Mechanical joint, mechanical arm and self-propelled cleaning device

Abstract

A mechanical joint, a mechanical arm, and a self-propelled cleaning device are disclosed. The mechanical joint (30) is configured to connect a first arm and a second arm (60, 70, 80) in a mechanical arm (001). The mechanical joint (30) includes a motor (310) and a planetary reduction mechanism (320). The motor (310) includes a first output shaft (311), a motor board (312), a stator (313), and a rotor (314). The rotor (314) is located outside the stator (313). The first output shaft (311) extends through the motor board (312), the stator (313) is connected to the motor board (312) and located on the outer periphery of the first output shaft (311), the planetary reduction mechanism (320) includes a first stage gear set (321) and an output end, the first stage gear set (321) is connected to the first output shaft (311) and is provided close to the motor board (312), and the output end is configured to drive the second arm to rotate relative to the first arm. Further provided is a mechanical arm (001) including the mechanical joint (30), and a self-propelled cleaning device mechanical arm (002) including the mechanical arm (001).

Description

[Technical Field]

[0001] (Related Applications) This application claims priority to a Chinese patent application filed with the China Patent Office on December 30, 2022, with application number 202211729768.3 and title "Mechanical joint, mechanical arm and self-propelled cleaning device," the entire contents of which are incorporated herein by reference.

[0002] The present application relates to the technical field of mechanical arms, and more particularly to a mechanical joint, a mechanical arm, and a self-propelled cleaning device. [Background technology]

[0003] With the continuous development of science and technology and the continuous improvement of people's living standards, self-propelled cleaning devices such as intelligent cleaning robots are constantly being introduced into our daily lives. In order to better realize the cleaning function, current self-propelled cleaning devices add mechanical arms to grasp and move obstacles and debris.

[0004] Here, the mechanical arm is usually provided with a mechanical joint to realize the raising and lowering operation of the second arm relative to the first arm and to put the two adjacent arms into a folded or unfolded state. Summary of the Invention

[0005] (1) Purpose of application The object of the present application is to provide a mechanical joint, a mechanical arm and a self-propelled cleaning device.

[0006] (2) Technical means A first aspect of the present application provides a mechanical joint configured to connect a first arm and a second arm in a mechanical arm, the mechanical joint including a motor and a planetary reduction mechanism, the motor including a first output shaft, a motor substrate, a stator, and a rotor, the rotor being located outside the stator, the first output shaft penetrating the motor substrate, the stator being connected to the motor substrate and located on the outer periphery of the first output shaft, the planetary reduction mechanism including a first stage gear set and an output end, the first stage gear set being connected to the first output shaft and provided close to the motor substrate, and the output end being configured to drive the second arm to rotate relative to the first arm. A second aspect of the present application provides a mechanical arm including any one of the mechanical joints of the first aspect.

[0007] A third aspect of the present application provides a self-propelled cleaning device including the mechanical arm of the second aspect.

[0008] (3) Technical Effects The above technical means of the present application have the following technical effects.

[0009] In the technical solution of this application, a mechanical joint is configured to connect a first arm and a second arm, allowing the support arm to rotate relative to the first arm, meeting the operating needs of different positions of the mechanical arm and expanding the range of use of the product. The mechanical arm is applied to a self-propelled cleaning device. Here, the motor of the mechanical joint is an outer rotor motor, and the first output shaft of the motor passes through the motor base and is connected to the first gear set of the planetary reduction mechanism to transmit power to the planetary reduction mechanism. The motor stator is connected to the motor base and located on the outer periphery of the first output shaft, adjacent to the motor base via the first gear set. The motor base serves as the input end cover of the planetary reduction mechanism, i.e., the motor base functions as the input end cover of the gear case, integrating the functions of the motor base and the input end cover of the gear case. This simplifies the installation of the input end cover of the planetary reduction mechanism gear case, resulting in a simple structure, low cost, and meeting the design requirements of a compact and miniaturized structure of the third mechanical joint.

[0010] Other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are used only for the purpose of illustrating the preferred embodiments and are not to be considered as limitations of this application. Furthermore, the same reference numerals are used throughout the accompanying drawings to denote the same components. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a structural schematic diagram illustrating the unfolded state of the mechanical arm of the self-propelled cleaning device provided by an embodiment of the present application; [Figure 2] FIG. 1 is a structural schematic diagram illustrating a folding state of a mechanical arm of a self-propelled cleaning device provided by an embodiment of the present application; [Figure 3] FIG. 1 is a structural schematic diagram of a self-propelled cleaning device according to an embodiment of the present application from another angle; [Figure 4] 1 is a structural schematic diagram of a mechanical arm in a deployed state at a certain angle provided by an embodiment of the present application; [Figure 5] FIG. 10 is a structural schematic diagram of a mechanical arm in a deployed state at another angle according to an embodiment of the present application; [Figure 6] FIG. 1 is a structural schematic diagram of a mechanical arm provided by an embodiment of the present application at a certain angle in a folded state; [Figure 7] FIG. 10 is a structural schematic diagram of a mechanical arm in a folded state at another angle according to an embodiment of the present application; [Figure 8] 1 is a schematic diagram of a mechanical structure of a mechanical arm in an unfolded state according to an embodiment of the present application; [Figure 9] FIG. 10 is a structural schematic diagram of the mechanical arm in a folded state at another angle according to an embodiment of the present application; [Figure 10] 9 shows a structural schematic diagram of the embodiment shown in FIG. [Figure 11] 11 is a cross-sectional view of the embodiment shown in FIG. 10 taken along line AA. [Figure 12] 1 is a cross-sectional view of an assembly of a first mechanical joint, a base, and a rotating seat provided by an embodiment of the present application; [Figure 13]1 is a structural diagram of the second mechanical joint, the rotating seat, and the support arm assembly provided by an embodiment of the present application; [Figure 14] FIG. 1 is a partial structural schematic diagram of a second mechanical joint at a certain angle provided by an embodiment of the present application; [Figure 15] 15 is a cross-sectional view of the embodiment shown in FIG. [Figure 16] FIG. 10 is a structural schematic diagram of a mechanical arm in a deployed state at another angle according to an embodiment of the present application; [Figure 17] 17 is a cross-sectional view of the CC of the embodiment shown in FIG. [Figure 18] 18 is a partially enlarged schematic view of A in the embodiment shown in FIG. 17. [Figure 19] FIG. 1 is a cross-sectional view of a third mechanical joint provided by an embodiment of the present application; [Figure 20] 1 is a structural schematic diagram of a certain angle of the third mechanical joint provided by an embodiment of the present application; [Figure 21] FIG. 10 is a cross-sectional view of an assembly of a third mechanical joint, a support arm, and a connecting arm provided by an embodiment of the present application; [Figure 22] FIG. 10 is a partial structural schematic diagram of the assembly of the third mechanical joint, the support arm, and the connecting arm provided by the embodiment of the present application; [Figure 23] 4 is a structural schematic diagram of the assembly of the fourth mechanical joint, working arm, and manipulator provided by an embodiment of the present application. [Figure 24] 24 is a partial cross-sectional view of the embodiment shown in FIG. 23 at an angle DD. [Figure 25] FIG. 10 is a structural schematic diagram of a mechanical arm in a deployed state at another angle according to an embodiment of the present application; [Figure 26] 26 is a partially enlarged schematic view of B in the embodiment shown in FIG. [Figure 27] 1 is a structural schematic diagram of a manipulator provided by an embodiment of the present application; [Figure 28] 1 is a structural schematic diagram of another angle of the manipulator provided by an embodiment of the present application; [Figure 29] FIG. 10 is a structural schematic diagram of yet another angle of the manipulator provided by the embodiment of the present application; [Figure 30]FIG. 10 is a structural schematic diagram of yet another angle of the manipulator provided by the embodiment of the present application; [Figure 31] 29A is a partially enlarged schematic view of the embodiment shown in FIG. [Figure 32] 30 is a partially enlarged schematic view of the embodiment shown in FIG. 29 from another angle; [Figure 33] 31 is a partially enlarged schematic view of the embodiment shown in FIG. 30 from another angle. [Figure 34] 34 is a schematic exploded view of the embodiment shown in FIG. [Figure 35] 1 is a schematic block diagram of a self-propelled cleaning device provided by an embodiment of the present application; [Figure 36] FIG. 10 is a structural schematic diagram of a manipulator at an angle provided by another embodiment of the present application; [Figure 37] 37 is a partial structural schematic diagram of the embodiment shown in FIG. 36. [Figure 38] FIG. 10 is a structural schematic diagram of another angle of the manipulator provided by another embodiment of the present application; [Figure 39] FIG. 10 is a structural schematic diagram of yet another angle of the manipulator provided by another embodiment of the present application; [Figure 40] FIG. 10 is a structural schematic diagram of yet another angle of the manipulator provided by another embodiment of the present application; [Figure 41] FIG. 10 is a structural schematic diagram of yet another angle of the manipulator provided by another embodiment of the present application; [Figure 42] 41. A partial structural schematic diagram of the embodiment shown in FIG. [Explanation of symbols]

[0012] 001 Mechanical Arm 10 First mechanical joint 110 First drive unit 120 Rotational Joint 121 Rotating assembly 1211 First Rotating Assembly 1212 Second Rotating Assembly 122 First spacer 123 Preload Assembly 1231 First adjustment member 1232 Second preload spacer 124 Sliding sleeve 130 First Synchronous Belt Pulley Assembly 131 First Transmission Belt 132 First synchronous pulley 133 Second synchronous pulley 140 First rotation angle detection device 141 Magnetic sensing member 142 Magnetic components 150 Second Synchronous Belt Pulley Assembly 151 Second Synchronous Belt 160 Tensioning device 161 Information Department 162 Tension bearing 163 Adjustment hole 170 detection axis 180 Fixed bracket 20 Second mechanical joint 210 First guide nut 220 Second drive unit 230 First screw 231 Step structure 232 Anti-tension Groove 240 Motor holder 250 thrust bearing 260 Elastic Members 280 Anti-tension member 290 Limit Switch 291 Switch body 292 Trigger member 30 Third mechanical joint 310 Motor 311 First output shaft 312 Motor board 313 Stator 314 rotor 315 Motor cover 316 Hole Plate 317 Motor mounting cavity 320 Planetary reduction mechanism 321 1st Stage Gear Set 3211 First sun gear 3212 1st planetary gear 3213 1st planet carrier 322 Second Stage Gear Set 3221 Second sun gear 3222 2nd planetary gear 3223 Second Planetary Carrier 324 Reducer Mounting Cavity 325 Internal gear 326 Output End Gap 3261 Restrictive Structure 327 Second output shaft 3271 Connection hole 3272 First Restricted Area 330 First bearing 340 flange bearing 350 first connecting member 351 Head 1 352 First Rod Section 360 First preload spacer 370 hoops 380 Second connecting member 40 4th mechanical joint 410 4th drive unit 411 4th Housing 412 4th output shaft 420 Photoelectric Sensor 430 Baffle 440 Bearing device 50 bases 55 Rotating seat 551 Table surface 552 First rotation axis 60 Support Arm 620 First Connection 630 Second connection part 70 Connecting Arm 710 1st bending part 720 2nd bending part 80 working arm 810 Mounting hole 820 Mounting groove 90 Manipulator 910 5th Drive Unit 920 Second screw 921 Anti-thrust spacer 930 Second guide nut 931 Cylindrical boss 940 Clamping part 941 Avoidance space 950 Link Mechanism 951 First Rod 9511 Sliding groove 9512 First hinge connection point 9513 Second hinge connection point 952 Second Rod 9521 Third hinge connection point 9522 4th hinge connection point 953 Bent structure 960 Base 961 First cover plate 962 Second cover plate 970 6th Drive Unit 980 Transmission Mechanism 981 Link Rod 982 Second rotation axis 983 Second screw 984 Second guide nut 985 Connection Block 986 Sliding Rod 990 First Imaging Device 991 Camera Bracket 992 Camera 901 Connecting shaft 911 Restriction hole 90' Manipulator 910' Main Drive 912' Vice Gear Set 920' No. 2 screw 930' Second guide nut 931' cylindrical boss 940' Clamping part 951' 1st Rod 9511' First hinge connection point 9512' Second hinge connection point 952' 2nd rod 9521' Third hinge connection point 9522' 4th hinge connection point 9523' sliding groove 953' First link mechanism 954' Second link mechanism 955' Main Gear Set 960' base 961' 1st cover plate 962' Second cover plate 963' Storage groove 970' Sub-drive 980' Elastic reset member 990' First imaging device 991' Camera Bracket 992' Camera 993' Avoidance Bend 901' connecting shaft 002 Self-propelled cleaning device 010 Device body 011 Storage cavity 020 Active Wheel 030 driven wheel 040 Cleaning System 050 Second Camera 060 Control System 070 Processing System DETAILED DESCRIPTION OF THE INVENTION

[0013] In order to better understand the above technical solutions, the technical solutions of the embodiments of the present application will be described in detail below with reference to the accompanying drawings and specific examples. It should be understood that the embodiments of the present application and the specific features in the embodiments are intended to explain the technical solutions of the embodiments of the present application in detail, but do not limit the technical solutions of the present application, and the technical features in the embodiments of the present application can be combined with each other as long as they are not contradictory to each other.

[0014] In order to make the objectives, technical means and advantages of the present application clearer and more obvious, the present application will be described in more detail below with reference to specific embodiments and accompanying drawings. It should be understood that these descriptions are merely illustrative and are not intended to limit the scope of the present application. Furthermore, in the following description, descriptions of well-known structures and techniques will be omitted to avoid unnecessary confusion of the concept of the present application.

[0015] As shown in Figures 1 to 35, an embodiment of the first aspect of the present application provides a mechanical joint (the third mechanical joint 30 described below), an embodiment of the second aspect of the present application provides a mechanical arm 001, and an embodiment of the third aspect of the present application provides a self-propelled cleaning device 002. Here, the self-propelled cleaning device 002 may be a sweeping robot, a sweeping and mopping robot, or other self-propelled cleaning device 002 that meets the requirements.

[0016] Specifically, the self-propelled cleaning device 002 includes, but is not limited to, a device main body 010, a cleaning system, a drive system, a sensing system, a control module, an energy system, and a man-machine interactive system. Each of the above systems coordinates and cooperates with each other so that the self-propelled cleaning device 002 can move autonomously and perform its cleaning function. The functional elements that make up each of the above systems in the cleaning device are integrated within the device main body 010.

[0017] Furthermore, the mechanical joint is applied to the mechanical arm 001, which includes a first arm and a second arm, and a mechanical joint (such as the third mechanical joint 30) is used to connect the first arm and the second arm and rotate the support arm relative to the first arm, thereby meeting the operating needs of different postures of the mechanical arm 001 and expanding the range of use of the product. The mechanical arm 001 is applied to the self-propelled cleaning device 002, for example, the mechanical arm 001 is connected to the device body 010 of the self-propelled cleaning device 002 to grasp or move obstacles, objects, and debris near the self-propelled cleaning device 002, thereby better realizing autonomous cleaning functions.

[0018] 4, 5, 6 and 8, in some feasible embodiments provided by the present application, the mechanical arm 001 includes a base 50, a rotating seat 55, a support arm 60, a connecting arm 70, a working arm 80 and a manipulator 90, and the base 50 is connected within the receiving cavity 011, i.e., the entire mechanical arm 001 is fixed on the device body 010 by being mounted within the receiving cavity 011 by mounting structures provided within the base 50 and the receiving cavity 011. Specifically, the mounting structures may be mounting seats, mounting holes, engaging grooves or other structures, i.e., the base 50 may be fixed within the receiving cavity 011 by screws, engaging grooves, snap hooks or other structures that meet the requirements.

[0019] Furthermore, the rotating seat 55 is connected to the base 50 via a first mechanical joint 10 to rotate the rotating seat 55 relative to the base 50, and the support arm 60 is connected to the rotating seat 55 via a second mechanical joint 20 to fold or unfold the support arm 60 relative to the rotating seat 55, for example, the support arm 60 can be raised or lowered relative to the rotating seat 55. A first end of the connecting arm 70 is connected to the support arm 60 via one third mechanical joint 30 to fold or unfold the connection arm 70 relative to the support arm 60, for example, to enable the connection arm 70 to be raised or lowered relative to the support arm 60, and a second end of the connecting arm 70 is connected to a working arm 80 via another third mechanical joint 30 to fold or unfold the connection arm 70 relative to the connection arm 70, for example, to enable the working arm 80 to be raised or lowered relative to the connection arm 70. The working arm 80 is connected to a manipulator 90 via a fourth mechanical joint 40 to enable the manipulator 90 to rotate relative to the working arm 80.

[0020] In other words, the mechanical arm 001 provided in the embodiments of the present application has a five-degree-of-freedom, three-arm-segment foldable design. As a result, the movement range of the mechanical arm 001 can be increased, the cleaning range of the self-propelled cleaning device 002 can be further expanded, and the range of use of the product can be expanded. At the same time, the foldable design of the mechanical arm 001 makes the mechanical arm 001 easy to store, i.e., the volume of the mechanical arm 001 is small after folding, making it convenient to store.

[0021] Here, the first mechanical joint 10 can be understood as a waist rotation joint, the second mechanical joint 20 can be understood as a waist lift joint, the two third mechanical joints 30 can be understood as liftable shoulder joints and elbow joints, respectively, and the fourth mechanical joint 40 can be understood as a rotatable wrist joint.

[0022] Specifically, as shown in Figures 16, 17, 18, 19, 20, 21 and 22, an embodiment of the first aspect of the present application provides a mechanical joint, which corresponds to the above-mentioned third mechanical joint 30. The mechanical joint is used to connect the first arm and the second arm in the mechanical arm 001, and the third mechanical joint 30 is connected to both ends of the connecting arm 70, realizing rotatable connections between the connecting arm 70 and the support arm 60, and between the connecting arm 70 and the working arm. Specifically, both ends of the connecting arm 70 are connected to the support arm 60 and the working arm 80 via the third mechanical joint 30, respectively. That is, when one third mechanical joint 30 is connected to the connecting arm 70 and the support arm 60, the connecting arm 70 corresponds to the first arm and the support arm 60 corresponds to the second arm, and when another third mechanical joint 30 is connected to the connecting arm 70 and the working arm 80, the connecting arm 70 corresponds to the first arm and the working arm 80 corresponds to the second arm.

[0023] Furthermore, as shown in FIG. 19 , the mechanical joint (third mechanical joint 30) includes a motor 310 and a planetary reduction mechanism 320, the motor 310 includes a first output shaft 311, a motor board 312, a stator 313, and a rotor 314, the rotor 314 is located outside the stator 313, the first output shaft 311 passes through the motor board 312, the stator 313 is connected to the motor board 312 and is located on the outer periphery of the first output shaft 311, the planetary reduction mechanism 320 includes a first stage gear set 321 and an output end, the first stage gear set 321 is connected to the first output shaft 311 and is provided in proximity to the motor board 312, and the output end is configured to drive the second arm to rotate relative to the first arm.

[0024] Here, the planetary reduction mechanism 320 is used to connect the motor 310 and the second arm, and transmits the power of the motor 310 to the second arm after reducing the speed, thereby rotating the second arm relative to the first arm, that is, the third mechanical joint 30 provided by the embodiment of the present application is a rotary mechanical joint, and the third driving unit of the rotary mechanical joint adopts a reduction motor, specifically, the third driving unit of the rotary mechanical joint is a brushless servo gear motor.

[0025] Here, the motor 310 is an outer rotor motor, and its first output shaft 311 is connected to the first-stage gear set 321 of the planetary reduction mechanism 320 via the motor board 312 to transmit power to the planetary reduction mechanism 320. The stator 313 of the motor 310 is connected to the motor board 312 and located on the outer periphery of the first output shaft 311, i.e., the stator 313 is coaxial with the first output shaft 311 and is adjacent to the motor board 312 via the first-stage gear set 321. The motor board 312 serves as an input end cover for the planetary reduction mechanism 320, i.e., the motor board 312 integrates the functions of the motor board 312 and the input end cover of the gear case. Compared with planetary reduction motors in the related art, this simplifies the installation of the input end cover of the planetary reduction mechanism gear case, resulting in a simple structure, low cost, and the design requirements for a compact structure and small size of the third mechanical joint 30 can be met. At the same time, the concentricity of the gear case of the motor 310 and the planetary reduction mechanism 320 is improved, which contributes to reducing wear on the gear case and improving the reliability of the third mechanical joint 30. At the same time, this contributes to reducing the operating noise of the third mechanical joint 30, which can further reduce the impact on the user and improve the user's satisfaction with the use.

[0026] In the above embodiment, an annular boss is provided on the motor board 312 on the side away from the first stage gear set 321, and the first output shaft 311 passes through the annular boss and is rotatably connected to the annular boss. Specifically, the first output shaft 311 passes through the annular boss, and a bearing is sleeved on the first output shaft 311, and the bearing is located between the first output shaft 311 and the annular boss to realize the rotatable connection between the first output shaft 311 and the annular boss.

[0027] Here, the first output shaft 311 is arranged coaxially with the annular boss, and the stator 313 is distributed on the outer periphery of the annular boss. As a result, the stator 313 is distributed on the outer periphery of the first output shaft 311 and arranged coaxially with the first output shaft 311, which has a simple structure and is easy to implement.

[0028] Furthermore, the motor 310 further includes a Hall plate 316, i.e., the motor 310 of the third mechanical joint 30 in the embodiment of the present application is a Hall motor, where the Hall plate 316 is connected to the motor board 312 and is located between the stator 313 and the motor board 312 along the axial direction of the first output shaft 311. The installation of the Hall plate 316 can effectively detect the position of the rotor 314, improve the operating stability of the motor 310, provide high torque at start-up, and eliminate abnormal noise, further reducing the operating noise of the mechanical joint and further mitigating the impact on the user.

[0029] 19, it should be understood that the motor 310 further includes a motor cover 315, which is connected to the motor board 312 and surrounds the motor mounting cavity 317, the stator 313 and the rotor 314 are located within the motor mounting cavity 317, and the Hall plate 316 is also located within the motor mounting cavity 317. As a result, the motor cover 315 and the motor board 312 protect the stator 313 and the rotor 314, thereby improving the service life of the motor 310 and the reliability of the mechanical joint.

[0030] In some feasible embodiments provided by the present application, as shown in FIG. 19 , the planetary reduction mechanism 320 further includes a second stage gear set 322, an internal gear 325, and an output end gap 326, wherein the output end gap 326 is connected to the first arm, and both ends of the internal gear 325 are respectively connected to the motor board 312 and the output end gap 326 to surround the reduction mounting cavity 324. The first stage gear set 321 is located in the reduction mounting cavity 324 and includes a first sun gear 3211, a first planetary gear 3212, and a first planetary carrier 3213. The first sun gear 3211 is fixed on the first output shaft 311. The second stage gear set 323 is provided adjacent to the output end gap 326 and includes a second sun gear 3221, a second planetary gear 3222, and a second planetary carrier 3223 in the reduction mounting cavity 324. The first planetary gear 3212 and the second planetary gear 3222 are both meshed with the internal gear 325. The second sun gear 3221 is fixed on the first planetary carrier 3213. The second planetary carrier 3223 includes a second output shaft 327 that passes through the output end gap 326. The second output shaft 327 is connected to the second arm as an output end.

[0031] In this embodiment, the planetary reduction mechanism 320 is a second-stage planetary reduction mechanism. The power of the motor 310 is transmitted to the first planetary gear 3212 via the first output shaft 311 and the first sun gear 3211 meshing with the first-stage gear set 321, and the first planetary gear 3212 of the first-stage gear set 321 meshes with the internal gear 325, thereby rotating the first planetary carrier 3213. The second sun gear 3221 and the second planetary gear 3222 meshing with the second-stage gear set 322 rotate the second planetary gear 322. 2, and the second planetary gear 3222 of the second stage gear set 323 meshes with the internal gear 325, thereby rotating the second planetary carrier 3223, which in turn rotates the second output shaft 327 located outside the reduction mounting cavity 324 in the second planetary carrier 3223. The second output shaft 327 is connected to the second arm as the output end of the planetary reduction mechanism 320, and can further drive the second arm to rotate relative to the first arm.

[0032] In the above embodiment, as shown in FIGS. 19 and 20 , the internal gear 325 and the output end gap 326 are of an integral structure, which improves the rigidity of the internal gear 325, enhances the torque transmission strength, and further improves the stability and reliability of the operation of the third mechanical joint 30. At the same time, the internal gear 325 and the output end gap 326 are of an integral structure, which is conducive to mass production, simplifies the assembly steps, and saves costs.

[0033] In some possible embodiments provided by the present application, the first arm is the connecting arm 70, both ends of which are connected to the output end of the planetary reduction mechanism 320, and the second arm is the support arm 60 or the working arm 80. Here, as shown in FIG. 14 , a positioning structure is provided on the first arm, and a limiting structure 3261 is provided on the output end gap 326 on the side away from the motor board 312, and the limiting structure 3261 cooperates with the positioning structure to limit the rotation of the output end gap 326 relative to the first arm. In other words, the cooperation of the limiting mechanism and the positioning mechanism is used for rotation positioning and torque bearing, which can improve the working reliability and stability of the third mechanical joint 30.

[0034] Furthermore, one of the positioning mechanism and the limiting structure 3261 is a protrusion structure and the other is a groove structure, and the cooperation of the protrusion structure and the groove structure can achieve rotational positioning and torque support. Specifically, the positioning structure can be a groove structure provided on the first arm, and the limiting structure 3261 can be a protrusion structure provided on the output end gap 326. It should be understood that the limiting function can be similarly achieved even if a groove structure is provided on the output end gap 326 and a protrusion structure is provided on the first arm.

[0035] In some feasible embodiments provided by the present application, as shown in Figure 21, the third mechanical joint 30 further includes a first bearing 330, a flange bearing 340, a first connecting member 350 and a first preload spacer 360. Here, the first bearing 330 is sleeved on the outside of the second output shaft 327, and the output end gap 326 is rotatably connected to the second output shaft 327 via the first bearing 330.

[0036] The first arm includes a first connecting portion 620 and a second connecting portion 630 arranged opposite to each other, a positioning structure is provided on the first connecting portion 620, i.e., the first connecting portion 620 is arranged adjacent to the output end gap 326 and is restricted by the positioning structure and restricting structure 3261, the second connecting portion 630 is located on a side of the first connecting portion 620 away from the output end gap 326, and the flange bearing 340 is connected to the second connecting portion 630, i.e., the flange bearing 340 is mounted on the second connecting portion 630, for example, the flange bearing 340 is fitted into the second connecting portion 630 from the side of the second connecting portion 630 away from the first connecting portion 620, and the second output shaft 327 is rotatably connected to the second connecting portion 630 via the flange bearing 340. A connecting hole 3271 is provided on an end of the second output shaft 327 outside the reduction mounting cavity 324, and the first connecting member 350 can be connected to the connecting hole 3271. Along the axial direction of the second output shaft 327, the first preload spacer 360 is sandwiched between the first connecting member 350 and the second output shaft 327, and the side of the first preload spacer 360 facing the second output shaft 327 can abut against the flange bearing 340, i.e., the flange bearing 340 and the second output shaft 327 are located on the same side of the first preload spacer 360.

[0037] After the first pre-load spacer 360 is sandwiched between the first connecting member 350 and the second output shaft 327, the first pre-load spacer 360 can act as a baffle to restrict the flange bearing 340 from moving in the axial direction of the second output shaft 327 relative to the second connecting portion 630 away from the second connecting portion 630, so that the flange bearing 340 is securely fixed on the second connecting portion 630 and at the same time the second output shaft 327 is fixed on the second connecting portion 630, thereby restricting the axial movement of the second output shaft 327.

[0038] In other words, the third mechanical joint 30 provided by the embodiments of the present application is connected in the form of a simply supported beam, and the first connecting portion 620 on the side of the first arm close to the motor 310 cooperates with the limiting structure 3261 of the output end gap 326 through a positioning structure to limit the circumferential rotation of the motor 310, the first connecting portion 620 is rotatably connected to the second output shaft 327 through the first bearing 330 of the reduction motor 310, and the second connecting portion 630 is rotatably connected to the second output shaft 327 through the flange bearing 340, and the first connecting member 350 is used. The first preload spacer 360 is connected to the connecting hole 3271 at the end of the second output shaft 327 remote from the motor board 312 using a spring, the first preload spacer 360 is sandwiched between the first connecting member 350 and the second output shaft 327, and the side of the first preload spacer 360 facing the second output shaft 327 can abut against the flange bearing 340, so that in cooperation with the structure of the flange bearing 340 itself, the flange bearing 340 can be attached to the second connecting part 630, and at the same time, the axial movement of the second output shaft 327 and further the axial movement of the motor 310 can be restricted. In this way, the structure is simple, contributes to a reduction in the volume of the third mechanical joint 30, and the design requirements for a compact and small mechanical arm 001 can be met, thereby expanding the range of use of the mechanical joint.

[0039] Specifically, the outer edge of the flange bearing 340 is snap-fit ​​into the mounting through-hole of the second connecting portion 630 and abuts against the flange bearing 340 via the first preload spacer 360, which can further restrict the flange bearing 340 on the second connecting portion 630 along the axial direction of the second output shaft 327.

[0040] 21 , the first connecting member 350 includes a first head portion 351 and a first rod portion 352, and for example, the first connecting member 350 may be a bolt, the first connecting hole 3271 is a threaded hole, the first rod portion 352 is connected to the connecting hole 3271, and the first pre-load spacer 360 is located between the first head portion 351 and the end of the second output shaft 327 along the axial direction of the second output shaft 327. Furthermore, by adjusting the connection length between the first rod portion 352 and the connecting hole 3271, the first pre-load spacer 360 can be sandwiched between the end of the second output shaft 327 and the first head portion 351 of the first connecting member 350.

[0041] Here, in a plane parallel to the radial direction of the second output shaft 327, the projection of the first preload spacer 360 overlaps with the projection of the second output shaft 327, and the projection of the first preload spacer 360 overlaps with the projection of the flange bearing 340, so that the same side of the first preload spacer 360 can abut against the flange bearing 340 and the end of the second output shaft 327 simultaneously, and further restrict the flange bearing 340 onto the second connecting portion 630 along the axial direction of the second output shaft 327, thereby restricting the axial movement of the second output shaft 327 and further restricting the axial movement of the motor 310.

[0042] In some possible embodiments provided by the present application, as shown in Figures 18, 19, 20, 21, and 22, the third mechanical joint 30 further includes a hoop 370 and a second connecting member 380. A first limiting surface 3272 and a second limiting surface are provided on the outer circumferential side of the end of the second output shaft 327 located outside the reduction gear mounting cavity 324, the first limiting surface 3272 is used to contact the hoop 370, and the second limiting surface is used to contact the second arm, which is located between the first connecting portion 620 and the second connecting portion 630, and the hoop 370 and the second arm are connected via the second connecting member 380. As a result, the second output shaft 327 and the second arm are securely connected, and the second output shaft 327 rotates to rotate the second arm, which rotates relative to the first arm, thereby realizing an operation in which the second arm rises relative to the first arm, for example.

[0043] Here, the installation of the first limiting surface 3272 and the second limiting surface contributes to increasing the contact area between the second output shaft 327, the hoop 370, and the second arm, thereby providing a certain degree of limiting effect. Furthermore, by connecting the hoop 370 to the operating mechanism via the second connecting member 380, the connection between the second arm and the second output shaft 327 can be reliably achieved.

[0044] Specifically, the second connecting member 380 may be a bolt, and the hoop 370 and the operating mechanism may be connected by the bolt.

[0045] In the above embodiment, the first and second limiting surfaces 3272 and 3273 are oppositely disposed and both have a planar structure, i.e., the second output shaft 327 is a double planar shaft. The corresponding planar structure facilitates processing and positioning, increases the contact area between the second output shaft 327 and the hoop 370, and between the second output shaft 327 and the operating mechanism, provides good positioning, and further improves the connection reliability and stability between the second output shaft 327 and the operating mechanism.

[0046] Furthermore, the third mechanical joint 30 further includes a third rotation angle detection device, which is provided on the second output shaft of the third drive unit and used to detect the rotation angle of the second output shaft. The third drive unit starts or stops according to the detection result of the third rotation angle detection device, thereby flexibly controlling the second arm to rotate to any desired angle relative to the first arm, thereby satisfying different working conditions of the mechanical arm 001 and expanding the range of use of the product. Specifically, the third rotation angle detection device may be a Hall sensor assembly.

[0047] As shown in Figures 9, 10, 11 and 12, in some possible embodiments provided by the present application, the first mechanical joint 10 includes a first drive unit 110, a rotary joint 120, and a first transmission assembly 130, the first drive unit 110 may be provided on the base 50, the first transmission assembly 130 is used to be transmissibly connected to the first drive unit 110 and the rotary joint 120, the rotary joint 120 is movably connected to the rotating seat 55, and the first drive unit 110 is used to rotate the rotary joint 120 via the first transmission assembly 130, thereby driving the rotating seat 55 to rotate relative to the base 50.

[0048] In the first mechanical joint 10 provided by the present application, the first transmission assembly 130 may be a belt transmission assembly, a rack-and-pinion transmission assembly, or any other transmission assembly that meets the requirements. The first transmission assembly 130 is used to change the transmission direction of the output force of the first driving unit 110. Therefore, the first transmission assembly 130 is connected to the first driving unit 110 and the rotary joint 120 so that the first transmission assembly 130 changes the direction of the power of the first driving unit 110 and then transmits it to the rotary joint 120, causing the rotating seat 55 to rotate relative to the base 50 via the rotary joint 120. In this way, compared to the conventional method in the related art in which the first driving unit directly drives the rotating seat to rotate, the overall height of the mechanical arm 001 can be reduced, and the overall volume of the mechanical arm 001 can be reduced, thereby meeting the design requirements of a compact structure and miniaturization of the mechanical arm 001.

[0049] As shown in Figures 9 and 12, in some possible embodiments provided by the present application, the first transmission assembly 130 includes a first synchronous pulley 132 and a second synchronous pulley 133 that are communicably connected via a first transmission belt 131, the first synchronous pulley 132 is connected to the first drive unit 110, the second synchronous pulley 133 is connected to the rotating seat 55, and the rotating seat 55 is movably connected to the base 50 via the rotating joint 120.

[0050] Here, the first driving unit 110 may be a motor, and the first driving unit 110 is mounted on the base 50, with the first synchronous pulley 132 connected to the output shaft of the motor. As a result, the first driving unit 110 operates to drive the first synchronous pulley 132 to rotate, which in turn rotates the second synchronous pulley 133 via the first transmission belt 131, and since the rotating seat 55 is movably connected to the base 50 via the rotating joint 120, the rotating seat 55 can be driven to rotate relative to the base 50. The first and second synchronous pulleys 132 and 133 are arranged in parallel, i.e., the two synchronous pulleys of the first transmission assembly 130 are arranged in parallel, and therefore the first driving unit 110 and the support arm 60 can also be arranged relatively parallel. Compared to the related art where the first driving unit and the rotating seat 55 need to be arranged sequentially in the axial direction when the rotating seat 55 is directly driven by the first driving unit, this shortens the axial distance of the entire mechanical arm 001, and further satisfies the design requirements for compactness and miniaturization of the mechanical arm 001, thereby expanding the range of use of the product.

[0051] 12, in some feasible embodiments provided by the present application, the rotary joint 120 includes a rotary assembly 121 located between the rotary seat 55 and the base 50, where the rotary assembly 121 includes ball rollers or needle rollers, i.e., the rotary seat 55 and the base 50 are rotatably connected, and the installation of the rotary assembly 121 allows the rotary joint to withstand axial loads during rotation, which is advantageous to improving product reliability. Specifically, the rotary assembly 121 is a thrust bearing device.

[0052] As shown in FIG. 12, in some feasible embodiments provided by the present application, the rotating seat 55 includes a first rotating shaft 552 inserted into the base 50 and a table surface 551 located on the top of the first rotating shaft 552, the rotating assembly 121 is sleeved on the outside of the first rotating shaft 552 of the rotating seat 55, the second synchronous pulley 133 is connected to the table surface 551, and the rotating assembly 121 includes a first rotating assembly 1211 and a second rotating assembly 1212 distributed on opposite ends of the base 50, whereby the opposite surfaces of the base 50 are rotatably contacted with the first rotating assembly 1211 and the second rotating assembly 1212, respectively.

[0053] Here, the first rotating assembly 1211 and the second rotating assembly 1212 cooperate to form a bearing device. The first driving unit 110 operates to rotate the first synchronous pulley 132, which in turn rotates the second synchronous pulley 133 via the first transmission belt 131. Since the base 50 and the first rotating shaft 552 of the rotating seat 55 are rotatably connected via the first rotating assembly 1211 and the second rotating assembly 1212, the first driving unit 110 can further rotate the rotating seat 55 relative to the base 50.

[0054] Specifically, the first rotating assembly 1211 and the second rotating assembly 1212 may be ball rollers or needle rollers, and the two rotating assemblies 121 may cooperate to form a bearing device, specifically, two needle roller or ball roller assemblies may cooperate to form a thrust bearing. Here, the opposing surfaces of the base 50 are in rotatable contact with the first rotating assembly 1211 and the second rotating assembly 1212, respectively, i.e., the first rotating assembly 1211 and the second rotating assembly 1212 are in direct contact with the base 50.

[0055] While conventional bearings themselves include ball rollers or needle rollers, and upper and lower spacers, in the first mechanical joint 10 provided by the embodiments of the present application, the opposing sides of the base 50 are in rotatable contact with the first rotating assembly 1211 and the second rotating assembly 1212, respectively, which simplifies the installation of the spacer between the first rotating assembly 1211 and the base 50, and the spacer between the second rotating assembly 1212 and the base 50, thereby further reducing the axial height of the mechanical joint and meeting the design requirements of a compact and miniaturized mechanical joint, as well as the design requirements of a compact and miniaturized structure of the mechanical arm 001.

[0056] 10 and 12 , in the above embodiment, the table surface 551 of the swivel seat 55 is located outside the base 50, for example, the table surface 551 of the swivel seat 55 is located above the base 50, and one end of the second rotating assembly 1212 remote from the first rotating assembly 1211 rotatably contacts the side of the table surface 551 facing the base 50, i.e., the second rotating assembly 1212 is located above the first rotating assembly 1211. The two upper and lower end faces of the second rotating assembly 1212 rotatably contact the table surface 551 of the swivel seat 55 and the base 50, respectively, i.e., the second rotating assembly 1212 treats the table surface 551 of the swivel seat 55 and the base 50 as two upper and lower spacers. In this way, compared with a transmission bearing, the installation of the two spacers above and below the second rotary assembly 1212 is simplified, the axial height of the rotary joint 120 is further reduced, the axial height of the first mechanical joint 10 is reduced, and the design requirements for a compact structure and small size of the first mechanical joint 10 can be met.

[0057] As shown in FIG. 12 , in some feasible embodiments provided by the present application, the rotary joint 120 further includes a first spacer 122 and a preload assembly 123, wherein one end of the first rotating assembly 1211 remote from the second rotating assembly 1212 is in rotatable contact with the first spacer 122, and the preload assembly 123 is used to adjust the distance between the first rotating assembly 1211 and the second rotating assembly 1212 via the first spacer 122.

[0058] In this embodiment, the upper and lower end surfaces of the first rotating assembly 1211 are in rotatable contact with the base 50 and the first spacer 122, respectively, and the preload assembly 123 can adjust the distance between the first rotating assembly 1211 and the second rotating assembly 1212 via the first spacer 122, and can further tighten the first rotating assembly 1211 and the second rotating assembly 1212, thereby significantly improving the rigidity of the mechanical joint 10 within a limited space.

[0059] In the above embodiment, as shown in FIG. 10 , the preload assembly 123 includes a first adjustment member 1231 and a first preload spacer 1232. The first preload spacer 1232 is located on the side of the first spacer 122 away from the first rotating assembly 1211. The first adjustment member 1231 passes through the first preload spacer 1232 and is movably connected to the first rotating shaft 552 of the rotating seat 55. When the first adjustment member 1231 rotates, the first preload spacer 1232 moves up and down relative to the first rotating shaft 552 of the rotating seat 55, thereby adjusting the distance between the first rotating assembly 1211 and the second rotating assembly 1212.

[0060] The first adjustment member 1231 includes a first rod portion and a first head portion. For example, the first adjustment member 1231 is a bolt. A screw hole is provided at the bottom of the first rotation shaft 552 of the rotating seat 55. The first rod portion passes through the first preload spacer 1232 and is connected to the first rotation shaft 552. The first head portion is snap-fitted to the side of the first preload spacer 1232 that is farther from the first spacer 122. The first spacer 122 is located between the first preload spacer 1232 and the first rotating assembly 1211. As a result, by rotating the first adjustment assembly 1231, This allows the first preload spacer 1232 to be moved up and down along the first rotation axis 552 together with the first adjustment member 1231, and as a result, the first spacer 1232 can move the first rotating assembly 1211 in a direction closer to or away from the second rotating assembly 1212, thereby adjusting the distance between the first rotating assembly 1211 and the second rotating assembly 1212, and further tightening the first rotating assembly 1211 and the second rotating assembly 1212.

[0061] 12 , the rotary joint 120 further includes a sliding sleeve 124. Specifically, the sliding sleeve 124 may be a brass sleeve or other structures that meet the requirements. The sliding sleeve 124 is fitted onto the outside of the first rotary shaft 552 of the rotary seat 55, is located between the first rotary assembly 1211 and the second rotary assembly 1212, and is housed in a first mounting groove provided on the side of the base 50 facing the first rotary assembly 1211. The installation of the sliding sleeve 124 makes it possible to withstand radial forces, which is advantageous in improving the reliability of the rotary joint 120.

[0062] In other words, the first mechanical joint 120 is constrained by three bearings, specifically, the thrust needle roller bearing of the first rotating assembly 1211, the thrust needle roller bearing of the second rotating assembly 1212, and the sliding bearing of the sliding sleeve 124, and as a result, the rotating joint 120 can withstand not only axial forces but also radial forces, greatly improving the reliability of the rotating joint 120.

[0063] In some feasible embodiments provided by the present application, as shown in FIGS. 9 and 12 , the first mechanical joint 10 further includes a detection shaft 170, a first rotation angle detection device 140, and a second synchronous belt pulley assembly 150, where the detection shaft 170 is rotatably mounted on the base 50, for example, the detection shaft 170 is mounted parallel to the output shaft of the first driving unit 110, the second synchronous belt pulley assembly 150 is used to transmit power between the detection shaft 170 and the output shaft of the first driving unit 110, and the first rotation angle detection device 140 is used to detect the rotation angle of the detection shaft 170.

[0064] The second synchronous belt pulley assembly 150 is transmissibly connected to the detection shaft 170 and the output shaft of the first driving unit 110. As a result, the rotation angle of the output shaft of the first driving unit 110 can be known by simply detecting the rotation angle of the detection shaft 170 with the first rotation angle detection device 140, and measurement of the rotation angle of the output shaft of the first driving unit 110 can be realized. At the same time, since the detection shaft 170 is arranged relatively parallel to the output shaft of the first driving unit 110 and the first rotation angle detection device 140 is arranged on the detection shaft 170, compared to the related art in which the first rotation angle detection device is arranged directly on the top of the first driving unit to detect the rotation angle of the output shaft of the first driving unit, the axial height of the first driving unit 110 can be reduced, and further the axial height of the first mechanical joint 10 and the axial height of the entire mechanical arm 001 can be reduced, thereby satisfying the design requirements for a compact structure and miniaturization of the mechanical joint.

[0065] In other words, in the first mechanical joint 10 provided by the embodiments of the present application, in order to solve the problem of the conventional mechanical joint in which the first rotation angle detection device is provided on the first drive unit, which increases the overall height of the drive unit, the first rotation angle detection device is moved from vertically above the output shaft of the first drive unit to onto the detection shaft 170 that is parallel to the horizontal direction of the first drive unit, and the second synchronous belt pulley assembly 150 is transmissively connected to the detection shaft 170 and the output shaft of the first drive unit 110, thereby realizing measurement of the rotation angle of the output shaft of the first drive unit 110 and simultaneously reducing the overall height of the first mechanical joint 10.

[0066] 9 and 12 , in the above embodiment, the first mechanical joint 10 further includes a fixed bracket 180, which is connected to the base 50 and bridges the outer periphery of the detection shaft 170; the second synchronous belt pulley assembly 150 includes a third synchronous pulley and a fourth synchronous pulley connected via a second transmission belt 151; the third synchronous pulley is connected to the output shaft of the first driving unit 110, i.e., the third synchronous pulley is arranged coaxially with the first synchronous pulley 132; the fourth synchronous pulley is connected to the detection shaft 170 and may be located inside the fixed bracket 180; and the first rotation angle detection device 140 includes a magnetic sensing member 141 and a magnetic member 142, which may be provided on the fixed bracket 180 and the magnetic member 142 on the detection shaft 170. As a result, when the output shaft of the first driving unit 110 rotates, it rotates the third synchronous pulley, which in turn rotates the fourth synchronous pulley via the second transmission belt 151, and further rotates the detection shaft 170 and the magnetic member 142 on the detection shaft 170. The magnetic sensing member 141 can measure the rotation angle of the detection shaft 170 according to the position change of the magnetic member 142 it senses, which is a simple structure and easy to implement.

[0067] Specifically, the detection axis 170 and the rotating seat 55 are distributed on opposite sides of the first driving unit 110, so that the space and structure of the base 50 can be utilized rationally, and the design requirements of a compact and miniaturized structure of the mechanical arm 001 can be met.

[0068] Specifically, the magnetic member 142 is a magnet, the magnetic sensing member 141 is a Hall sensor, and the magnetic member 142 is fixed onto the detection shaft 170 by adhesive, an engagement groove, or the like.

[0069] In some feasible embodiments provided by the present application, as shown in FIG. 9 , the first mechanical joint 10 further includes a tensioning device 160, which is used to adjust the tension of the first transmission belt 131 in the first transmission assembly 130 to improve the transmission efficiency and transmission accuracy of the first transmission assembly 130, and to improve the rotation accuracy of the rotating seat 55 relative to the base 50.

[0070] In the above embodiment, the tensioning device 160 includes a guide portion 161, a tensioning shaft, and a second adjusting member. Here, the guide portion 161 may be provided on the base 50 to rationally utilize the structure of the base 50. A sliding groove 9511 is provided on the inner bottom portion of the guide portion 161, and the tensioning shaft is inserted into the guide portion 161. For example, the tensioning shaft is inserted into the guide portion 161 from above, and the end of the tensioning shaft is located within the sliding groove 9511 and can slide along the guide groove in a direction toward or away from the first transmission belt 131. A tensioning bearing 162 connected to the first transmission belt 131 is provided on a portion of the tensioning shaft located outside the guide portion 161. The second adjustment member is inserted into the adjustment hole 163 of the guide portion 161 and abuts against the tensioning shaft, and by adjusting the connection position between the second adjustment member and the guide portion 161, the position of the tensioning shaft within the guide groove can be adjusted, thereby performing the tensioning operation on the first transmission belt 131.

[0071] Here, the second adjusting member may be a bolt, and an adjusting hole 163 is provided on the side of the guide portion 161, the adjusting hole 163 being a threaded hole, and the second adjusting member is connected to the threaded hole and can abut against the tensioning shaft in the guide portion 161. By rotating the second adjusting member, the tensioning shaft can be moved toward or away from the first transmission belt 131, and the first transmission belt 131 and the tensioning shaft are rotatably connected by the tensioning bearing 162, which further realizes the tensioning operation of the first transmission belt 131, resulting in a simple structure and convenient operation.

[0072] 13, 14 and 15, in some feasible embodiments provided by the present application, the second mechanical joint 20 includes a second driving unit 220, a first screw 230 and a first guide nut 210, the first guide nut 210 is threadedly connected to the first screw 230 and hingedly connected on the rotating seat 55, the second driving unit 220 is provided on the support arm 60, a first end of the first screw 230 is connected to the second driving unit 220, and a second end of the first screw 230 is provided through the first guide nut 210 toward the rotating seat 55, wherein the second driving unit 220 is used to rotate the first screw 230 and move the first screw 230 and the first guide nut 210 relatively to drive the support arm 60 to rise or fall relative to the rotating seat 55.

[0073] It should be understood that the second drive unit 220 may be a motor, and the output shaft of the motor may be connected to the first screw 230; for example, the output shaft of the second drive unit 220 may be connected to the first screw 230 via adhesive, or the output shaft of the second drive unit 220 may be connected to the first screw 230 via a key or other means. Rotation of the output shaft of the second drive unit 220 rotates the first screw 230, driving the first guide nut 210 to move relatively to the first screw 230. Since the first guide nut 210 is hingedly connected to the rotating seat 55 and the second drive unit 220 is provided on the support arm 60, the first screw 230 can move relative to the first guide nut 210 in a direction toward or away from the rotating seat 55, and the support arm 60 can be raised or lowered relative to the rotating seat 55.

[0074] In other words, in the second mechanical joint 20 provided by the embodiments of the present application, the second driving unit 220 is provided on the support arm 60, the first guide nut 210 is hingedly connected on the rotating seat 55 and threadedly connected to the first screw 230, and by using the second driving unit 220 to drive the first screw 230 to rotate relative to the first guide nut 210, the first screw 230 can move relative to the first guide nut 210, and further the support arm 60 can be raised or lowered relative to the rotating seat 55, i.e., the support arm 60 can be in a folded state or an unfolded state relative to the rotating seat 55, thereby meeting different functional requirements of the mechanical arm 001.

[0075] It should be understood that when the support arm 60 is in a folded state relative to the swivel seat 55, for example, when the support arm 60 is in a horizontal position, i.e., when the support arm 60 is in a zero position state, the mechanical arm 001 is in a storage position and is not performing any operation, thereby reducing the space occupied by the mechanical arm 001, and when the support arm 60 is in an unfolded state relative to the swivel seat 55, for example, when the support arm 60 is unfolded to a vertical position relative to the swivel seat 55, the mechanical arm 001 is in an unfolded state for performing operations. Here, by cooperation of the second driving unit 220, the first screw 230 and the first guide nut 210, the support arm 60 can be raised or lowered relative to the swivel seat 55, which has a simple structure, is easy to operate, and satisfies the design requirements of a compact structure and a small size of the mechanical arm 001.

[0076] Furthermore, the support arm 60 is hingedly connected to the rotating seat 55, and the first guide nut 210 is hingedly connected to the rotating seat 55. During the process in which the second driving unit 220 drives the first screw 230 to move relative to the first guide nut 210 and raises or lowers the support arm 60 relative to the rotating seat 55, the first guide nut 210 does not interfere with the rotating seat 55, i.e., the first guide nut 210 is rotatable relative to the rotating seat 55 and is adapted to the rotation range of the support arm 60 relative to the rotating seat 55 to ensure that the first screw 230 can move within a certain range relative to the first guide nut 210.

[0077] It should be understood that the rotation angle of the first guide nut 210 relative to the rotating seat 55 must be equal to or greater than the rotation range of the support arm 60 relative to the rotating seat 55 to meet the usage requirements of the mechanical arm 001, for example, the rotation range of the first guide nut 210 relative to the rotating seat 55 may be 90° to 360°, or any other range that meets the requirements.

[0078] Specifically, a first cylindrical boss is provided on the side of the first guide nut 210 facing the rotating seat 55, and the first guide nut 210 is hingedly connected to the rotating seat 55 via the first cylindrical boss. In this way, the rotation range of the first guide nut 210 relative to the rotating seat 55 reaches 360°, which further meets the development needs for a larger lift range of the support arm 60 relative to the rotating seat 55, expands the range of use of the product, and the structure of the first cylindrical boss is simple, easy to process and assemble, and low cost.

[0079] In some feasible embodiments provided by the present application, as shown in FIG. 13 , the second mechanical joint 20 further includes a motor holder 240, wherein the motor holder 240 is hingedly connected to the support arm 60, i.e., the motor holder 240 is rotatable relative to the support arm 60, the second driving unit 220 is mounted on the motor holder 240, and the first screw 230 is connected to the motor holder 240 and the second driving unit 220. In this way, when the support arm 60 is raised or lowered relative to the rotating seat 55, the second driving unit 220 connected to the first screw 230 will not interfere with the support arm 60 and will not be caught, ensuring that the first screw 230 can move smoothly relative to the first guide nut 210, and further improving the operating reliability and smoothness of the second mechanical joint 20.

[0080] Specifically, a second cylindrical boss is provided on the side of the motor holder 240 facing the support arm 60, and the motor holder 240 is hingedly connected to the support arm 60 via the second cylindrical boss. In this way, the rotation range of the motor holder 240 relative to the support arm 60 can reach 360°, and the need for a large lift angle of the support arm 60 relative to the swivel seat 55 can be met. The second cylindrical boss has a simple structure, is easy to process and assemble, and is low in cost.

[0081] In other words, in the second mechanical joint 20 provided by the embodiments of the present application, the support arm 60 is hingedly connected to the rotating seat 55, the first guide nut 210 is hingedly connected to the rotating seat 55, and the motor holder 240 is hingedly connected to the support arm 60, thereby forming a movable triangular structure. The first screw 230 is connected to the second driving unit 220 and passes through the first guide nut 210. The second driving unit 220 rotates the first screw 230 to move the first screw 230 relative to the first guide nut 210, thereby realizing the raising or lowering of the support arm 60 relative to the rotating seat 55, and the structure is simple.

[0082] 13, 14, and 15, in some feasible embodiments provided by the present application, the second mechanical joint 20 further includes a thrust bearing 250, the thrust bearing 250 is sleeved on the outside of the first screw 230, the first screw 230 is provided with a first step structure 231, and the thrust bearing 250 is located between the first step structure 231 and the motor holder 240 to rotatably connect the first screw 230 and the motor holder 240. In this way, the axial thrust of the first screw 230 is supported by the motor holder 240, which further contributes to improving the service life of the first screw 230 and the reliability of the mechanical joint.

[0083] In some feasible embodiments provided by the present application, as shown in FIG. 13 , the second mechanical joint 20 further includes an elastic member 260, which is connected to the rotating seat 55 and the support arm 60, and the elastic member 260 is used to apply a thrust to the support arm 60 adjacent to the rotating seat 55.

[0084] Here, by installing the elastic member 260, the support arm 60 has a preload that reverses in the direction approaching the rotating seat 55. As shown in FIG. 13, the elastic member 260 causes the support arm 60 to have a downward (clockwise in FIG. 13) preload. This eliminates the gap in the triangular structure formed by the support arm 60 hinged to the rotating seat 55, the first guide nut 210 hinged to the rotating seat 55, and the motor holder 240 hinged to the support arm 60. This reduces wobbling when the support arm 60 rises or falls relative to the rotating seat 55, and improves the working stability and reliability of the second mechanical joint 20.

[0085] Specifically, the elastic member 260 may be a torsion spring, or it should be understood that the elastic member 260 may have any other structure that meets the requirements, with one end of the torsion spring connected to the rotating seat 55 and the other end of the torsion spring connected to the support arm 60, for example, with both ends of the torsion spring hooked onto the rotating seat 55 and the support arm 60, respectively.

[0086] In some possible embodiments provided by the present application, as shown in Fig. 12, the second mechanical joint 20 further includes an anti-tension member 280, where the first screw 230 is provided with an anti-tension groove 232 inside the motor holder 240, and the anti-tension member 280 is connected to the motor holder 240 and extends to the inside of the anti-tension groove 232. The installation of the anti-tension member 280 can provide good protection for the second driving part 220 and contribute to improving the service life of the second driving part 220.

[0087] Furthermore, a gap is provided between the anti-tension member 280 and the anti-tension groove 232, i.e., there is a gap between the anti-tension member 280 and the two side walls and bottom wall of the anti-tension groove 232. In this way, when the first screw 230 is in normal operation, it will not come into contact with the anti-tension member 280, i.e., the anti-tension member 280 will not interfere with the normal rotation of the first screw 230, further ensuring the operational reliability of the second mechanical joint 20.

[0088] Here, the distance between the anti-tension member 280 and the groove wall of the anti-tension groove 232 on the side closest to the second actuator 220 is smaller than the axial momentum of the output shaft of the second actuator 220. In this way, when the first screw 230 is pulled, for example, when the support arm 60 is used in an abnormal situation, for example, when the support arm 60 is manually lifted, the output shaft of the second actuator 220 will be pulled out during its movement stroke, and the anti-tension member 280 will come into contact with the groove wall of the anti-tension groove 232 on the side closest to the second actuator 220, and a pulling force will be applied to the anti-tension member 280. At this time, the output shaft of the second actuator 220 will not be subjected to axial force, which protects the second actuator 220 and contributes to improving the service life of the second actuator 220, thereby reducing the failure rate of the second mechanical joint 20 and extending the service life of the second mechanical joint 20.

[0089] In the above embodiment, the anti-tension member 280 is an anti-pull bolt, and the anti-tension groove 232 is an annular groove. Here, the anti-pull bolt is a standard part, is low in cost, is easy to connect with the motor holder 240, and is easy to assemble. The anti-tension groove 232 is an annular groove, is easy to process, and is advantageous in reducing processing costs.

[0090] In some feasible embodiments provided by the present application, as shown in FIG. 13 , the second mechanical joint 20 further includes a limit switch 290, where the limit switch 290 is provided on the support arm 60, and the second drive unit 220 rotates or stops rotating according to the trigger state of the limit switch 290, where the limit switch 290 is triggered when the support arm 60 rotates to a first predetermined position.

[0091] Here, the first predetermined position may be a state in which the support arm 60 is in a zero position. For example, when the support arm 60 is in a horizontal position, if the support arm 60 continues to rotate in a direction approaching the rotating seat 55, for example, continues to rotate downward, there is a possibility that the stability of the hinged connection between the support arm 60 and the rotating seat 55, the stability of the hinged connection between the first guide nut 210 and the rotating seat 55, and the stability of the connection between the first screw 230 and the second driving unit 220 may be destroyed, and further, the second mechanical joint 20 may be easily broken. Therefore, when the support arm 60 rotates to the first predetermined position, the limit switch 290 provided on the support arm 60 is triggered, and the second driving unit 220 is controlled to stop the rotation of the second driving unit 220 in accordance with the trigger signal of the limit switch 290. This prevents the second mechanical joint 20 from breaking down due to the second driving unit 220 continuing to rotate, and further protects the mechanical joint, which contributes to improving the service life of the mechanical joint and the reliability of the mechanical arm 001.

[0092] It should be understood that when the support arm 60 has not rotated to the first predetermined position, i.e., when the support arm 60 is in an inclined or vertical state, the limit switch 290 is not triggered and the second drive unit 220 does not receive the trigger signal of the limit switch 290, so the second drive unit 220 can be controlled to continue rotating according to other control procedures.

[0093] In the above embodiment, as shown in FIG. 13 , the limit switch 290 includes a switch body 291 and a trigger member 292, the switch body 291 is disposed on one side of the support arm 60, one end of the trigger member 292 is connected to the switch body 291, and the other end extends in a direction away from the switch body 291, i.e., the other end of the trigger member 292 extends outward from the surface of the support arm 60 where the switch body 291 is located, and when the support arm 60 is rotated to a first predetermined position, for example, when the support arm 60 is rotated to a zero position state in a horizontal position relative to the rotating seat 55, the other end of the trigger member 292 is adapted to be abutted against an external object and contact the switch body 291 to trigger the limit switch 290.

[0094] It should be understood that the external object may be a structure other than the second mechanical joint 20 itself, for example, the external object may be another structure of the mechanical arm 001, or the external object may be a structure provided in the storage cavity 011 of the device body 010 of the self-propelled cleaning device 002. Specifically, it should be understood that the external object may be the housing of the first driving unit, and when the support arm 60 rotates to the first predetermined position, that is, when the support arm 60 is in the horizontally left zero position state, the switch body 291 is provided on one side of the bottom when the support arm 60 is in the first position, so that one end of the trigger member 292 away from the switch body 291 can abut against the external object and contact the switch body 291 to trigger the limit switch 290, and further the second driving unit 220 can stop working according to the trigger signal of the limit switch 290, preventing the support arm 60 from continuing to move downward and damaging the second mechanical joint 20, and protecting the mechanical arm 001.

[0095] In some feasible embodiments provided by the present application, the second mechanical joint 20 further includes a second rotation angle detection device, which is provided on the second driving unit 220 and used to detect the rotation angle of the output shaft of the second driving unit 220, and the second driving unit 220 is further configured to rotate or stop rotating based on the detection result of the second rotation angle detection device, so that the support arm 60 can be flexibly controlled to rotate to any required angle relative to the rotating seat 55, which can meet different working conditions of the mechanical arm 001 and expand the use range of the product.

[0096] Specifically, a mechanical self-locking structure may be provided on the second mechanical joint 20, and when the support arm 60 rotates to a vertical position relative to the rotating seat 55, the mechanical self-locking structure may be activated to lock the support arm 60 in that position relative to the rotating seat 55, and at the same time, the second drive unit 220 may be disconnected from the power source, and the power consumed by the second mechanical joint 20 when the mechanical arm 001 is under load may be removed.

[0097] As shown in Figures 23, 24, 25 and 26, in some feasible embodiments provided by the present application, the fourth mechanical joint 40 includes a fourth drive unit 410, a photoelectric sensor 420 and a baffle 430, the fourth drive unit 410 is provided on the working arm 80 and is connected to the manipulator 90 to rotate the manipulator 90, one of the photoelectric sensor 420 and the baffle 430 is provided on the manipulator 90 and the other is provided on the working arm 80, and the baffle 430 is used to change the sensing result of the photoelectric sensor 420 when the manipulator 90 is in the zero position, that is, the photoelectric sensor 420 and the baffle 430 are used to determine the zero position of the manipulator 90.

[0098] In the fourth mechanical joint 40 provided by the embodiment of the present application, a photoelectric sensor 420 and a baffle 430 are added, and the baffle 430 is used to change the sensing result of the photoelectric sensor 420 when the manipulator 90 is in the zero position. Therefore, according to the change in the sensing result of the photoelectric sensor 420, it can be determined that the manipulator 90 is in the zero position, and the control system can perform a corresponding operation according to the manipulator 90 in the zero position, thereby improving the intelligence of the mechanical arm 001 and increasing the user's satisfaction with use. Here, the zero position may be a position where the operating mechanism (such as the manipulator 90) is stored with respect to the working arm 80, or an initial position for relative rotation. For example, when the rotation angle of the manipulator 90 with respect to the working arm is 0°, it may be said that the manipulator 90 is in the zero position.

[0099] Here, the photoelectric sensor 420 may be provided on the manipulator 90, and the baffle 430 may be provided on the frame of the fourth mechanical joint 40, or the photoelectric sensor 420 may be provided on the frame of the fourth mechanical joint 40, and the baffle 430 may be provided on the manipulator 90, thereby meeting the needs of different structures for the photoelectric sensor 420 and the baffle 430. Here, the frame of the mechanical joint may be the working arm 80, the housing 411 of the fourth drive unit 410, etc.

[0100] In the above embodiment, the fourth driving unit 410 is connected to the photoelectric sensor 420, and the fourth driving unit 410 is configured to rotate or stop rotating according to the sensing result of the photoelectric sensor 420. As a result, the working state of the fourth driving unit 410 can be reasonably controlled according to the sensing result of the photoelectric sensor 420, and the position of the manipulator 90 can be reasonably controlled to place the manipulator 90 in different positions to meet different working conditions of the manipulator 90 and expand the use range of the product.

[0101] Specifically, when the detection result of the photoelectric sensor 420 changes, the manipulator 90 may be in the zero position, that is, the manipulator 90 may be in the storage position. Therefore, the fourth drive unit 410 can stop rotation according to the detection result of the photoelectric sensor 420, stop the rotation of the manipulator 90 and maintain it at the zero position, facilitating storage, and avoiding the situation where the fourth drive unit 410 continues to work and the manipulator 90 continues to rotate, wasting energy and not utilizing storage.

[0102] It should be understood that if the detection result of the photoelectric sensor 420 does not change, the manipulator 90 may be in a rotating state or a zero state, and the fourth drive unit 410 can maintain the manipulator 90 in its current state by maintaining the current rotating or stopped rotation state according to the detection result of the photoelectric sensor 420.

[0103] 24 and 26 , in some feasible embodiments provided by the present application, the fourth drive unit 410 includes a fourth housing 411 and a fourth output shaft 412, for example, the fourth drive unit is a motor, the fourth housing 411 of the fourth drive unit 410 is connected to the working arm 80, i.e., the fourth housing 411 of the fourth drive unit 410 is attached to the working arm 80, and the photoelectric sensor 420 is provided on the working arm 80 or the housing 411, in other words, the photoelectric sensor 420 is provided on a fixed mechanism. The manipulator 90 includes a connecting shaft 901 connected to the fourth output shaft 412, and the baffle 430 is provided on the connecting shaft 901, i.e., the baffle 430 rotates with the rotation of the connecting shaft 901.

[0104] Here, when the manipulator 90 is at the zero position, the baffle 430 is used to block the photoelectric sensor 420 from receiving an optical signal, thereby changing the sensing result of the photoelectric sensor 420. The structure is simple, easy to implement, and suitable for wide use and application.

[0105] In some feasible embodiments provided by the present application, as shown in FIG. 24 , the fourth mechanical joint 40 further includes a bearing device 440, wherein an attachment hole 810 is provided at one end of the working arm 80 facing the manipulator 90, and an attachment groove 820 is provided in the mounting hole 810 on a side thereof away from the manipulator 90 and communicates with the mounting hole 810, the fourth drive unit 410 is located in the mounting groove 820, the connecting shaft 901 passes through the mounting hole 810, the bearing device 440 is located in the mounting hole 810, and the working arm 80 and the connecting shaft 901 are connected via the bearing device 440.

[0106] Because the fourth drive unit 410 is located inside the mounting groove 820, the provision of the fourth drive unit 410 does not increase the dimensions of the working arm 80, and the design requirements for compactness and miniaturization of the fourth mechanical joint 40 can be met, thereby expanding the range of use.

[0107] Here, the bearing device 440 is located within the mounting hole 810 of the working arm 80, the working arm 80 and the connecting shaft 901 are connected via the bearing device 440, the connecting shaft 901 can be supported by the bearing device 440, and the connecting shaft 901 is connected to the fourth output shaft 412 of the fourth drive unit 410, so that the fourth drive unit can further drive to rotate the working arm 80. Furthermore, the bearing device 440 is a ball roller bearing or a sliding bearing.

[0108] 24, in the above embodiment, a restricting hole 911 is provided at the end of the connecting shaft 901, and the fourth output shaft 412 is inserted into the restricting hole 911 to connect to the connecting shaft 901. The provision of the restricting hole 911 provides a good restricting effect, restricting the rotation of the connecting shaft 901 relative to the fourth output shaft 412. The rotation of the fourth output shaft 412 can rotate the connecting shaft 901, which in turn drives the manipulator 90 to rotate.

[0109] Specifically, the limiting hole 911 is a D-shaped hole, which can provide a planar limit for the connecting shaft 901 and the fourth output shaft 412 and act as a key. Furthermore, the rotation of the fourth output shaft 412 can drive the connecting shaft 901 to rotate. The D-shaped hole is convenient to process and easy to assemble.

[0110] In some possible embodiments provided by the present application, the fourth mechanical joint 40 further includes a fourth rotation angle detection device, which is provided on the fourth drive unit 410 and used to detect the rotation angle of the fourth output shaft 412. The fourth drive unit 410 is further configured to rotate or stop rotation based on the detection result of the rotation angle detection device. As a result, the working state of the fourth drive unit 410 can be rationally controlled according to the rotation angle of the fourth output shaft 412 detected by the rotation angle detection device, and the manipulator 90 can be rotated to an appropriate position to meet the needs of different working conditions of the manipulator 90. Specifically, the fourth rotation angle detection device can be a Hall sensor.

[0111] As shown in FIGS. 27 to 34 , in some feasible embodiments provided by the present application, the manipulator 90 includes a base 960, a fifth drive unit 910, a second screw 920, a second guide nut 930, two clamping units 940, and two link mechanisms 950, in which the base 960 is connected to the fourth mechanical joint 40, the fifth drive unit 910 is connected to the base 960, the second screw 920 is screw-connected to the second guide nut 930 and then connected to the fifth drive unit 910, A cylindrical boss 931 is provided on the second guide nut 930, a first end of each link mechanism 950 is movably connected to the cylindrical boss 931, and a second end of each link mechanism 950 is hingedly connected to a corresponding clamping portion 940, wherein the fifth driving portion 910 drives the second screw 920 to rotate, moves the second guide nut 930 relative to the second screw 920 to rotate the two link mechanisms 950, and further drives the two clamping portions 940 to move closer to or farther away from each other.

[0112] As shown in Figures 27, 28 and 29, in the manipulator 90 provided by the embodiment of the present application, a cylindrical boss 931 is provided on the second guide nut 950, and the cylindrical boss 931 is movably connected to the first ends of the two link mechanisms 950. When the fifth driving unit 910 drives the second screw 920 to rotate, the second guide nut 930 drives each link mechanism 950 to rotate and move its first end synchronously relative to the second screw 920. This drives the two link mechanisms 950 to move closer to or away from each other, and further drives the two clamping units 940 connected to the second ends of the two link mechanisms 950 to move closer to or away from each other, thereby realizing the grasping or releasing operation of the manipulator 90. As a result, the second guide nut 930 and the second screw 920, which are threadedly connected, can be used in cooperation with the fifth drive unit 910 and the two link mechanisms 950 to move the two clamping units 940 closer to or farther apart from each other, thereby realizing the grasping or releasing operation of the manipulator 90, with a simple structure and low cost.

[0113] Here, the cylindrical boss 931 is provided on the second guide nut 930, that is, the cylindrical boss 931 and the second guide nut 930 may be of an integrally molded structure, which simplifies the installation of the connection structure between the second guide nut 930 and the link mechanism 950, meets the design requirements for the manipulator 90 to be compact and small, contributes to expanding the range of use of the manipulator 90, and enables the manipulator 90 to meet the design requirements for the structure of a self-propelled cleaning device to be compact and small.

[0114] In some possible embodiments provided by the present application, the cylindrical bosses 931 are distributed on one or both sides of the second guide nut 930 along the first direction, and the two clamping portions 940 are close to or spaced apart from each other in a direction perpendicular to the first direction.

[0115] Here, the direction in which the two clamping portions 940 move toward or away from each other may be a second direction, and the first direction may be perpendicular to the second direction, for example, the first direction may be a vertical direction and the second direction may be a horizontal direction, where the first direction and the second direction are shown in Figures 30 and 28.

[0116] In this embodiment, when the cylindrical bosses 931 are distributed on one side of the second guide nut 930 along the first direction, the first ends of the two link mechanisms 950 are simultaneously movably connected to this cylindrical boss 931; when the cylindrical bosses 931 are distributed on both sides of the second guide nut 930 along the first direction, the first ends of the two link mechanisms 950 are respectively movably connected to the corresponding cylindrical bosses 931, that is, the two link mechanisms 950 are respectively movably connected to the corresponding cylindrical bosses 931 from both sides of the second guide nut 930. The cylindrical bosses 931 are distributed on one or both sides of the second guide nut 930 in the first direction, so that the two link mechanisms 950 and the second guide nut 930 overlap in the first direction and the two link mechanisms 950 are movably connected to the second guide nut in the second direction. Compared to manipulators in the related art, this satisfies the design requirement of a compact structure, and if the structural dimensions of each component remain unchanged, the overall dimensions of the manipulator 90 in the second direction can be reduced. Furthermore, while ensuring sufficient strength of the manipulator 90, the design requirement of a compact and miniaturized manipulator 90 can be met, which expands the range of use of the manipulator 90 and makes it suitable for widespread use and application.

[0117] Here, the second guide nut 930 is provided with a cylindrical boss 931 on one side or on both opposing sides in the first direction, and the hinged connection between the cylindrical boss 931 and the link mechanism 950 ensures a sufficient range of movement for the link mechanism 950, allowing it to rotate flexibly and smoothly relative to the nut. At the same time, the cylindrical boss 931 is easy to process and realize.

[0118] In some feasible embodiments provided by the present application, as shown in Figures 28, 29 and 30, the link mechanism 950 includes a first rod 951, a sliding groove 9511 is provided at a first end of the first rod 951, the cylindrical boss 931 is located in the sliding groove 9511 and can move within the sliding groove 9511 as the second guide nut 930 moves, the second end of the first rod 951 is hingedly connected to the clamping portion 940 via a first hinge connection point 9512 to move the clamping portion 940, and the portion between the first end and the second end of the first rod 951 is hingedly connected to the base 960 via a second hinge connection point 9513. As a result, while the fifth driving unit 910 is rotating the second screw 920, the second guide nut 930 moves relative to the second screw 920, and the cylindrical boss 931 and the sliding groove 9511 cooperate to move the first ends of the two first rods 951, so that the two first rods 951 can close and open the two link mechanisms 950 connected to the second ends of the first rods 951 in a scissors-like manner, thereby realizing the clamping and unloading functions of the clamping unit 940.

[0119] Here, the geometric centers of the first hinge connection point 9512, the second hinge connection point 9513, and the sliding groove 9511 may not be collinear, or the geometric centers of the first hinge connection point 9512, the second hinge connection point 9513, and the sliding groove 9511 may be collinear.

[0120] 28 and 29 , in the above embodiment, the link mechanism 950 further includes a second rod 952, a first end of which is hingedly connected to the clamping unit 940 via a third hinge connection point 9521, and a second end of which is hingedly connected to the base 960 via a fourth hinge connection point 9522, where the first hinge connection point 9512, the second hinge connection point 9513, the third hinge connection point 9521, and the fourth hinge connection point 9522 form a parallelogram. That is, the link mechanism 950 is a parallel four-link mechanism, which has a simple structure and good dynamic balance, and can further contribute to improving the operational smoothness and reliability of the manipulator 90.

[0121] Specifically, the fifth driving unit 910 is a motor, and is mounted on a base 960, with the base 960 and the fifth driving unit 910 being stationary relative to each other. A fifth output shaft of the fifth driving unit 910 is connected to the second screw 920, and the fifth driving unit 910 drives the second screw 920 to rotate, thereby moving the second guide nut 930, which is threadedly connected to the second screw 920, along the second screw 920. For example, when the fifth output shaft of the fifth driving unit 910 drives the second screw 920 to rotate forward, the second guide nut 930 moves forward along the second screw 920. Conversely, when the fifth output shaft of the fifth driving unit 910 drives the second screw 920 to rotate counterclockwise, the second guide nut 930 moves backward along the second screw 920.

[0122] The cylindrical boss 931 of the second guide nut 930 can move along the sliding groove 9511 of the first rod 951 of the link mechanism 950. Therefore, when the second guide nut 930 moves along the second screw 920, a force can be applied to the link mechanism 950 via the first rod 951. The first rod 951 and the clamping part 940 are hingedly connected via a first hinge connection point 9512. The first rod 951 and the base 960 are hingedly connected via a second hinge connection point 9513. The second rod 952 is hingedly connected to the clamping part 940 via a third hinge connection point 9521. The second rod 952 is hingedly connected to the base 960 via a fourth hinge connection point 9522. The link mechanism 950 is a parallel four-link mechanism. Therefore, the second guide nut 930 moves back and forth along the second screw 920, and the first rod 951 allows the two link mechanisms 950 to close and open like scissors, thereby realizing the clamping and unloading functions of the clamping part 940.

[0123] 29 and 31 , the first rod 951 is provided with a bending structure 953, which is located between the second hinge connection point 9513 and the sliding groove 9511, and the bending structures 953 of the two link mechanisms 950 bend in directions away from each other. In this way, in the first direction, the distance between the sliding grooves 9511 of the two first rods 951 is greater than the distance between the second hinge connection points 9513 of the two first rods 951. Therefore, after the two first rods 951 and the second guide nut 930 overlap, the distance between the second hinge connection points 9513 of the two first rods 951 is reduced in the first direction, resulting in a compact structure for the manipulator 90, which can reduce the overall dimensions of the manipulator 90 in the first direction and meet the design requirements for a compact structure and a small size for the manipulator 90.

[0124] Specifically, as shown in FIG. 31 , the two cylindrical bosses 931 are distributed on both sides of the second guide nut 930 in the first direction, the bending structure 953 of the first rod 951 above the second guide nut 930 faces upward, and the bending structure 953 of the first rod 951 below the second guide nut 930 faces downward. Therefore, after the two first rods 951 are hingedly connected to the cylindrical bosses 931 of the second guide nut 930 via the sliding grooves 9511, the two first rods 951 overlap with the second guide nut 930 from both above and below. As a result, the difference in height between the parts of the two first rods 951 away from the bending structure 953 in the first direction is small, and the difference in height between the second hinge connection points 9513 of the two first rods 951 in the first direction is small or set parallel. This results in a compact structure of the manipulator 90, and at the same time, forces are evenly applied to the two clamping parts 940, achieving smooth clamping.

[0125] In some feasible embodiments provided by the present application, as shown in Figures 31 and 32, the manipulator 90 further includes an anti-thrust spacer 921, a slide hole is provided on the base 960 for inserting one end of the second screw 920 away from the fifth driving portion 910, a step portion is provided on the outer periphery of the second screw 920 outside the slide hole, and the anti-thrust spacer 921 is located between the end face of the slide hole and the step portion.

[0126] Here, when the manipulator 90 operates so that the two clamping parts 940 approach each other to clamp an object, or when the manipulator 90 operates so that the two clamping parts 940 approach each other to their limit positions, the axial force of the second screw 920 is applied to this anti-thrust spacer 921, and at this time, this axial force does not act on the fifth drive part 910, so that the fifth drive part 910 can be well protected and the problem of the second screw 920 being damaged when the two clamping parts 940 continue to approach each other after approaching each other to their limit positions can be avoided, which contributes to extending the service life of the fifth drive part 910 and improving the reliability of the manipulator 90.

[0127] In some feasible embodiments provided by the present application, as shown in FIG. 30 , the base 960 includes a first cover plate 961 and a second cover plate 962 distributed along a first direction, a portion of the first cover plate 961 and a portion of the second cover plate 962 are connected to each other to form a cavity for accommodating the fifth drive unit 910, and a gap is provided between the other portions of the first cover plate 961 and the second cover plate 962, and the second guide nut 930 and a portion of the link mechanism 950 are located in the gap.

[0128] That is, the fifth driving unit 910 is mounted inside a cavity surrounded by the first cover plate 961 and the second cover plate 962, so that the first cover plate 961 and the second cover plate 962 can effectively protect the fifth driving unit 910. The second guide nut 930 and a portion of the link mechanism 950 are located in the gap between the first cover plate 961 and the second cover plate 962. As a result, the first cover plate 961 and the second cover plate 962 can effectively protect the second guide nut 930 and a portion of the link mechanism 950, which contributes to improving the reliability of the manipulator 90 and at the same time, contributing to improving the aesthetic appearance and tidyness of the manipulator 90. Furthermore, the provision of the gap between the first cover plate 961 and the second cover plate 962 provides sufficient movement space for the second guide nut 930 and a portion of the link mechanism 950.

[0129] Specifically, the first cover plate 961 and the second cover plate 962 are detachably connected by bolts, snap fittings, etc., which makes it easy to maintain the second guide nut 930 and link mechanism 950 between the two cover plates and convenient to operate.

[0130] In some feasible embodiments provided by the present application, as shown in Figures 27, 29 and 30, the manipulator 90 further includes a sixth drive unit 970, a transmission mechanism 980 and a first image capturing device 990, wherein the sixth drive unit 970 is provided on the base 960, the transmission mechanism 980 is connected to the sixth drive unit 970 and the first image capturing device 990, and the sixth drive unit 970 is used to drive the transmission mechanism 980 to rotate the first image capturing device 990 relative to the base 960.

[0131] In the manipulator 90 provided in the embodiments of the present application, by adding a first camera 990, when the manipulator 90 has its original function of clamping an object, the first camera 990 can collect images of the environment around the manipulator 90, thereby diversifying the functions of the manipulator 90 and making it suitable for widespread use and application.

[0132] Furthermore, the sixth driving unit 970 can rotate the first camera 990 relative to the main body of the base 960 via the transmission mechanism 980, and can further change the camera viewing angle of the first camera 990, expand the collection range of the first camera 990, and expand the range of use of the manipulator 90. At the same time, the first camera 990 can be positioned in a reasonable position to avoid obstacles and protect the camera 992, thereby reducing the failure rate of the first camera 990 and improving product reliability.

[0133] Furthermore, the sixth driving unit 970 drives the transmission mechanism 980 to rotate the first camera 990 relative to the base 960, thereby simplifying the problem of manually adjusting the camera angle of the first camera 990 and improving the intelligence of the manipulator 90.

[0134] In the above embodiment, one end of the first photographing device 990 is rotatably connected to the base 960 via the second rotation shaft 982, the transmission mechanism 980 includes a third screw 983, a third guide nut 984, and a link rod 981, the third screw 983 is threadedly connected to the third guide nut 984 and connected to the sixth drive unit 970, a first end of the link rod 981 is hingedly connected to the third guide nut 984, and a second end of the link rod 981 is hingedly connected to a portion of the first photographing device 990 away from the second rotation shaft 982. As a result, when the sixth drive unit 970 drives the third screw 983 to rotate, the third guide nut 984 moves relative to the third screw 983, causing the first photographing device 990 to rotate around the second rotation shaft 982 via the link rod 981, thereby realizing rotation of the first photographing device 990 relative to the base 960. Here, the sixth driving unit 970 may be a motor, which rotates the third screw 983 forward or backward to realize the forward or backward rotation of the first camera device 990 relative to the base 960. Specifically, the sixth driving unit 970, the third screw 983, the third guide nut 984, the link rod 981, and the second rotation shaft 982 cooperate to rotate the first camera device 990 relative to the base 960, which provides a simple structure, easy operation, and a small volume, thereby satisfying the design requirement for a compact structure of the manipulator 90.

[0135] Specifically, the first photographing device 990 includes a camera bracket 991 and a camera 992, the camera bracket 991 is connected to the base 960 via the second rotation axis 982, the camera bracket 991 is hingedly connected to the link rod 981, and the camera 992 is mounted on the camera bracket 991, so that during the process in which the sixth driving unit 970 drives the camera bracket 991 to rotate relative to the base 960 via the transmission mechanism 980, the camera 992 can rotate relative to the base 960, and different viewing angles can be achieved.

[0136] It should further be understood that the maximum flip angle of the first image capture device 990 may be 180°, and the first image capture device may be flippable to any position between 0 and 180° relative to the base 960, and the maximum flip angle of the image capture device may be 200°, 270°, 300°, or other angle values.

[0137] 33 and 34 , in some feasible embodiments provided by the present application, the transmission mechanism 980 further includes a connection block 985, which is fixedly connected to the third guide nut 984 and hingedly connected to the link rod 981. By installing the connection block 985, the link rod 981 and the third guide nut 984 are easily and reliably hingedly connected.

[0138] Here, one side of the connection block 985 may be fixed on the third guide nut 984 by welding, or the connection block 985 may be fixed on the third guide nut 984 by a bolt structure, snap fit, etc., and a circular convex pillar is provided on one side of the connection block 985 away from the third guide nut 984, and the first end of the link rod 981 is sleeved on the outside of the circular convex pillar through a circular hole, thereby realizing a hinged connection between the link rod 981 and the connection block 985.

[0139] As shown in Figures 29, 30, 33 and 34, the transmission mechanism 980 further includes a sliding rod 986, which is arranged parallel to the third screw 983 and fixed on the base 960, and which passes through the third guide nut 984 and is used to limit the movement of the third guide nut 984.

[0140] In other words, a threaded hole and a through-hole are formed on the third guide nut 984, the third guide nut 984 is threadably connected to the third screw 983 via the threaded hole and moves along the third screw 983 when the third screw 983 rotates, and the third guide nut 984 is slidably connected to the sliding rod 986 via the through-hole, and during the process of the third guide nut 984 moving along the third screw 983, the third guide nut 984 simultaneously slides along the sliding rod 986 under the constraints of the through-hole and the sliding rod 986. Therefore, the installation of the sliding rod 986 improves the precision and accuracy of the third guide nut 984 moving along the third screw 983 and reduces the occurrence of wobbling of the third guide nut 984 during the movement process, further improving the stability and precision when the first camera device 990 is turned over relative to the base 960, thereby ensuring the imaging quality of the first camera device 990.

[0141] In some possible embodiments provided by the present application, an avoidance space 941 is provided between the two clamping parts 940, and the first image capturing device 990 can be inverted to above the avoidance space 941 relative to the base 960. As a result, when the first image capturing device 990 is inverted to above the avoidance space 941 relative to the base 960, if the camera 992 of the first image capturing device 990 faces the avoidance space 941, the first image capturing device 990 can collect images at an angle below the avoidance space 941 through the avoidance space 941, thereby further expanding the collection range of the image capturing device.

[0142] As shown in Figures 35 to 42, some embodiments provided by the present application further provide another structure of a manipulator 90', and the manipulator 90' provided by this embodiment is also connected to the fourth output shaft 412 of the fourth mechanical joint via a connection shaft 901', and it should be understood that the specific connection method is similar to that of the manipulator 90 shown in Figures 27 to 34, and will not be described in detail here.

[0143] As shown in Figures 35 to 42, a manipulator 90' provided in an embodiment of the present application includes: a base 960', a receiving groove 963' opened upward in the base 960'; a main driving unit 910' and two clamping units 940', which are provided on the base 960' and located outside the receiving groove 963', the main driving unit 910' being communicably connected to the two clamping units 940' to drive the two clamping units 940' to move closer to or apart from each other; a sub-driving unit 970' and a first camera 990', which is provided in the receiving groove 963' and communicably connected to the first camera 990', and which is inverted so that the first camera 990' is received in the receiving groove 963' or located outside the receiving groove 963'.

[0144] 36, 40, and 41, in the manipulator 90' provided by the embodiment of the present application, a main drive unit 910' drives two clamping units 940' to move toward or away from each other, thereby realizing the grasping or releasing operation of the manipulator 90'. At the same time, by adding a first camera 990', when the manipulator 90' has the original function of clamping an object, the first camera 990' can detect the environment or objects around the manipulator 90'. For example, the first camera 990' can perform distance measurement, map construction, or object and color identification, which can further diversify the functions of the manipulator 90' and is suitable for widespread use and application.

[0145] Furthermore, the driving sub-unit 970' is communicably connected to the first camera 990' to drive the first camera 990' to rotate, thereby changing the viewing angle of the first camera 990' and expanding the detection range of the first camera 990' and the usable range of the manipulator 90'. At the same time, a receiving groove 963' is formed on the base 960' of the manipulator 90', and the first camera 990' is rotated to be received in the receiving groove 963' or positioned outside the receiving groove 963' under the driving sub-unit 970', thereby meeting the needs for different viewing angles of the first camera 990'. At the same time, receiving the first camera 990' in the receiving groove 963' contributes to reducing the overall dimension in the thickness direction of the manipulator compared to the related art in which the first camera is connected to the outer wall of the manipulator, thereby satisfying the design requirement of a compact structure of the manipulator 90'. Here, the directions of the top and bottom of the manipulator 90' are as shown by the arrows in FIGS. 38 and 40, and the thickness direction of the manipulator 90' is the direction from the top to the bottom of the manipulator 90'.

[0146] Furthermore, the sub-driving unit 970' drives the first camera 990' to rotate in an inverted manner relative to the base 960', thereby simplifying the problem of manually adjusting the camera angle of the first camera 990' and improving the intelligence of the manipulator 90'.

[0147] It should be understood that the base 960' may be connected to the working arm 80 of the mechanical arm 001, and specifically, the base 960' is rotatably connected to the working arm 80 via a fourth mechanical joint 40, the specific mechanism of which will be described in detail later.

[0148] In some possible embodiments provided by the present application, the first image capturing device 990' includes a camera 992', where the camera 992' includes a ToF camera and an RGB camera, where the ToF camera is composed of a transmitting end and a receiving end, and the ToF camera can be used alone for ranging or map construction, or in combination with an LDS or other optical modeling sensor of the self-propelled cleaning device to construct a 3D map model. The RGB camera is used to identify objects and colors.

[0149] Furthermore, as shown in Figures 36, 37, 38 and 39, the first photographing device 990' has a first limit position in which it is stored in the storage groove 963', and when in the first limit position, the top of the first photographing device 990' is lower than the top surface of the base 960' and the camera 992' faces upward.

[0150] Here, the first limit position can be understood as the initial position of the first camera 990', such as the zero position of the first camera 990'. When the first camera 990' is in the first limit position, the first camera 990' is accommodated in the accommodation groove 963', and the upper surface of the base 960' protrudes from the top of the first camera 990'. In this way, the base 960' can effectively protect the first camera 990', avoiding the problem of the first camera 990' being damaged by obstacles, helping to protect the camera 992', reducing the failure rate of the first camera 990', and improving product reliability. At the same time, when the first photographing device 990' is in the first limit position, the camera 992' faces upward, so that when the mechanical arm 001 is stored in the storage cavity 011, the camera 992' can be used to construct an upward map, which, combined with the LDS or other optical modeling sensor of the self-propelled cleaning device, can construct a 3D map model, which can further improve the reliability of the map construction of the self-propelled cleaning device and to a certain extent simplify the installation of sensors of the self-propelled cleaning device.

[0151] Furthermore, as shown in Figures 41 and 42, the first photographing device 990' has a second limit position between two clamping portions 940' that are spaced apart from each other, and when in the second limit position, the camera 992' of the first photographing device 990' faces downward.

[0152] Here, the second limit position can be understood as the maximum reversal position of the first camera device 990'. When the first camera device 990' is reversed to the second limit position, if the two clamping parts 940' are separated, the first camera device 990' is located between the two clamping parts 940'. The first camera device 990' can rationally utilize the space formed after the two clamping parts 940' are separated to achieve its storage function. This contributes to reducing the overall space occupied by the manipulator 90' and facilitating storage. The two clamping parts 940' can effectively protect the first camera device 990' from both sides, preventing obstacles from colliding with the first camera device 990' from the side, and contributing to improving the service life of the first camera device 990'. At the same time, when the first photographing device 990' is in the second limit position, the camera 992' faces downward, so that when the mechanical arm 001 is stored in the storage cavity 011, dust can be prevented from accumulating on the camera 992', improving the cleanliness of the camera 992' and further improving the information collection accuracy of the first photographing device 990'.

[0153] Specifically, the inversion angle of the first image capture device 990' may be 180°, which can provide a larger viewing angle for the mechanical arm.

[0154] As shown in Figures 36, 37, 38 and 42, in some possible embodiments provided by the present application, the first photographing device 990' further includes a camera bracket 991', a camera 992' is mounted on the camera bracket 991', and the end of the camera bracket 991' away from the camera 992' is connected to the output shaft of the sub-drive unit 970', and the sub-drive unit 970' rotates to drive the camera bracket 991' to invert.

[0155] In this embodiment, the sub-drive unit 970' may be a motor, and the camera bracket 991' is connected to the output shaft of the sub-drive unit 970'. For example, one end of the camera bracket 991' is sleeved onto the output shaft of the sub-drive unit 970', rotating the output shaft of the sub-drive to rotate the camera bracket 991' relative to the base 960', and the camera 992' is mounted on the camera bracket 991', which further rotates the camera 992' relative to the base 960', thereby realizing the inversion operation of the first photographing device 990', which has a simple structure, a small volume, and a low cost.

[0156] 41 and 42, an escape bend 993' is further provided in a portion of the camera bracket 991' between the camera 992' and the driving sub-unit 970', and the escape bend 993' is used to escape from the base 960' when the first camera device 990' is at the second limit position. In other words, when the driving sub-unit 970' operates to flip the first camera device 990' from the first limit position to the second limit position, the camera 992' is flipped from inside the receiving groove 963' to outside the receiving groove 963' and positioned between the two clamping units 940' separated from each other. That is, the camera 992' is flipped 180 degrees. The installation of the avoidance bend 993' allows the camera bracket 991' to avoid the side wall of the storage groove 963', and further prevents the camera bracket 991' from interfering with the side wall of the storage groove 963' and affecting the rotation range of the camera bracket 991'. Furthermore, the first camera 990' can be smoothly flipped to the second limit position, and when the first camera 990' is in the first limit position, its top is lower than the top surface of the storage groove 963'.

[0157] 36, 37 and 41, in some feasible embodiments provided by the present application, the manipulator 90' further includes a first link mechanism 953' and a second link mechanism 954' distributed on both sides outside the receiving groove 963', and the first link mechanism 953' and the second link mechanism 954' are communicably connected via a main gear set 955', and both are hingedly connected to the base 960' and the corresponding clamping unit 940'. In other words, the first link mechanism 953' is hingedly connected to the base 960' and one clamping unit 940', and the second link mechanism 954' is hingedly connected to the base 960' and another clamping unit 940', and the first link mechanism 953' and the second link mechanism 954' are communicably connected via the main gear set 955'. As a result, the main drive unit 910' is transmissibly connected to the first link mechanism 953', so that the main drive unit 910' drives the first link mechanism 953' to move, and the first link mechanism 953' moves the second link mechanism 954' via the main gear set 955', which further drives the two clamping units 940' to move closer to or farther away from each other, thereby realizing the gripping or release operation of the manipulator 90', which has a simple structure and low cost.

[0158] Furthermore, the main drive unit 910' is transmissibly connected to the first link mechanism 953', and the first link mechanism 953' transmits power to the second link mechanism 954' via the main gear set 955', so that the main drive unit 910' is more concentrated and located close to the first link mechanism 953', and furthermore, the storage groove 963' and the first camera device 990' can be avoided, thereby satisfying the design requirement of a compact structure of the manipulator 90'.

[0159] In the above embodiment, as shown in Figures 37 and 42, the first rod 951' of the first link mechanism 953' and the first rod 951' of the second link mechanism 954' are distributed on one side of the receiving groove 963' away from the main driving unit 910', the first end of the first rod 951' is hingedly connected to the base 960' via a first hinge connection point 9511', the first end of the first rod 951' of the first link mechanism 953' and the first end of the first rod 951' of the second link mechanism 954' are communicably connected via a main gear set 955', and the second end of the first rod 951' is hingedly connected to the clamping unit 940' via a second hinge connection point 9512'.

[0160] Furthermore, the second rod 952′ of the first link mechanism 953′ and the second rod 952′ of the second link mechanism 954′ are distributed on both sides of the outside of the receiving groove 963′, a first end of the second rod 952′ is hingedly connected to the base 960′ via a third hinge connection point 9521′, and a second end of the second rod 952′ is hingedly connected to the clamping part 940′ via a fourth hinge connection point 9522′, wherein the first hinge connection point 9511′, the second hinge connection point 9512′, the third hinge connection point 9521′, and the fourth hinge connection point 9522′ form a parallelogram. That is, the first link mechanism 953′ and the second link mechanism 954′ are both parallel four-link mechanisms, which have a simple structure and good dynamic balance, and further contribute to improving the operating smoothness and reliability of the manipulator 90′.

[0161] Here, the main driving unit 910′ is transmissibly connected to the second rod 952′ of the first link mechanism 953′, so that when the main driving unit 910′ operates, it can rotate the second rod 952′ of the first link mechanism 953′, which in turn operates the clamping unit 940′ connected to the first link mechanism 953′, rotating the first rod 951′ of the first link mechanism 953′. Power is then transmitted to the second link mechanism 954′ via the main gear set 955′, which rotates the first rod 951′ of the second link mechanism 954′, which in turn rotates another clamping unit 940′ connected to the second link mechanism 954′, thereby moving the two clamping units 940′ toward or away from each other, resulting in a simple structure and convenient operation.

[0162] As shown in Figures 37 and 42, in some feasible embodiments provided by the present application, the manipulator 90' further includes a second screw 920' and a second guide nut 930', the second screw 920' is threadedly connected to the second guide nut 930' and connected to the main drive unit 910', a cylindrical boss 931' is provided on the second guide nut 930', a sliding groove 9523' is opened in the direction from the first end to the second end of the second rod 952' of the first link mechanism 953', and the cylindrical boss 931' is positioned in the sliding groove 9523' and can move within the sliding groove 9523' along with the movement of the second guide nut 930'. As a result, while the main drive unit 910' is driving the second screw 920' to rotate, the second guide nut 930' moves relative to the second screw 920', and the cooperation of the cylindrical boss 931' and the sliding groove 9523' causes the second end of the second rod 952' of the first link mechanism 953' to rotate relative to the first end, i.e., the second rod 952' to rotate, which in turn causes the clamping unit 940' connected to the first link mechanism 953' to rotate, and the second end of the first rod 951' of the first link mechanism 953' to rotate relative to the first end, i.e., the first rod 951' of the first link mechanism 953' to rotate. As a result, the first rod 951' of the first link mechanism 953' can rotate the main gear set 955' and rotate the second link mechanism 954', thereby allowing the first link mechanism 953' and the second link mechanism 954' to close and open like scissors, thereby realizing the clamping and unloading functions of the clamping portion 940'.

[0163] Here, the second screw 920' has an elongated size, and the radial space occupied by the second screw 920' is small. Therefore, by connecting the main drive unit 910' and the first link mechanism 953' with the second screw 920' and the second guide nut 930', the second screw 920' is arranged near the first link mechanism 953' or near the edge of the base 960', which avoids the storage groove 963' and the first imaging device 990' and meets the design requirement of a compact structure of the manipulator 90'.

[0164] As shown in Figures 37 and 42, in some possible embodiments provided by the present application, the manipulator 90' further includes an elastic reset member 980' provided between the first end of the second rod 952' of the second link mechanism 954' and the base 960', and the elastic reset member 980' is used to apply a steering force to the second link mechanism 954' away from the first link mechanism 953'.

[0165] In other words, when the main drive unit 910' is not actuated, under the action of the elastic reset member 980', the second link mechanism 954' rotates away from the first link mechanism 953', i.e., the first link mechanism 953' and the second link mechanism 954' open like scissors, and the two clamping units 940' move away from each other. When the main drive unit 910' is actuated, the main drive unit 910' operates the first link mechanism 953', causing the first link mechanism 953' to rotate toward the second link mechanism 954', i.e., the first link mechanism 953' and the second link mechanism 954' close like scissors, and the two clamping units 940' move toward each other. Here, the installation of the elastic reset member 980' allows the manipulator 90' to switch between clamping and unloading operations, fulfilling different functions.

[0166] Specifically, the resilient reset member 980' is a torsion spring connected between the base 960' and a first end of the second linkage 954'. As shown in Figure 37, the torsion spring applies a clockwise steering force to the second linkage 954', urging the second linkage 954' away from the first linkage 953'.

[0167] As shown in Figures 37, 39 and 42, in some possible embodiments provided by the present application, the manipulator 90' further includes a secondary gear set 912', and the output shaft of the main drive unit 910' is communicably connected to the second screw 920' via the secondary gear set 912', and the second screw 920' is located on the side of the storage groove 963' closer to the first link mechanism 953'.

[0168] Here, the secondary gear set 912' can change the transmission direction of the main drive unit 910' and the second screw 920', so that the second screw 920' can be arranged to avoid the receiving groove 963' and the first camera device 990'. For example, the second screw 920' can be arranged close to the edge of the base 960', thereby providing space for arranging the receiving groove 963' and space for turning the first camera device 990', ensuring that the first camera device 990' can turn between the first limit position and the second limit position, ensuring that the manipulator 90' has a large shooting field of view, and at the same time, allowing the manipulator 90' to be miniaturized with a compact structure.

[0169] In other words, in the manipulator 90' provided by the embodiment of the present application, when the main drive unit 910' is operated, the secondary gear set 912' rotates the second screw 920', and the second guide nut 930' on the second screw 920' moves relative to the second screw 920'. Therefore, the cylindrical boss 931' on the second guide nut 930' and the sliding groove 9523' on the first link mechanism 953' cooperate to rotate the first link mechanism 953'. The first link mechanism 953' then rotates the second link mechanism 954' via the main gear set 955', allowing the first link mechanism 953' and the second link mechanism 954' to close and open like scissors, thereby realizing the clamping and unloading functions of the clamping unit 940'. At the same time, this avoids the need for the first filming assembly and the receiving groove 963', allowing the manipulator 90' to have a compact structure.

[0170] As shown in Figures 38 and 40, in some feasible embodiments provided by the present application, the base 960' includes a first cover plate 961' and a second cover plate 962', parts of the first cover plate 961' and the second cover plate 962' are connected to each other to enclose a cavity for accommodating the main drive unit 910', a gap is provided between other parts of the first cover plate 961' and the second cover plate 962', and a second guide nut 930' and a second screw 920' are located in the gap.

[0171] That is, the main drive unit 910' is mounted inside a cavity surrounded by the first cover plate 961' and the second cover plate 962', and the first cover plate 961' and the second cover plate 962' can effectively protect the main drive unit 910'. The second guide nut 930' and the second screw 920' are located in the gap between the first cover plate 961' and the second cover plate 962'. As a result, the first cover plate 961' and the second cover plate 962' can effectively protect the second guide nut 930' and the second screw 920', which contributes to improving the reliability of the manipulator 90' and also contributes to improving the aesthetic appearance and neatness of the manipulator 90'. In addition, the provision of the gap between the first cover plate 961' and the second cover plate 962' provides sufficient movement space for the second guide nut 930' and the second screw 920'. Specifically, a portion of the first link mechanism 953' and a portion of the second link mechanism 954' may also be located within the gap between the first cover plate 961' and the second cover plate 962'.

[0172] Here, the first cover plate 961' is positioned above the second cover plate 962', and a receiving groove 963' is formed on the first cover plate 961', so that the first imaging device 990' is inverted from the top of the base 960' to be received in the receiving groove 963' and disposed between two clamping parts 940' that are inverted from the top of the base 960'. Specifically, the first cover plate 961' and the second cover plate 962' are detachably connected by bolts, snap fitting, etc., and the second guide nut 930', second screw 920', first link mechanism 953', and second link mechanism 954' between the two cover plates can be easily maintained, making operation convenient.

[0173] As shown in Figures 1, 2 and 3, the self-propelled cleaning device 002 provided by the embodiment of the present application comprises an apparatus body 010 and a mechanical arm 001, the apparatus body 010 includes a storage cavity 011, two active wheels 020 and a driven wheel 030 are arranged in a triangle at the bottom of the apparatus body 010, and the mechanical arm 001 is foldably stored in the storage cavity 011, wherein a mounting structure for mounting the mechanical arm 001 is provided in the storage cavity 011, and the projection of the mounting structure in a horizontal plane is located within the projection of the triangle in the horizontal plane.

[0174] In this embodiment, the mechanical arm 001 is connected to the storage cavity 011 of the device body 010 via an attachment structure provided within the storage cavity 011, i.e., the mechanical arm 001 is attached to the storage cavity 011 of the device body 010 via the attachment structure, so that the mechanical arm 001 can move along with the movement of the device body 010 and can reach the intended work position together with the device body 010. Because the mechanical arm 001 is foldably stored within the storage cavity 011, the mechanical arm 001 is stored within the storage cavity 011 after being folded, which reduces the space occupied by the mechanical arm 001 in the folded state, reduces its volume, and makes storage easier. At the same time, because the storage cavity 011 is provided on the device body 010, the structure of the device body 010 can be fully utilized, which means that the storage of the mechanical arm 001 is realized, the structure is simple, and the design requirements for a compact structure and small size of the self-propelled cleaning device 002 can be met.

[0175] Here, the drive system comprises two active wheels 020 and one driven wheel 030, and the two active wheels 020 and one driven wheel 030 are distributed in a triangle at the bottom of the device body 010, where the triangular area is the triangular area where P is located as shown in Figure 3. In this way, the movement of the device body 010 can be realized and the device body 010 can be ensured to have good stability during the movement process. The horizontal projection of the mounting structure for mounting the mechanical arm 001 provided in the storage cavity 011 is located within the horizontal projection of a triangle, which indicates that the mounting position of the mechanical arm 001 on the device body 010 is within the triangular area formed by the two active wheels 020 and the driven wheel 030. In this way, the self-propelled cleaning device 002 has a relatively good center of gravity, that is, the center of gravity of the self-propelled cleaning device 002 overlaps with or is close to the support center formed by the two active wheels 020 and one driven wheel 030, which ensures the working stability and reliability of the self-propelled cleaning device 002 and prevents the device body 010 from flipping over due to the mechanical arm 001 being mounted outside the triangular area.

[0176] 3, in some possible embodiments provided by the present application, the two active wheels 020 are distributed along the lateral direction of the device body 010, and the mechanical arm 001 is provided adjacent to the two active wheels 020. As a result, the self-propelled cleaning device 002 has good stability and reliability, while the horizontal dimension of the mechanical arm 001 is maximized and the strength of the mechanical arm 001 is improved.

[0177] Here, the two active wheels 020 are usually distributed laterally along the device body 010 near the middle of the device body 010, and the driven wheel 030 is distributed at the front end of the bottom of the device body 010, i.e., the distance between the two active wheels 020 is greater than the distance between the driven wheel 030 and the active wheel 020. Therefore, by locating the storage cavity 011 near the two active wheels 020 and locating the mechanical arm 001 near the two active wheels 020, the horizontal dimension (length, etc.) of the mechanical arm 001 can be increased, i.e., the connection area between the mechanical arm 001 and the storage cavity 011 can be increased, and the mechanical arm 001 can be stably and reliably connected to the storage cavity 011 of the device body 010. In this way, when the mechanical arm 001 is deployed to perform work, the device body 010 can be prevented from tipping over due to the large deployment range of the mechanical arm 001, which can improve the working stability and safety of the self-propelled cleaning device 002 and increase user satisfaction.

[0178] As shown in FIG. 2, in some possible embodiments provided by the present application, when the mechanical arm 001 is folded and stored in the storage cavity 011, one end of the mechanical arm 001 away from the active wheel 020 and / or the driven wheel 030 does not protrude above the top surface of the device body 010.

[0179] In other words, when the mechanical arm 001 is folded and stored inside the storage cavity 011, the mechanical arm 001 does not protrude from the top surface of the device body 010, i.e., the mechanical arm 001 in this position does not increase the height of the device body 010, thereby avoiding the problem of the mechanical arm 001 protruding from the top surface of the device body 010 and colliding with an obstacle, thereby limiting the range of movement of the self-propelled cleaning device 002. In other words, the mechanical arm 001 folded and stored inside the storage cavity 011 does not affect the original range of movement of the self-propelled cleaning device 002. As a result, the original function of the self-propelled cleaning device 002 is not affected even if the function of the self-propelled cleaning device 002 is expanded by adding the mechanical arm 001.

[0180] In some possible embodiments provided by the present application, as shown in FIG. 1, the self-propelled cleaning device 002 further includes a second camera 050 provided in front of the main body 010, and a control system 060 used to identify obstacles and control the working state of the mechanical arm 001 to grasp and unload the obstacles based on the collected information of the first camera 990 and the second camera 050.

[0181] Here, the second photographing device 050 may be the original photographing device of the self-propelled cleaning device 002, so that the first photographing device 990 and the second photographing device 050 work together, in combination with an AI algorithm, to identify obstacles near the self-propelled cleaning device 002 and their gripping point spatial posture coordinates, so as to move or clean the obstacles.

[0182] 35, the self-propelled cleaning device 002 further includes a processing system 070, which interacts with a control system 060. The control system 060 is electrically connected to the fourth drive unit 110, the second drive unit 220, the third drive units of the two third mechanical joints 30, the first drive unit 410, the fifth drive unit 910, and the sixth drive unit 970 of the mechanical arm 001. The processing system 070 obtains the collected information of the first camera 990 and the second camera 050, combines it with the detection structure of each rotation angle detection device, processes it according to a kinematic solution algorithm, and sends the solution result to the control system 060. The control system 060 then sends commands to the drive units to drive each drive unit to move to the target position, and the mechanical arm 001 can then reach the target position and perform the corresponding operation.

[0183] It should be understood that only the fourth drive unit 110 may be provided on the base 50, and the other second drive unit 220, the third drive units of the two third mechanical joints 30, the first drive unit 410, the fifth drive unit 910 and the sixth drive unit 970 may be correspondingly distributed on the support arm 60, the connection arm 70 and the work arm 80 of the mechanical arm 001.

[0184] Furthermore, the control system 060 can further use a portion of the field of view of the first photographing device 990 to observe and measure the distance between the clamping unit 940 and the obstacle, thereby realizing part of the logical judgment of the clamping unit 940, and further improving the accuracy and reliability of the clamping unit 940 when clamping the obstacle.

[0185] 35 , the field of view of the first camera 990 is divided into a C1 sub-field of view and a C2 main field of view, where the angle of C1 is smaller than that of C2, for example, the ratio of C1 to C2 is 1:4, but it should be understood that the ratio of C1 to C2 may also be other values. The C1 sub-field of view can radiate to most of the clamping unit, and the C1 sub-field of view of the first camera 990 can be used to observe and measure the distance between the clamping unit 940 and an obstacle, and the C1 sub-field of view of the first camera 990 can be used to observe distance information between the clamping unit 940 and the surrounding environment, facilitating control of the mechanical arm to move rationally to accurately clamp an object.

[0186] In some feasible embodiments provided by the present application, the control system 060 further controls the second mechanical joint 20 so that the support arm 60 is deployed perpendicular to the base 50 relative to the rotating seat 55 when the mechanical arm 001 is in a working position, and controls the operation of the mechanical arm 001 so that the mechanical arm 001 is folded and stored in the storage cavity 011 when the self-propelled cleaning device 002 constructs a map or when the mechanical arm 001 is in a non-working position.

[0187] In other words, when the mechanical arm 001 is working, the support arm 60 of the mechanical arm 001 is perpendicular to the base 50, i.e., the support arm 60 is in a fully upright position, which reduces the impact of the mechanical arm 001 on the navigation system and further improves the working reliability of the self-propelled cleaning device 002.

[0188] When the self-propelled cleaning device 002 creates a map, the control system 060 can control the operation of the mechanical arm 001 so that the mechanical arm 001 is folded and stored in the storage cavity 011, i.e., the mechanical arm 001 can be stored in the storage cavity 011. In this way, the mechanical arm 001 can be prevented from protruding from the storage cavity 011 and affecting the operation of the laser sensor, and at the same time, the mechanical arm 001 can be prevented from protruding from the storage cavity 011 and colliding with obstacles, thereby further improving the reliability of the self-propelled cleaning device 002.

[0189] When the mechanical arm 001 is in a non-working position, for example, when there is no need to use the mechanical arm 001 to grip an obstacle, the control system 060 can control the operation of the mechanical arm 001 so that the mechanical arm 001 is folded and stored in the storage cavity 011, i.e., the mechanical arm 001 can be stored in the storage cavity 011, thereby preventing the mechanical arm 001 from protruding from the storage cavity 011 and affecting other operations of the self-propelled cleaning device 002, such as cleaning and charging, and ensuring that the self-propelled cleaning device 002 can reliably perform other operations. It should be understood that the obstacle may be an object requested by a user, such as a remote control, an apple, etc., although not enumerated in this specification.

[0190] It should be noted that the above-mentioned specific embodiments of the present application are only used to exemplify or explain the principles of the present application, and do not constitute limitations on the present application. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present application are all intended to be included within the scope of protection of the present application. Furthermore, the appended claims of the present application are intended to cover all variations and modifications that fall within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

[0191] In this application, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance, and unless expressly limited, the term "plurality" means two or more than two. Terms such as "attached," "coupled," "connected," and "fixed" should be understood broadly; for example, "connected" may mean fixedly connected, detachably connected, or integrally connected, and "connected" may mean directly connected or indirectly connected via an intermediate medium. Those skilled in the art can understand the specific meanings in this application according to specific circumstances.

[0192] In the description of this application, the orientations or positional relationships indicated by terms such as "upper," "lower," "left," "right," "front," "rear," etc. are merely orientations or positional relationships based on the accompanying drawings and are used solely for the purpose of simplifying the description and explanation of this application, and are not intended to indicate or imply that such devices or units necessarily have a particular direction or are configured and operated in a particular orientation, and are not to be understood as limiting this application.

[0193] In the description herein, terms such as "one embodiment," "some embodiments," or "specific embodiments" are used to indicate that the specific features, structures, materials, or characteristics described in connection with this embodiment or example are included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0194] The above is merely a preferred embodiment of the present application, and is not intended to limit the present application. It is obvious to those skilled in the art that various modifications and variations can be made to the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall all be included in the protection scope of the present application.

Claims

1. A mechanical joint configured to connect a first arm and a second arm in a mechanical arm (001), The mechanical joint includes a motor (310) and a planetary reduction mechanism (320); The motor (310) includes a first output shaft (311), a motor substrate (312), a stator (313), and a rotor (314), the rotor (314) being located outside the stator (313), the first output shaft (311) passing through the motor substrate (312), and the stator (313) being connected to the motor substrate (312) and located on the outer periphery of the first output shaft (311); The planetary reduction mechanism (320) includes a first stage gear set (321) and an output end, the first stage gear set (321) is connected to the first output shaft (311) and is provided in proximity to the motor board (312), and the output end is configured to drive the second arm to rotate relative to the first arm.

2. 2. The mechanical joint of claim 1, wherein an annular boss is provided on the motor base plate (312) on a side away from the first stage gear set (321), the first output shaft (311) passes through the annular boss and is rotatably connected to the annular boss, the first output shaft (311) is provided coaxially with the annular boss, and the stator (313) is distributed on an outer circumferential side of the annular boss.

3. The planetary reduction mechanism (320) further includes a second stage gear set (322), an internal gear (325), and an output end gap (326); The output end gap (326) is connected to the first arm, and both ends of the internal gear (325) are connected to the motor base (312) and the output end gap (326), respectively, to surround a reduction gear mounting cavity (324); The first stage gear set (321) is located in the reduction mounting cavity (324) and includes a first sun gear (3211), a first planetary gear (3212) and a first planetary carrier (3213), the first sun gear (3211) is fixed on the first output shaft (311), and the second stage gear set (322) is provided adjacent to the output end gap (326) and includes a second sun gear (3221), a second planetary gear (3222) and a second planetary carrier (3213) located in the reduction mounting cavity (324).

2. The mechanical joint of claim 1, further comprising a planet carrier (3223), wherein the first planet gear (3212) and the second planet gear (3222) both mesh with the internal gear (325), the second sun gear (3221) is fixed on the first planet carrier (3213), and the second planet carrier (3223) includes a second output shaft (327) passing through the output end gap (326), the second output shaft (327) being connected to the second arm as the output end.

4. The mechanical joint of claim 3, wherein the internal gear (325) and the output end gap (326) are of unitary construction.

5. a positioning structure is provided on the first arm; 4. The mechanical joint of claim 3, wherein a limit structure is provided on the output end gap on a side away from the motor substrate, the limit structure cooperating with the positioning structure to limit rotation of the output end gap relative to the first arm.

6. The mechanical joint further includes a first bearing (330), a flange bearing (340), a first connecting member (350), and a first preload spacer (360); the first bearing (330) is sleeved onto the outside of the second output shaft (327), and the output end gap (326) is rotatably connected to the second output shaft (327) via the first bearing (330); the first arm includes a first connecting arm and a second connecting arm provided opposite to each other, the positioning structure is provided on the first connecting arm, the flange bearing (340) is connected to the second connecting arm, and the second output shaft (327) is rotatably connected to the second connecting arm via the flange bearing (340); a connecting hole (3271) is provided at an end of the second output shaft (327) outside the reduction mounting cavity (324), and the first connecting member (350) is suitable for connection to the connecting hole (3271); 6. The mechanical joint according to claim 5, wherein the preload spacer is sandwiched between the first connecting member and the second output shaft along the axial direction of the second output shaft, and a side of the first preload spacer facing the second output shaft can abut against the flange bearing.

7. the first connecting member (350) includes a first head (351) and a first rod portion (352), the first rod portion (352) is connected to the connecting hole (3271), and the preload spacer is located between the first head (351) and an end of the second output shaft (327) along the axial direction of the second output shaft (327); 7. The mechanical joint of claim 6, wherein, in a plane parallel to a radial direction of the second output shaft, a projection of the first preload spacer overlaps with a projection of the second output shaft, and a projection of the first preload spacer overlaps with a projection of the flange bearing.

8. further comprising a hoop (370) and a second connecting member; a first limiting surface (3272) and a second limiting surface are provided on the outer circumferential side of the end of the second output shaft (327) outside the reduction mounting cavity (324), the first limiting surface (3272) is configured to contact the hoop (370), and the second limiting surface is configured to contact a second arm, the second arm being located between the first connecting arm and the second connecting arm; The mechanical joint of claim 6, wherein the hoop (370) and the second arm are connected via the second connecting member.

9. 9. The mechanical joint of claim 8, wherein the first limiting surface (3272) is disposed opposite the second limiting surface, both of which are planar structures.

10. A mechanical arm (001) comprising a mechanical joint according to any one of claims 1 to 9.

11. A self-propelled cleaning device (002) comprising a mechanical arm (001) according to claim 10.

Images