structure to circumferentially lock the corresponding limiting portion 223.

[0084] In the automatic connection mode, the robotic arm 20 may also include a force detection device and a control device. The force detection device is disposed on the arm body 21 and / or the connector 22. The force detection device is used to detect the magnitude and direction of the pressure on the limiting part 223 during the process of the limiting part 223 being inserted into the connection port 322. The control device is electrically connected to the force detection device. The control device is used to control the limiting part 223 to rotate to align with the connection port 322 according to the magnitude and direction of the pressure on the limiting part 223 detected by the force detection device.

[0085] It should be noted that during the insertion of the positioning post 222 and the limiting part 223 into the connection port 322, if the limiting part 223 is not aligned with the connection port 322, it will abut against the inner wall of the guide groove 321. At this time, the force detection device will detect the magnitude and direction of the pressure on the limiting part 223, and thus determine the offset of the limiting part 223 relative to the connection port 322 based on the magnitude and direction of the pressure. Then, the control device will automatically control the limiting part 223 to rotate so that it aligns with the connection port 322, facilitating the insertion of the positioning post 222 and the limiting part 223 into the connection port 322. This greatly improves the efficiency of accurately inserting the limiting part 223 into the connection port 322, making the connection between the working head 30 and the robotic arm 20 faster. Specifically, the control device can control the rotation of the guide post 221 to drive the rotation of the positioning post 222 and the limiting part 223.

[0086] It is understood that the force detection device is used to detect the magnitude and direction of the pressure on the limiting part 223. Therefore, in this embodiment, the force detection device can be set on the side surface of the limiting part 223 facing the connection port 322. Of course, since the pressure on the limiting part 223 will be transmitted to the positioning post 222 and the guide post 221, the force detection device can also be set at the end of the guide post 221 near the arm body 21, or at the end of the arm body 21 near the guide post 221. In this way, the magnitude and direction of the pressure on the guide post 221 detected by the force detection device are equivalent to the magnitude and direction of the pressure on the limiting part 223.

[0087] In some embodiments, the robotic arm 20 further includes a first driving device disposed within the arm body 21. The first driving device drives the connecting member 22 to rotate around the arm body 21. The first driving device is electrically connected to a control device.

[0088] With the above settings, when the force detection device detects the magnitude and direction of the pressure on the limiting part 223, it can control the first drive device to drive the connector 22 to rotate around the arm body 21, thereby driving the positioning column 222 and the limiting part 223 to rotate. Thus, the limiting part 223 can be accurately inserted into the connection port 322 without manual intervention, so that the working head 30 can be smoothly connected to the robotic arm 20. This greatly reduces the user's involvement in the installation of the working head 30 and reduces the user's workload.

[0089] It should be noted that, in addition to setting the first drive device inside the arm body 21, the control device included in the robotic arm 20 can also be set inside the arm body 21. This not only facilitates the connection between the control device and the first drive device, but also protects the control device and the first drive device from damage by the arm body 21, while the overall size of the robotic arm 20 does not increase.

[0090] In some embodiments, the robotic arm 20 further includes a second drive device that drives the connecting arm body 21 to move; the second drive device is electrically connected to a control device, which is further configured to control the second drive device to drive the arm body 21 to move according to the magnitude and direction of the pressure on the limiting part 223 detected by the force detection device, so that the limiting part 223 is aligned with the connection port 322.

[0091] It is understood that, since the connector 22 connected to one end of the arm body 21 of the robotic arm 20 of this application is used to connect the working head 30 so that the equipment using the robotic arm 20 can work in different working scenarios, the arm body 21 of this application can extend, retract or change direction. By setting a second driving device, the arm body 21 can be driven to move so that the arm body 21 extends, retracts or changes direction, thereby causing the connector 22 connected to one end of the arm body 21 and the working head 30 connected to the connector 22 to move.

[0092] It should be noted that when the force detection device detects the magnitude and direction of the pressure on the limiting part 223, in addition to rotating the limiting part 223 to align it with the connection port 322, it can also directly control the second drive device to drive the arm 21 to move through the control device, thereby causing the connector 22 to move, that is, the limiting part 223 to move to align with the connection port 322. This method can greatly improve the efficiency of the limiting part 223 to be accurately inserted into the connection port 322, making the connection between the working head 30 and the robotic arm 20 faster.

[0093] In practical applications, when the limiting part 223 is not aligned with the connecting port 322, the force detection device will detect the magnitude and direction of the pressure on the limiting part 223. At this time, the offset and offset direction of the limiting part 223 relative to the connecting port 322 can be determined based on the magnitude and direction of the pressure on the limiting part 223. Thus, the limiting part 223 can be aligned with the connecting port 322 by controlling the rotation of the limiting part 223, or by controlling the movement of the arm 21. Alternatively, the two methods of controlling the rotation of the limiting part 223 and controlling the movement of the arm 21 can be combined to align the limiting part 223 with the connecting port 322. This ensures that the position of the limiting part 223 is adjusted to be aligned with the connecting port 322, ensuring that the limiting part 223 can be smoothly inserted into the connecting port 322, so that the working head 30 and the robotic arm 20 can be smoothly and quickly connected together.

[0094] When the connector 22 and the working head 30 need to be manually connected, refer to Figure 12The positioning post 222 has a connecting hole 2221 on the end face facing away from the arm body 21. When the connector 22 is connected to the connecting port 322, the positioning post 222 and the limiting part 223 pass through the connecting port 322. The fastener 50 is connected to the connecting hole 2221 from the side of the connecting port 322 away from the connector 22, so as to connect the connector 22 and the working head 30 together.

[0095] With the above settings, when connecting the working head 30 and the robotic arm 20, it is only necessary to insert the connector 22 of the robotic arm 20 into the connector port 322 of the working head 30, and then connect the fastener 50 to the connector hole 2221 to complete the connection between the working head 30 and the robotic arm 20. The whole connection process is simple and easy to operate, which greatly improves the connection efficiency between the working head 30 and the robotic arm 20.

[0096] In some embodiments, reference Figure 12 The limiting part 223 extends from the end face of the positioning post 222 away from the guide post 221 to the guide post 221 and is connected to the side wall of the guide post 221.

[0097] With the above settings, the contact area between the positioning pin 222 and the limiting part 223 and the connection port 322 can be increased after they are inserted into the connection port 322, which is conducive to a more secure connection between the working head 30 and the connector 22.

[0098] refer to Figures 13-18 The guide post 221 has a first electrical contact point 24 on its outer side, and the guide groove 321 has a second electrical contact point 34 on its side. When the connector 22 is connected to the working head 30, the first electrical contact point 24 and the second electrical contact point 34 on the guide groove 321 are in contact. It should be noted that by providing the first electrical contact point 24 on the outer side of the guide post 221 and the second electrical contact point 34 on the side of the guide groove 321, the first electrical contact point 24 and the second electrical contact point 34 can be in contact simultaneously when the connector 22 is connected to the working head 30, thus realizing the electrical connection between the robotic arm 20 and the working head 30. Through the contact between the first electrical contact point 24 and the second electrical contact point 34, the device using the robotic arm 20 can supply power to the working head 30, and the robotic arm 20 and the working head 30 can communicate with each other, thereby facilitating the control of the working head 30 and eliminating the trouble of manual operation.

[0099] In some embodiments, reference Figures 13-18The first electrical connection contact 24 includes at least one first power supply contact 241; the second electrical connection contact 34 includes at least one second power supply contact 341. Thus, when the connector 22 is connected to the working head 30, the first power supply contact 241 will contact and connect with the second electrical connection contact 34, so that the device employing the robotic arm 20 supplies power to the working head 30. Specifically, the first power supply contact 241 will contact and connect with the second power supply contact 341 in the second electrical connection contact 34, so that the device employing the robotic arm 20 supplies power to the working head 30.

[0100] At least one first power supply contact 241 may be evenly spaced along the circumference of the guide post 221. At least one second power supply contact 341 may be evenly spaced along the circumference of the guide groove 321. It should be noted that the distribution positions of the first power supply contacts 241 on the guide post 221 along the depth direction of the guide post 221 correspond to the distribution positions of the second power supply contacts 341 on the guide groove 321 along the depth direction of the guide groove 321. The distribution positions of the first power supply contacts 241 on the guide post 221 along the circumference direction of the guide post 221 correspond to the distribution positions of the second power supply contacts 341 on the guide groove 321 along the circumference direction of the guide groove 321.

[0101] The number of first power supply contacts 241 and second power supply contacts 341 is the same. When there is only one first power supply contact 241 and one second power supply contact 341, the first power supply contact 241 can be located at any position on the guide post 221, as long as it is consistent with the distribution position of the second power supply contacts 341 on the guide groove 321. When there are multiple first power supply contacts 241 and multiple second power supply contacts 341, their numbers can be consistent with the number of limiting parts 223. Since the multiple limiting parts 223 are evenly spaced around the positioning post 222, the multiple first power supply contacts 241 are evenly spaced along the circumference of the guide post 221, and the multiple second power supply contacts 341 are evenly spaced along the circumference of the guide groove 321, the spacing angle between the multiple limiting parts 223 is consistent with the spacing angle between the multiple first power supply contacts 241 and the multiple second power supply contacts 341. This configuration allows the first power supply contact 241 and the second power supply contact 341 to make electrical contact as long as the connector 22 is aligned with the connector 322, greatly reducing the difficulty of installation and positioning.

[0102] Of course, at least one first power supply contact 241 can also be continuously distributed circumferentially around the guide post 221. That is, the first power supply contact 241 forms a closed ring on the guide post 221. In this case, the number of at least one second power supply contact 341 can be one, and it can be distributed at any position circumferentially on the guide groove 321. The number of at least one second power supply contact 341 can also be multiple, and they can be distributed at intervals or evenly spaced along the guide groove 321. Of course, the number of at least one second power supply contact 341 can be one, and it can be continuously distributed circumferentially on the guide groove 321. That is, the second power supply contact 341 forms a closed ring on the guide groove 321. Of course, at least one second power supply contact 341 can also be continuously distributed circumferentially around the guide groove 321. That is, the second power supply contact 341 forms a closed ring on the guide groove 321. In this case, the number of at least one first power supply contact 241 can be one, and it can be distributed at any position circumferentially on the guide post 221. The number of at least one first power supply contact 241 can also be multiple, and they can be distributed at intervals or evenly spaced along the guide post 221. Of course, the number of at least one first power supply contact 241 can be one, continuously distributed along the circumference of the guide post 221. That is, the first power supply contact 241 forms a closed ring on the guide post 221. In this way, as long as the connector 22 is connected to the connector 322, the first power supply contact 241 can be made to contact and connect with the second electrical contact 34, without being limited by shape, size and position, and can better supply power to the working head 30.

[0103] In some embodiments, reference Figures 13-18 The first electrical contact 24 further includes at least one first communication contact 242; the second electrical contact 34 further includes at least one second communication contact 342. Thus, when the connector 22 is connected to the working head 30, the first communication contact 242 will contact and connect with the second electrical contact 34, enabling communication between the device employing the robotic arm 20 and the working head 30. Specifically, the first communication contact 242 will contact and connect with the second communication contact 342 in the second electrical contact 34, enabling communication between the device employing the robotic arm 20 and the working head 30.

[0104] At least one first communication contact 242 and at least one first power supply contact 241 are arranged along the depth direction of the guide post 221; the at least one first communication contact 242 is evenly spaced circumferentially along the guide post 221. At least one second communication contact 342 and at least one second power supply contact 341 are arranged along the depth direction of the guide groove 321; the at least one second communication contact 342 is evenly spaced circumferentially along the guide groove 321. It should be noted that the distribution positions of the first communication contacts 242 on the guide post 221 along the depth direction of the guide post 221 match the distribution positions of the second communication contacts 342 on the guide groove 321 along the depth direction of the guide groove 321. The distribution positions of the first communication contacts 242 on the guide post 221 along the circumferential direction of the guide post 221 match the distribution positions of the second communication contacts 342 on the guide groove 321 along the circumferential direction of the guide groove 321.

[0105] It should be noted that when the connector 22 is connected to the working head 30, the first communication contact 242 will connect with the second communication contact 342 in the second electrical connection contact 34, enabling communication between the robotic arm 20 and the working head 30. This communication method requires no additional operation, facilitating control of the working head 30 and eliminating the hassle of manual operation. Furthermore, the first communication contact 242 and the first power supply contact 241 are reasonably distributed on the outer side of the guide post 221, which not only separates the power supply channel and the communication channel, ensuring that the reliability and efficiency of communication are not affected, but also avoids placing excessive load on the first electrical connection contact 24.

[0106] The number of first communication contacts 242 and second communication contacts 342 is the same. When there is only one first communication contact 242 and one second communication contact 342, the first communication contact 242 can be located at any position on the guide post 221, as long as it is consistent with the distribution position of the second communication contacts 342 on the guide groove 321. When there are multiple first communication contacts 242 and multiple second communication contacts 342, their numbers can be consistent with the number of limiting parts 223. Since the multiple limiting parts 223 are evenly spaced around the positioning post 222, the multiple first communication contacts 242 are evenly spaced along the circumference of the guide post 221, and the multiple second communication contacts 342 are evenly spaced along the circumference of the guide groove 321, the spacing angle between the multiple limiting parts 223 is consistent with the spacing angle between the multiple first communication contacts 242 and the multiple second communication contacts 342. This configuration allows the first communication contact 242 and the second communication contact 342 to make electrical contact as long as the connector 22 is aligned with the connector 322, greatly reducing the difficulty of installation and positioning.

[0107] Of course, at least one first communication contact 242 can also be continuously distributed circumferentially around the guide post 221. That is, the first communication contact 242 forms a closed ring on the guide post 221. In this case, the number of at least one second communication contact 342 can be one, and it can be distributed at any position circumferentially on the guide groove 321. The number of at least one second communication contact 342 can also be multiple, and they can be distributed at intervals or evenly spaced along the guide groove 321. Of course, the number of at least one second communication contact 342 can be one, and it can be continuously distributed circumferentially on the guide groove 321. That is, the second communication contact 342 forms a closed ring on the guide groove 321. Of course, at least one second communication contact 342 can also be continuously distributed circumferentially around the guide groove 321. That is, the second communication contact 342 forms a closed ring on the guide groove 321. In this case, the number of at least one first communication contact 242 can be one, and it can be distributed at any position circumferentially on the guide post 221. The number of at least one first communication contact 242 can also be multiple, and they can be distributed at intervals or evenly spaced along the guide post 221. Of course, the number of at least one first communication contact 242 can be one, continuously distributed circumferentially along the guide post 221. That is, the first communication contact 242 forms a closed ring on the guide post 221. In this way, as long as the connector 22 is connected to the connector 322, the first communication contact 242 can make contact with the second electrical contact 34, without being limited by shape, size and position, and can better communicate with the working head 30.

[0108] Example, reference Figure 13 and Figure 14 One first power supply contact 241 and one first communication contact 242 are provided. When the connector 22 is connected to the working head 30, one first power supply contact 241 and one first communication contact 242 will respectively make contact with the corresponding second electrical connection contact 34. This can save the number of first power supply contacts 241 while meeting the needs of power supply and communication, thus saving costs and reducing the workload of setting the first power supply contacts 241.

[0109] refer to Figure 15 and Figure 16 Two first power supply contacts 241 and two first communication contacts 242 are provided. When the connector 22 is connected to the working head 30, one of the first power supply contacts 241 and one of the first communication contacts 242 will respectively make contact with the corresponding second electrical connection contacts 34. This ensures that the first electrical connection contacts 24 can match and make contact with the second electrical connection contacts 34 when the second electrical connection contacts 34 are in different positions.

[0110] refer to Figure 17 and Figure 18Two first power supply contacts 241 and two first communication contacts 242 are provided. When the connector 22 is connected to the working head 30, the two first power supply contacts 241 and the two first communication contacts 242 will respectively make contact with the corresponding second electrical connection contacts 34. This increases the contact area and improves power supply and communication performance.

[0111] It is important to note that the first power supply contact 241 needs to make contact with the corresponding second electrical connection contact 34 to achieve electrical connection. Similarly, the first communication contact 242 also needs to make contact with the corresponding second electrical connection contact 34 to achieve electrical connection. Therefore, after the positioning post 222 and the limiting part 223 of the connector 22 are connected to the connector 322, the first power supply contact 241 and the corresponding second electrical connection contact 34 need to make contact, and the first communication contact 242 also needs to make contact with the corresponding second electrical connection contact 34.

[0112] When one or two of the first power supply contact 241 and the first communication contact 242 are provided, when the positioning post 222 and the limiting part 223 of the connector 22 are rotated and engaged with the connection port 322, the rotation angle of the limiting part 223 after passing through the connection port 322 will affect the position of the first power supply contact 241 and the first communication contact 242 relative to the second electrical connection contact 34. Therefore, when there are two limiting parts 223, two limiting blocks 323 are provided to allow the limiting part 223 to rotate 90° and engage with the connection port 322. As a result, the line connecting the first power supply contact 241 and the central axis of the guide post 221 on the outer side of the guide post 221 forms a 90-degree angle with the line connecting the limiting part 223 and the central axis of the guide post 221. Thus, when the limiting part 223 rotates 90°, the first power supply contact 241 will also rotate 90°, thereby making corresponding contact with the second electrical connection contact 34.

[0113] Similarly, for the first communication contact 242, the line connecting the first communication contact 242 and the central axis of the guide post 221 on the outer side of the guide post 221 has a 90-degree angle with the line connecting the limiting part 223 and the central axis of the guide post 221. Thus, when the limiting part 223 rotates 90°, the first communication contact 242 will also rotate 90°, thereby making contact with the second electrical contact point 34.

[0114] When three or more of the first power supply contact 241 and the first communication contact 242 are provided, since the limiting part 223 can rotate 90° to engage with the connection port 322, when the limiting part 223 passes through the connection port 322, the line connecting the first power supply contact 241 and the central axis of the guide post 221 on the outer side of the guide post 221 forms a 90-degree angle with the line connecting the corresponding second electrical connection contact 34 and the central axis of the guide post 221. Similarly, the line connecting the first communication contact 242 and the central axis of the guide post 221 on the outer side of the guide post 221 forms a 90-degree angle with the line connecting the corresponding second electrical connection contact 34 and the central axis of the guide post 221. Thus, when the limiting part 223 rotates 90°, both the first power supply contact 241 and the first communication contact 242 will rotate 90°, thereby making contact with the corresponding second electrical connection contact 34.

[0115] As can be seen, the first power supply contact 241 and the first communication contact 242 are in contact with the corresponding second electrical connection contact 34. It is necessary to ensure that the angle between the line connecting the first communication contact 242 and the central axis of the guide post 221 and the line connecting the corresponding second electrical connection contact 34 and the central axis of the guide post 221 is consistent with the angle of rotation of the limiting part 223.

[0116] When the connector 22 is connected to the connector 322 by the fastener 50, the distribution position of the first power supply contact 241 on the outer side of the guide post 221 needs to correspond to the distribution position of the corresponding second electrical contact 34 on the side of the guide groove 321, and the distribution position of the first communication contact 242 on the outer side of the guide post 221 needs to correspond to the distribution position of the corresponding second electrical contact 34 on the side of the guide groove 321. In this way, when the connector 22 is inserted into the connector 322, since the connector 22 does not need to rotate, the first power supply contact 241 will directly contact and connect with the corresponding second electrical contact 34, and the first communication contact 242 will also directly contact and connect with the corresponding second electrical contact 34.

[0117] In some embodiments, the robotic arm 20 and the working head 30 may communicate without communication contacts, but rather via a wireless communication device. In this case, the robotic arm 20 further includes a first wireless communication device for wireless communication with the working head 30. The working head 30 also includes a second wireless communication device for wireless communication with the first wireless communication device of the robotic arm 20.

[0118] It should be noted that, in addition to connecting the first communication contact 242 with the corresponding second electrical contact 34 to achieve communication between the robotic arm 20 and the working head 30, a first wireless communication device and a second wireless communication device can also be used to enable wireless communication between the robotic arm 20 and the working head 30. This can avoid setting up the first communication contact 242 and the second communication contact 342, reduce the number of first electrical contact points 24, reduce structural complexity and cost, and improve communication reliability.

[0119] In some embodiments, the robotic arm 20 and the working head 30 may communicate without communication contacts, but rather via a carrier communication device. In this case, the robotic arm 20 further includes a first carrier communication device for carrier communication with the working head 30 based on carrier communication technology. The working head 30 also includes a second carrier communication device for carrier communication with the first carrier communication device of the robotic arm 20 based on carrier communication technology.

[0120] It should be noted that, in addition to connecting the first communication contact 242 with the corresponding second electrical contact 34 to achieve communication between the robotic arm 20 and the working head 30, a first carrier communication device and a second carrier communication device can also be used to enable carrier communication between the robotic arm 20 and the working head 30. This avoids the need to set up the first communication contact 242 and the second communication contact 342. Power supply and communication can share the same contact, reducing the number of first electrical contact points 24, reducing structural complexity and cost, and improving communication reliability.

[0121] Carrier communication technology is a communication technology that transmits information signals by loading them onto a high-frequency carrier wave. Its basic principle is to multiply the information signal with a fixed-frequency alternating current signal, thereby extending the frequency of the information signal to the range of the carrier frequency. Carrier communication is mainly divided into analog carrier communication and digital carrier communication, providing high-speed, reliable data transmission services.

[0122] The schematic diagram of carrier communication can be found here. Figures 19-21 , Figure 19 This is a waveform diagram of the line voltage. Figure 20 This is a waveform diagram of the data signal. Figure 21 To be Figure 20 The data signal in the middle is superimposed on Figure 19 The waveform overlay diagram of the line voltage in the image shows that after signal transmission, the data signal needs to be extracted from the overlay waveform. The extracted data signal is the... Figure 20 The data signal in the middle can be used to achieve carrier communication.

[0123] In some embodiments, the first power supply contact 241 may not be provided on the guide post 221, and the second power supply contact 341 may not be provided on the guide groove 321. The power supply connection between the working head 30 and the robotic arm 20 can be achieved via a plug and socket. (See reference...) Figure 2 One end of the arm body 21 is provided with a wire harness socket 23, which is used for the plug 33 provided on the working head 30 to be inserted. The working head body 31 is connected to the plug 33 via a wire harness, and the plug 33 is used to insert into the wire harness socket 23 of the robotic arm 20.

[0124] It should be noted that after the connector 22 is inserted into the connector 322, it is rotated so that the limiting part 223 is rotated and engaged with the connector 322, thereby connecting the working head 30 and the robotic arm 20. If the working head 30 needs to work, it also needs to be powered. Since the device that uses the robotic arm 20, such as a lawnmower, powers the robotic arm 20, the plug 33 on the working head 30 can be plugged into the wiring harness socket 23 on the arm body 21. In this way, the device that uses the robotic arm 20 can power both the robotic arm 20 and the working head 30 together, saving the trouble of powering the working head 30 separately.

[0125] In addition, plugging the plug 33 on the working head 30 into the wiring harness socket 23 on the arm body 21 not only provides power to the working head 30, but also enables communication between the robotic arm 20 and the working head 30. For example, if the working head 30 is a grass-cutting working head 30 with blades, issuing a grass-cutting command to the working head 30 will enable the grass-cutting working head 30 to cut grass, which greatly facilitates the user's use.

[0126] In some embodiments, the top cover of the wiring harness socket 23 is provided with a removable protective cover.

[0127] It should be noted that when the robotic arm 20 is not connected to the working head 30, the protective cover can be placed on the wiring harness socket 23 to prevent dust and water vapor from entering the wiring harness socket 23 and ensure the normal electrical performance of the wiring harness socket 23. When the robotic arm 20 is connected to the working head 30, the protective cover can be removed from the wiring harness socket 23 to facilitate the insertion of the plug 33 into the wiring harness socket 23.

[0128] In some embodiments, the plug 33 is provided with a removable sealing cap. This allows the sealing cap to be placed on the plug 33 when the working head 30 is not in use, effectively preventing water from entering the plug 33 and damaging it.

[0129] In some embodiments, the plug 33 may also be disposed on the arm body 21, while the wire harness socket 23 may be disposed on the working head 30.

[0130] In some embodiments, the working head 30 and the robotic arm 20 may not require a power supply connection. (See reference) Figure 22 and Figure 23 The working head 30 also includes a battery, which is located inside the working head body 31. The outer side of the interface guide 32 is provided with a charging contact 35, which is electrically connected to the battery. The charging contact 35 is used to contact the charging plate 42 provided in the tool compartment 40 when the working head body 31 is placed in the tool compartment 40.

[0131] It should be noted that the working head 30 has its own battery, which can power itself when the working head 30 is working. There is no need for the robotic arm 20 to power the working head 30, which is equivalent to extending the battery life of the device using the robotic arm 20, enabling it to work for a longer time and greatly improving work efficiency.

[0132] The working head 30 has a built-in rechargeable battery. When the working head 30 finishes its work and is placed in the tool compartment 40, it will automatically recharge the battery, reducing the possibility of the working head 30 failing to work due to insufficient battery power and ensuring that work efficiency is not affected. If the working head 30 runs out of power during operation, it can also be placed in the tool compartment 40 to recharge. In order not to delay work, the robotic arm 20 can then connect to other working heads 30 in the tool compartment 40 to perform other tasks.

[0133] For example, the power supply and communication methods of the working head 30 of this application can be the second power supply contact 341 and the second communication contact 342, or the second power supply contact 341 can be used for power supply and the second wireless communication device or the second carrier communication device can be used for communication, or the built-in battery can be used for power supply and the second communication contact 342 can be used for communication, or the built-in battery can be used for power supply and the second wireless communication device or the second carrier communication device can be used for communication.

[0134] refer to Figure 4 This application embodiment also provides a workstation including a tool compartment 40. The tool compartment 40 is provided with a plurality of placement slots 41. The placement slots 41 are used to store the working head 30 as described in the above embodiment. When the working head 30 is placed in the placement slot 41, the bottom surface of the placement slot 41 abuts against the pressing plate 325 of the working head 30.

[0135] It should be noted that the tool compartment 40 allows the replaced working head 30 to be placed in the placement slot 41 of the tool compartment 40. This not only facilitates the storage of the working head 30, but also prevents the replaced working head 30 from contaminating other places outside the tool compartment 40. Only the tool compartment 40 needs to be cleaned, which greatly reduces the user's workload.

[0136] It is understandable that the working head body 31 of the working head 30 placed in each placement slot 41 is different, that is, the function of the working head 30 placed in each placement slot 41 is different, which makes it easy for the lawnmower to change different working heads 30 to meet different work needs.

[0137] In this embodiment, the working head 30 is placed in the placement slot 41 of the tool magazine 40. When a particular working head 30 is needed, the limiting part 223 of the connecting member 22 of the robotic arm 20 is passed through the connection port 322 of the working head 30, and the limiting part 223 is rotated to connect the limiting part 223 with the connection port 322, thus connecting the working head 30 with the robotic arm 20. Subsequently, the robotic arm 20 is controlled to move so that the working head 30 follows the movement of the robotic arm 20 and detaches from the tool magazine. 40; When it is necessary to replace the working head 30, the elastic element 3241 of the working head 30 can be pressed down by pressing the pressing plate 325 of the working head 30, so that the limiting part 223 can be rotated to face the connection port 322. Then, the limiting part 223 is pulled out from the connection port 322 to separate the working head 30 from the robotic arm 20. Then, other working heads 30 are connected to the robotic arm 20 according to the above connection method of the working head 30 and the robotic arm 20 to complete the replacement of the working head 30.

[0138] The connection and separation methods between the working head 30 and the robotic arm 20 are relatively simple, reducing the amount of manual work involved. They also make the installation and disassembly of the working head 30 faster and more convenient, and make the replacement of the working head 30 quicker and easier.

[0139] It should be noted that when disassembling the working head 30, the pressing plate 325 can be pressed manually by the user, or the working head 30 can be placed in the placement slot 41 in the tool compartment 40, so that the pressing plate 325 abuts against the bottom surface of the placement slot 41, thereby pressing down the pressing plate 325, causing the elastic element 3241 to be pressed down, releasing the restriction on the limiting part 223, so that the limiting part 223 can be rotated to be directly opposite the connection port 322.

[0140] In practical applications, the process of connecting the working head 30 to the robotic arm 20 is as follows: the connector 22 is inserted into the guide groove 321, the positioning post 222 and the limiting part 223 of the connector 22 will align with the connection port 322 and pass through the connection port 322, the guide post 221 is located in the guide groove 321, the connector 22 is rotated so that one of the limiting parts 223 presses over the guide surface 3242 of the elastic member 3241 and reaches between the limiting block 323 and the elastic member 3241, thereby limiting the movement of the limiting part 223. At this time, the connector 22 is firmly connected to the working head 30, and the installation of the working head 30 on the robotic arm 20 is completed. This installation method is not only simple to operate and saves users the trouble of manual installation, but also makes the connection between the working head 30 and the robotic arm 20 more secure.

[0141] refer to Figures 9-10 , Figure 9 This is a schematic diagram showing the position of the limiting part 223 when it is not connected to the connecting port 322; Figure 10 This is a schematic diagram showing the position of the limiting part 223 after it is connected to the connecting port 322; Figure 9 The dotted line with an arrow indicates the direction of rotation of the limiting part 223, according to... Figure 9 The rotation direction limiting part 223 can be positioned between the limiting block 323 and the elastic member 3241 so that when the guide surface 3242 of the elastic member 3241 protrudes from the second surface 3202 near the side edge of the limiting block 323 which is opposite to the elastic member 3241, the movement of the limiting part 223 is restricted.

[0142] The process of detaching the working head 30 from the robotic arm 20 is as follows: The pressing plate 325 of the working head 30 is pressed down, so that the elastic element 3241 connected to the pressing plate 325 is also pressed down, thereby releasing the obstruction of the elastic element 3241 on the limiting part 223, allowing the limiting part 223 to proceed according to… Figure 14 The connector 22 is rotated in the direction shown in the figure to align with the connector 322, making it easy to pull the connector 22 out of the guide groove 321 and complete the disassembly of the working head 30. This disassembly method is simple to operate, requires little user intervention, reduces the user's workload, and facilitates the quick replacement of the working head 30 in equipment to adapt to different working needs.

[0143] Furthermore, for the pressing operation of the pressing plate 325, the working head 30 can be placed directly in the placement slot 41 of the tool compartment 40. The weight of the working head 30 itself will press the pressing plate 325 into the placement slot 41, thereby pressing the elastic member 3241 connected to the pressing plate 325. This will prevent the guide surface 3242 of the elastic member 3241 from protruding from the second surface 3202 near the edge of the limiting block 323 opposite to the elastic member 3241. This will release the restriction on the limiting part 223, allowing the limiting part 223 to rotate to align with the connection port 322.

[0144] Of course, if the work site is far from the workstation and it is inconvenient to place the working head 30 in the tool compartment 40 for disassembly, the pressing plate 325 can also be pressed manually. This can also press the guide surface 3242 of the elastic member 3241 close to the edge of the limiting block 323 opposite to the elastic member 3241 so that it does not protrude from the second surface 3202, so that the limiting part 223 can be rotated to align with the connection port 322.

[0145] It should be noted that if manual pressing of the pressure pad 325 is used, the pressure pad 325 can be made larger to facilitate manual pressing. This can be referenced. Figure 11 In comparison Figure 8 The compression tablet 325, Figure 11 The pressure pad 325 is larger, making it easier to manually press the pressure pad 325.

[0146] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A robotic arm, characterized in that, include: Arm body (21); The connector (22) includes a positioning post (222) and a limiting part (223). The positioning post (222) is rotatably connected to the arm body (21). The limiting part (223) is located at the end of the positioning post (222) away from the arm body (21) and protrudes and is connected to the side wall of the positioning post (222). The connector (22) is used to connect to the working head (30), the working head (30) includes a connection port (322), the shape of the connection port (322) matches the end face shape of the positioning post (222) and the limiting part (223), the positioning post (222) and the limiting part (223) are used to be detachably connected to the connection port (322).

2. The robotic arm according to claim 1, characterized in that, The number of limiting parts (223) is multiple, and they are evenly distributed on the side wall of the positioning post (222) around the rotation center of the positioning post (222).

3. The robotic arm according to claim 2, characterized in that, The number of the limiting parts (223) is two.

4. The robotic arm according to claim 1, characterized in that, When the connector (22) is connected to the connection port (322), the limiting part (223) passes through the connection port (322) and rotates to a position that is misaligned with the connection port (322) to abut against the second surface (3202) of the working head (30) on the side opposite to the connector (22).

5. The robotic arm according to claim 4, characterized in that, The second surface (3202) is provided with at least one limiting block (323) and a locking member (324), at least one of the limiting blocks (323) and the locking member (324) are provided around the connection port (322), the locking member (324) is disposed opposite to one of the limiting blocks (323), and the locking member (324) is movable between a position protruding from the second surface (3202) and a position not protruding from the second surface (3202); When the connector (22) is connected to the connector (322), the limiting part (223) is located between the limiting block (323) and the locking member (324), and the locking member (324) protrudes from the second surface (3202).

6. The robotic arm according to claim 1, characterized in that, The connector (22) also includes: The guide post (221) is rotatably connected to the arm body (21), and the positioning post (222) is connected to the end of the guide post (221) away from the arm body (21). The guide post (221) is frustum-shaped, and the end of the guide post (221) with a smaller radius is connected to the positioning post (222). The working head (30) has a guide groove (321) around the connection port (322). The guide post (221) matches the outline of the guide groove (321). When the connector (22) is connected to the working head (30), the guide post (221) is opposite to the guide groove (321).

7. The robotic arm according to claim 6, characterized in that, The positioning post (222) is cylindrical, and the bottom radius of the end of the positioning post (222) connected to the guide post (221) is the same as the radius of the end of the guide post (221) connected to the positioning post (222). Alternatively, the positioning post (222) is frustum-shaped, and the radius of the bottom surface of the end of the positioning post (222) connected to the guide post (221) is the same as the radius of the end of the guide post (221) connected to the positioning post (222). The radius of the end of the positioning post (222) away from the guide post (221) is smaller than the radius of the end of the positioning post (222) close to the guide post (221).

8. The robotic arm according to claim 6, characterized in that, The positioning post (222) has a connecting hole (2221) on its end face away from the arm body (21); When the connector (22) is connected to the connection port (322), the positioning post (222) and the limiting part (223) are inserted into the connection port (322), and the fastener (50) is connected to the connection hole (2221) from the side of the connection port (322) facing away from the connector (22) to connect the connector (22) and the working head (30) together.

9. The robotic arm according to claim 8, characterized in that, The limiting part (223) extends from the end face of the positioning post (222) away from the guide post (221) to the guide post (221) and is connected to the side wall of the guide post (221).

10. The robotic arm according to claim 6, characterized in that, The guide post (221), the positioning post (222), and the limiting part (223) are integrally formed.

11. The robotic arm according to claim 6, characterized in that, The guide post (221) has a first electrical contact point (24) on its outer side. When the connector (22) is connected to the working head (30), the first electrical contact point (24) is connected to the second electrical contact point (34) on the guide groove (321).

12. The robotic arm according to claim 11, characterized in that, The first electrical connection contact (24) includes at least one first power supply contact (241); At least one of the first power supply contacts (241) is evenly spaced along the circumference of the guide post (221); Alternatively, at least one of the first power supply contacts (241) is circumferentially distributed around the guide post (221).

13. The robotic arm according to claim 12, characterized in that, The first electrical connection contact (24) further includes at least one first communication contact (242); At least one of the first communication contacts (242) and at least one of the first power supply contacts (241) are arranged along the depth direction of the guide post (221); At least one of the first communication contacts (242) is evenly spaced along the circumference of the guide post (221); Alternatively, at least one of the first communication contacts (242) is circumferentially and continuously distributed around the guide post (221).

14. The robotic arm according to claim 12, characterized in that, Also includes: A first wireless communication device is used to communicate wirelessly with the working head (30); Alternatively, a first carrier communication device may be used to perform carrier communication with the working head (30) based on carrier communication technology.

15. The robotic arm according to any one of claims 1-14, characterized in that, Also includes: A force detection device is provided on the arm body (21) and / or the connector (22). The force detection device is used to detect the magnitude and direction of the pressure on the limiting part (223) during the process of the limiting part (223) being inserted into the connecting port (322). A control device electrically connected to the force detection device, the control device being used to control the limiting part (223) to rotate to align with the connection port (322) according to the magnitude and direction of the pressure on the limiting part (223) detected by the force detection device.

16. The robotic arm according to claim 15, characterized in that, Also includes: A first driving device is provided inside the arm body (21). The first driving device drives the connector (22) to rotate around the arm body (21). The first drive device is electrically connected to the control device.

17. The robotic arm according to claim 15, characterized in that, Also includes: The second driving device drives the arm body (21) and is used to drive the arm body (21) to move. The second drive device is electrically connected to the control device. The control device is also used to control the second drive device to drive the arm (21) to move according to the magnitude and direction of the pressure on the limiting part (223) detected by the force detection device, so that the limiting part (223) is aligned with the connection port (322).

18. The robotic arm according to any one of claims 1-14, characterized in that, One end of the arm body (21) is provided with a wire harness socket (23), which is used for the plug (33) provided on the working head (30) to be inserted.

19. The robotic arm according to claim 18, characterized in that, The wiring harness socket (23) is equipped with a removable protective cover.

20. A working head, characterized in that, include: Working head body (31); An interface guide (32) is provided on the working head body (31), and the interface guide (32) has a through connection port (322); The connection port (322) is used to connect with the connector (22) of the robotic arm (20). The connector (22) includes a positioning post (222) and a limiting part (223). The limiting part (223) is located at one end of the positioning post (222) and protrudes and is connected to the side wall of the positioning post (222). The shape of the connection port (322) matches the end face shape of the positioning post (222) and the limiting part (223). The connection port (322) is used to detachably connect with the positioning post (222) and the limiting part (223).

21. The working head according to claim 20, characterized in that, The second surface (3202) of the interface guide (32) opposite to the connector (22) is provided with a limiting structure around the connection port (322). When the connection port (322) is connected to the connector (22), the limiting part (223) passes through the connection port (322) and rotates to be limited and engaged with the limiting structure.

22. The working head according to claim 21, characterized in that, The limiting structure includes at least one limiting block (323) and a locking member (324), the locking member (324) being disposed opposite to one of the limiting blocks (323), and the locking member (324) being movable between a position protruding from the second surface (3202) and a position not protruding from the second surface (3202); When the connector (22) is connected to the connector (322), the limiting part (223) is located between the limiting block (323) and the locking member (324), and the locking member (324) protrudes from the second surface (3202).

23. The working head according to claim 22, characterized in that, The locking member (324) includes an elastic member (3241) that is deformable between protruding from the second surface (3202) and not protruding from the second surface (3202).

24. The working head according to claim 23, characterized in that, The elastic member (3241) has a guide surface (3242) on the side facing away from the second surface (3202). Along the direction close to the limiting block (323) which is disposed opposite to the elastic member (3241), the distance between the guide surface (3242) and the second surface (3202) increases. The edge of the guide surface (3242) away from the limiting block (323) which is disposed opposite to the elastic member (3241) does not protrude from the second surface (3202).

25. The working head according to claim 24, characterized in that, A pressing piece (325) is connected to the side of the elastic member (3241) near the limiting block (323) which is disposed opposite to the elastic member (3241). When the pressing piece (325) is pressed, it causes the guide surface (3242) to not protrude from the second surface (3202).

26. The working head according to claim 22, characterized in that, The number of the limiting blocks (323) is two, and the number of the limiting parts (223) is two; When the connection port (322) is connected to the connector (22), the two limiting blocks (323) abut against the two limiting parts (223) respectively, and the two limiting blocks (323) are located on different sides of the two limiting parts (223).

27. The working head according to claim 20, characterized in that, The end face of the positioning post (222) is provided with a connecting hole (2221); When the connection port (322) is connected to the connector (22), the positioning post (222) and the limiting part (223) are inserted into the connection port (322), and the fastener (50) is connected to the connection hole (2221) from the side of the connection port (322) away from the connector (22) to connect the connector (22) and the working head (30) together.

28. The working head according to claim 21, characterized in that, The connector (22) further includes a guide post (221), which is connected to the end of the positioning post (222) away from the limiting part (223); The connection port (322) is provided with a guide groove (321) around its periphery. The guide groove (321) matches the outline of the guide post (221). When the working head (30) is connected to the connector (22), the guide post (221) is opposite to the guide groove (321).

29. The working head according to claim 28, characterized in that, The guide groove (321) is frustum-shaped, and the opening of the guide groove (321) is opened on the first surface (3201) opposite to the second surface (3202). The area of ​​the opening of the guide groove (321) is larger than the area of ​​the bottom of the groove.

30. The working head according to claim 28, characterized in that, The guide groove (321) has a second electrical contact point (34) on its side. When the connector (22) is connected to the working head (30), the second electrical contact point (34) is in contact with the first electrical contact point (24) on the guide post (221).

31. The working head according to claim 30, characterized in that, The second electrical connection contact (34) includes at least one second power supply contact (341); At least one of the second power supply contacts (341) is evenly spaced along the circumference of the guide groove (321); Alternatively, at least one of the second power supply contacts (341) is continuously distributed circumferentially along the guide groove (321).

32. The working head according to claim 31, characterized in that, The second electrical contact (34) also includes at least one second communication contact (342); At least one second communication contact (342) and at least one second power supply contact (341) are arranged along the depth direction of the guide groove (321); At least one of the second communication contacts (342) is evenly spaced along the circumferential direction of the guide groove (321); Alternatively, at least one of the second communication contacts (342) is continuously distributed circumferentially along the guide groove (321).

33. The working head according to any one of claims 20-32, characterized in that, Also includes: The battery is located inside the working head body (31). The outer side of the interface guide (32) is provided with a charging contact (35). The charging contact (35) is electrically connected to the battery. The charging contact (35) is used to contact the charging plate (42) provided in the tool compartment (40) when the working head body (31) is placed in the tool compartment (40).

34. The working head according to any one of claims 20-32, characterized in that, Also includes: A second wireless communication device is used to communicate wirelessly with the robotic arm (20); Alternatively, a second carrier communication device may be used to communicate with the robotic arm (20) via carrier communication technology.

35. The working head according to any one of claims 20-32, characterized in that, The working head body (31) is connected to a plug (33) via a wire harness, and the plug (33) is used to insert into the wire harness socket (23) of the robotic arm (20).

36. The working head according to claim 35, characterized in that, The plug (33) is provided with a removable sealing cap.

37. A workstation, characterized in that, Includes a tool compartment (40), which has a plurality of placement slots (41) for storing the working head (30) as described in claim 25. When the working head (30) is placed in the placement slot (41), the bottom surface of the placement slot (41) abuts against the pressing plate (325) of the working head (30).

38. A lawnmower, characterized in that, include: Lawn mower body (10) ； The robotic arm (20) as described in any one of claims 1-19 is connected to the lawnmower body (10).

39. A lawnmower, characterized in that, include: Lawn mower body (10) ； The robotic arm (20) as described in any one of claims 1-19, wherein the robotic arm (20) is connected to the lawnmower body (10); The working head (30) as described in any one of claims 20-36 is detachably connected to the robotic arm (20).

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