Robotic arm and cleaning robot

Abstract

The present application relates to the field of cleaning devices, and discloses a robotic arm and a cleaning robot. The robotic arm includes a robotic arm body and a robotic gripper. The robotic arm body is capable of at least driving the robotic gripper to rotate in a horizontal direction and to swing in a vertical direction, the robotic gripper includes a base, and a driving mechanism and two jaws that are disposed on the base, the driving mechanism is capable of driving the two jaws to move toward or away from each other, and the jaws are configured to grip an object to be cleaned or to assemble a cleaning element. The cleaning robot includes a body and the robotic arm. The robotic arm of the present application can be mounted on the cleaning robot. The robotic arm body driving the robotic gripper to rotate in the horizontal direction and to swing in the vertical direction enables a range of movement of the robotic gripper to be expanded, such that the robotic arm can be positioned at a desired location, and the robotic gripper can grip the object to be cleaned. Moreover, the robotic gripper can be equipped with the cleaning element such as a brush and a sponge brush to clean wall surfaces, narrow gaps, low-clearance areas, spaces behind doors and the like, thereby expanding an application range of the cleaning robot.

Description

robotic arms and cleaning robots

[0001] Cross-reference to related applications

[0002] This application claims the benefit of Chinese Patent Application No. 202520030073.9, filed on January 3, 2025, the contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of cleaning equipment, and more specifically to a robotic arm and a cleaning robot. Background Technology

[0004] Cleaning robots are a type of smart home appliance that uses artificial intelligence to automatically clean floors in a room. They typically use a combination of brushing and vacuuming to collect debris into their own dustbin, thus completing the cleaning process.

[0005] With economic development, robotic vacuum cleaners have entered many households. Although current robotic vacuum cleaners can navigate autonomously and avoid obstacles, their functions are limited to wide, level surfaces. They are mainly used for cleaning open, level surfaces and have difficulty entering narrow gaps, low areas, and hard-to-reach areas such as walls and the bottom of appliances. As a result, their functionality is limited and they are only suitable for specific types of cleaning tasks, which limits their use. Summary of the Invention

[0006] In order to solve the above-mentioned technical problems, or at least partially solve the above-mentioned technical problems, this application provides a robotic arm and a cleaning robot.

[0007] This application provides a robotic arm for use in a cleaning robot, including a robotic arm body and a mechanical claw disposed on the robotic arm body. The robotic arm body can at least drive the mechanical claw to rotate in the horizontal direction and swing in the vertical direction. The mechanical claw includes a base and a driving member and two grippers disposed on the base. The driving member can drive the two grippers to move closer or further away. The grippers are used to grasp items or assemble cleaning parts.

[0008] Optionally, the driving component includes a first driving member and two transmission members, wherein the first driving member can drive the two grippers to move through the two transmission members respectively.

[0009] Optionally, the output end of the first driving member is provided with a worm gear, and the transmission member includes a transmission gear set and a connecting rod structure. The first gear of the transmission gear set can mesh with the worm gear, and the last gear of the transmission gear set is connected to the gripper through the connecting rod structure.

[0010] Optionally, the linkage structure includes a first link and a second link;

[0011] One end of the first rod is connected to the end gear of the transmission gear set, and the other end of the first rod is hinged to the gripper.

[0012] One end of the second rod is hinged to the base, and the second end of the second rod is hinged to the gripper.

[0013] Optionally, the robotic arm includes a second drive unit and a rotating base mounted on the body of the cleaning robot. The second drive unit can drive the rotating base to rotate, and the robotic arm body is mounted on the rotating base.

[0014] Optionally, the robotic arm body includes a first arm, a second arm, and a third arm connected in sequence, with the first arm disposed on the rotary seat and the robotic gripper disposed on the third arm;

[0015] The first arm can swing vertically relative to the rotating seat, the second arm can swing vertically relative to the first arm, and the third arm can swing vertically relative to the second arm.

[0016] Optionally, the first arm is provided with a third driving member for driving the first arm to swing vertically relative to the rotating seat;

[0017] And / or, the interior of the first arm is provided with a fourth drive member for driving the second arm to swing vertically relative to the first arm;

[0018] And / or, the interior of the second arm is provided with a fifth drive member for driving the third arm to swing vertically relative to the second arm.

[0019] Optionally, the second arm is located on one side of the first arm, and the third arm is located at the end of the second arm.

[0020] This application also provides a cleaning robot, including a body and the aforementioned robotic arm mounted on the body.

[0021] Optionally, the body is provided with a cover assembly, which is configured to open when the robotic arm is in working state and cover the outer periphery of the robotic arm when it is not in working state.

[0022] Optionally, the cover assembly includes a first cover and a second cover disposed opposite to each other. The body is provided with a first flipping member and a second flipping member. The first flipping member can drive the first cover to flip, and the second flipping member can drive the second cover to flip. The flipped second cover can be stacked on the first cover.

[0023] Optionally, the first flipping component includes a first flipping drive component and a first flipping link. The first flipping link includes a first drive rod and a first support rod. One end of the first drive rod is connected to the output end of the first flipping drive component, and the other end of the first drive rod is hinged to the end of the first support rod. The end of the first support rod away from the first drive rod is hinged to the first cover.

[0024] Optionally, the second flipping component includes a second flipping drive component and a second flipping link. The second flipping link includes a second drive rod and a second support rod. The end of the second drive rod is bent, and the bent end of the second drive rod is connected to the output end of the second flipping drive component. The other end of the second drive rod is hinged to the second cover. One end of the second support rod is hinged to the machine body, and the other end of the second support rod is hinged to the second cover.

[0025] The technical solution provided in this application has the following advantages compared with the prior art:

[0026] The robotic arm provided in this application can be installed on a cleaning robot. By driving the robotic claw to rotate horizontally and swing vertically, the range of motion of the robotic claw can be increased, so as to support the robotic arm in a designated position. The robotic claw can pick up items to be cleaned, and can also be equipped with cleaning parts such as brushes and sponges to clean walls, narrow gaps, low areas, behind doors, etc., thereby increasing the scope of use of the cleaning robot. Attached Figure Description

[0027] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0028] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0029] Figure 1 is a schematic diagram of the structure of the robotic arm mounted on the cleaning robot according to an embodiment of this application;

[0030] Figure 2 is a schematic diagram of the mechanical claw described in an embodiment of this application;

[0031] Figure 3 is a structural schematic diagram of the robotic arm in the retracted state according to an embodiment of this application;

[0032] Figure 4 is a structural schematic diagram of the cleaning robot described in an embodiment of this application;

[0033] Figure 5 is a structural schematic diagram of the cover assembly described in the embodiment of this application when it is in the open position;

[0034] Figure 6 is a cross-sectional view of the cover assembly in the closed state according to the embodiment of this application;

[0035] Figure 7 is a cross-sectional view of the cover assembly in the open state according to an embodiment of this application. Detailed Implementation

[0036] To better understand the above-mentioned objectives, features, and advantages of this application, the solution of this application will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0037] The following description sets forth many specific details to provide a full understanding of this application, but this application may also be implemented in other ways different from those described herein; obviously, the embodiments described in the specification are only some embodiments of this application, and not all embodiments.

[0038] As shown in Figure 1, the robotic arm provided in this embodiment is applied to a cleaning robot. The cleaning robot includes a robotic arm body 1 and a robotic gripper 2 disposed on the robotic arm body 1. The robotic arm body 1 can be mounted on the body 3 of the cleaning robot. It is understood that the robotic arm body 1 can also be mounted on other devices as needed, and these are not limiting factors. The robotic gripper 2 is disposed at one end of the robotic arm body 1 so that the robotic arm body 1 can drive the robotic gripper 2 to move.

[0039] The robotic arm body 1 can at least drive the robotic gripper 2 to rotate horizontally and swing vertically. That is, the specific arrangement of the robotic arm body 1 is not limited, as long as it meets the requirement of driving the robotic gripper 2 to rotate horizontally and swing vertically. The robotic gripper 2 includes a base 21, a drive component 22 mounted on the base 21, and two grippers 23. The base 21 is mounted on the robotic arm body 1, and the two grippers 23 are positioned opposite each other on the base 21, with the grippers 23 extending beyond the ends of the base 21 for easy gripping and cleaning operations. The drive component 22 can drive the two grippers 23 to move closer or further away. The grippers 23 are used to grip items to be cleaned or to assemble cleaning parts. Specifically, when the drive component 22 drives the two grippers 23 closer, the two grippers 23 can grip the garbage waiting to be cleaned; when the drive component 22 drives the two grippers 23 further away, the two grippers 23 can release the garbage waiting to be cleaned for operations such as picking up objects and disposing of garbage. In addition, when the two grippers 23 are far apart, cleaning components such as brushes and sponges can be installed to perform cleaning operations in cooperation with the robotic arm body 1.

[0040] The robotic arm provided in this application can be installed on a cleaning robot. By driving the robotic arm body 1 to rotate the robotic claw 2 in the horizontal direction and swing it in the vertical direction, the range of motion of the robotic claw 2 can be increased, so as to support the robotic arm in a designated position. The robotic claw 2 can grasp and hold the items to be cleaned, and can also be equipped with cleaning parts such as brushes and sponges to clean walls, narrow gaps, low areas, behind doors and other scenarios, thereby increasing the scope of use of the cleaning robot.

[0041] In some embodiments, as shown in FIG2, the driving component 22 includes a first driving component 221 and two transmission components 222. The first driving component 221 and the two transmission components 222 are both disposed on the base 21. The first driving component 221 can drive the two grippers 23 to move through the two transmission components 222 respectively, so as to drive the two grippers 23 to move closer or further away, and the transmission components 222 can support the grippers 23 on the outside of the base 21.

[0042] In this design, the two grippers 23 can be moved closer or further away by a first driving component 221 and two transmission components 222, which reduces the cost of the driving components, and the two grippers 23 can move synchronously, which facilitates the positioning of the two grippers 23.

[0043] It is understood that in other embodiments, the drive member 22 includes two drive components, which respectively drive the two grippers 23 to move, or the two drive components respectively drive the two grippers 23 to move through two transmission components, so that the two grippers 23 can move closer or further apart. These are not limiting.

[0044] In some embodiments, referring to FIG2, the output end of the first driving member 221 is provided with a worm gear 2211, so as to drive the worm gear 2211 to rotate through the first driving member 221. The transmission member 222 includes a transmission gear set 2221 and a connecting rod structure 2222. The transmission gear set 2221 includes a plurality of gears meshing in sequence. The first gear of the transmission gear set 2221 can mesh with the worm gear 2211. The last gear of the transmission gear set 2221 is connected to the gripper 23 through the connecting rod structure 2222, so that the last gear of the transmission gear set 2221 drives the gripper 23 to move through the connecting rod structure 2222, thereby realizing the two grippers 23 moving closer or further apart.

[0045] In this transmission gear set 2221, all gears can be helical gears. The first gear of the transmission gear set 2221 acts as a turbine and meshes with the worm gear 2211, so that the worm gear 2211 can drive the turbine to rotate, thereby transmitting power through the transmission gear set 2221. Alternatively, all gears of the transmission gear set 2221 can be spur gears. The first gear of the transmission gear set 2221 is coaxially connected to a turbine, and the turbine and the first gear of the transmission gear set 2221 can rotate synchronously, thereby driving the transmission gear set 2221 to rotate through the rotation of the turbine.

[0046] In this design, the driving direction of the first driving component 221 can be changed through the cooperation of the worm gear 2211, which facilitates the placement of the first driving component 221 and reduces the space occupied in the vertical direction. The transmission path can be changed through the setting of the gear transmission set, which facilitates the design of the position of the first driving component 221. That is, the design of the worm gear 2211 and the gear transmission set makes the structure of the mechanical claw 2 more compact. The first driving component 221 includes a drive motor or a combination of a drive motor and a reducer, which can be selected according to actual needs.

[0047] In some embodiments, continuing to refer to FIG2, the linkage structure 2222 includes a first rod 22221 and a second rod 22222; one end of the first rod 22221 is connected to the end gear of the transmission gear set 2221, and the other end of the first rod 22221 is hinged to the gripper 23; one end of the second rod 22222 is hinged to the base 21, and the second end of the second rod 22222 is hinged to the gripper 23. The second rod 22222 is disposed inside the first rod 22221, and the first rod 22221 and the second rod 22222 extend parallel to each other. It is understood that a certain angle may also exist between the first rod 22221 and the second rod 22222.

[0048] In this design, the second lever 22222 supports the gripper 23, while the first lever 22221 rotates with the rotation of the end gear of the transmission gear set 2221, thereby driving the gripper 23 to rotate. This allows the two grippers 23 to move closer or further apart, facilitating driving and ensuring the support effect of the grippers 23. Furthermore, this mechanical gripper 2 design allows the gripper 23 to open horizontally and retract horizontally. This design not only enhances the stability and accuracy of clamping but also provides greater flexibility, enabling the gripper 23 to adapt to objects of different shapes and sizes.

[0049] In some embodiments, the linkage structure 2222 further includes a third link 22223, which is disposed on the gripper 23. The ends of the first link 22221 and the second link 22222 are respectively hinged to the two ends of the third link 22223, increasing the convenience of connection.

[0050] In some embodiments, continuing to refer to Figure 2, the transmission gear set 2221 includes a first gear 22211, a second gear 22212, and a third gear 22213 that mesh sequentially. All three gears are helical gears. The first gear 22211 acts as a worm gear and meshes with a worm 2211. The second gear 22212 meshes with the first gear 22211, and the third gear 22213 meshes with the second gear 22212. A first rod 22221 is mounted on the third gear 22213. The positions of the first gear 22211, second gear 22212, and third gear 22213 are not limited and can be designed according to actual needs.

[0051] It is understood that the transmission gear set 2221 of this application may also adopt other numbers of gears, as long as the transmission requirements are met.

[0052] In some embodiments, the two grippers 23 have arc-shaped grooves 231 on their corresponding sides. The two arc-shaped grooves 231 on the two grippers 23 are arranged opposite each other to grip the garbage awaiting disposal. Specifically, they can grip small flexible objects and regularly shaped hard objects. The gripping of the garbage awaiting disposal can be based on sensors and intelligent algorithms to locate the garbage awaiting disposal and place it into a designated area. This sensing, feedback, and positioning method is conventional technology in the field and has not been described in detail here, nor is it the focus of this application.

[0053] In some embodiments, the inner side of the two grippers 23 near the base 21 is provided with a ramp to avoid affecting the movement of the grippers 23 and to prevent the grippers 23 from scraping against the base 21.

[0054] In some embodiments, the gripper 23 has a strip-shaped structure, wherein the outer side of the end of the gripper 23 is provided with a slope to facilitate the assembly of cleaning parts such as brushes and sponges.

[0055] Furthermore, this method enables automatic head changing. Cleaning components such as brushes and sponges are placed horizontally in the head changing area. When a head change is needed, the cleaning robot moves to the area and uses the robotic arm 1 to horizontally position the gripper 23. The robot then moves to insert the gripper 23 into the brush or sponge, achieving automatic assembly. Alternatively, the gripper 23 can be inserted into its placement position to reset the brush or sponge, thus achieving automatic head changing. This automatic head changing method is conventional technology and has not been described in detail here, nor is it a focus of this application.

[0056] In some embodiments, as shown in FIG1, the robotic arm includes a second drive member and a rotating base 31 for mounting on the body 3 of the cleaning robot. The second drive member can drive the rotating base 31 to rotate, and the robotic arm body 1 is mounted on the rotating base 31.

[0057] In this design, the rotating base 31 can be rotated by the second driving component, which in turn drives the robotic arm body 1 to rotate 360° in the horizontal plane, providing convenient driving and saving space. The second driving component includes a drive motor or a combination of a drive motor and a reducer, and can be designed according to actual needs.

[0058] In some embodiments, continuing to refer to FIG1, the robotic arm body 1 includes a first arm 11, a second arm 12, and a third arm 13 connected in sequence. The first arm 11 is disposed on a rotating base 31, and the robotic gripper 2 is disposed on the third arm 13. The first arm 11 can swing vertically relative to the rotating base 31, the second arm 12 can swing vertically relative to the first arm 11, and the third arm 13 can swing vertically relative to the second arm 12.

[0059] In this design, the robotic arm body 1 uses a combination of the first arm 11, the second arm 12 and the third arm 13 to increase the swing range and flexibility of the robotic claw 2 in the vertical direction, so that the robotic arm body 1 can drive the robotic claw 2 to move to narrow gaps and low areas, thereby increasing the working range of the cleaning robot.

[0060] It is understood that the number of segments of the robotic arm body 1 may include, but is not limited to, the above-mentioned methods, and can be designed according to actual needs.

[0061] In some embodiments, the first arm 11 is internally provided with a third driving member for swinging the first arm 11 vertically relative to the rotating base 31. Specifically, the third driving member is located at the bottom end of the first arm 11, and its output shaft extends out of the side of the first arm 11 and connects to a support on the rotating base 31. Since the position of the base 21 in the vertical direction remains unchanged, the rotation of the output shaft of the third driving member causes the first arm 11 to swing vertically. The third driving member may include a drive motor or a combination of a drive motor and a reducer, which can be selected according to actual needs.

[0062] In some embodiments, the first arm 11 is internally provided with a fourth driving member for driving the second arm 12 to swing vertically relative to the first arm 11. Specifically, the fourth driving member is located at the top end of the first arm 11, and its output shaft extends out of the side of the first arm 11 and connects to the second arm 12, so as to drive the second arm 12 to rotate 360° in the vertical plane. The fourth driving member includes a drive motor or a combination of a drive motor and a reducer, which can be selected according to actual needs.

[0063] In some embodiments, the second arm 12 is internally provided with a fifth driving member for driving the third arm 13 to swing vertically relative to the second arm 12. Specifically, the fifth driving member is located at the top end of the second arm 12, and its output shaft extends out of the side of the second arm 12 and connects to the third arm 13, so as to drive the third arm 13 to swing vertically. The fifth driving member includes a drive motor or a combination of a drive motor and a reducer, which can be selected according to actual needs.

[0064] In this design, the robotic arm body 1 has four independent axes of motion, enabling four degrees of freedom of movement. The first arm 11 has two degrees of freedom, allowing the robotic arm body 1 to rotate in both the horizontal and vertical planes, enabling left-right swinging in the horizontal plane and providing up-down movement capability, allowing the robotic arm body 1 to swing up and down in the vertical plane. The second arm 12 allows the robotic arm body 1 to rotate in the vertical direction, controlling the spatial position of the robotic gripper 2. The third arm 13 is used to rotate the robotic gripper 2 in the vertical direction, adapting to different tool angles and directions.

[0065] In some embodiments, as shown in Figures 1 and 2, the second arm 12 is located on one side of the first arm 11, and the third arm 13 is located at the end of the second arm 12.

[0066] As shown in Figure 3, in this design, the robotic arm body 1 can be attached to the top of the cleaning robot body 3 when it is retracted, reducing the space occupied in the vertical direction and making the structure of the cleaning robot body 3 more compact.

[0067] It is understood that in other embodiments, the second arm 12 is located at the end of the first arm 11 and the third arm 13 is located at the end of the second arm 12, such that when the robotic arm body 1 is in the retracted state, the first arm 11, the second arm 12 and the third arm 13 are stacked on top of the body 3 of the cleaning robot. These are not limiting.

[0068] As shown in Figure 1, this application also provides a cleaning robot, including a body 3 and the aforementioned robotic arm mounted on the body 3. The robotic arm includes all the technical features of the aforementioned robotic arm. The cleaning robot can be any type of sweeping robot, and the robotic arm can be used not only with a sweeping robot but also with other types of mechanical equipment.

[0069] This design greatly extends the cleaning range of the cleaning robot, extending its cleaning scenarios from open, level ground to narrow crevices and low-lying areas. It also has the ability to dispose of trash and work with cleaning accessories to perform cleaning, making the cleaning robot's functions more comprehensive and its cleaning effect more excellent.

[0070] In some embodiments, as shown in FIG4, the body 3 is provided with a cover assembly 4, which is configured to be open when the robotic arm is in working state and to cover the outer periphery of the robotic arm when it is not in working state.

[0071] With this design, the cover assembly 4 can protect the robotic arm when it is not in operation, thus increasing its service life.

[0072] In some embodiments, as shown in Figures 4 to 7, the cover assembly 4 includes a first cover 41 and a second cover 42 disposed opposite to each other, where "opposite to each other" refers to the horizontal orientation of the first cover 41 and the second cover 42. The body 3 is provided with a first flipping member 32 and a second flipping member 33. The first flipping member 32 can flip the first cover 41, and the second flipping member 33 can flip the second cover 42. The flipped second cover 42 can be stacked on top of the first cover 41.

[0073] In this design, the second cover 42, once opened, is stacked on top of the first cover 41, reducing the space occupied by the unfolded cover assembly 4. Furthermore, the mating first cover 41 and second cover 42 ensure a seamless, non-overlapping connection of the cover assembly 4 during storage, improving its sealing performance and structural stability, and resulting in a more complete appearance.

[0074] In some embodiments, as shown in Figures 6 and 7, the end of the first cover 41 away from the second cover 42 is hinged to the body 3. The first flipping member 32 includes a first flipping drive member 321 and a first flipping connecting rod 322. The first flipping drive member 321 is disposed on the body 3, and the first cover 41 is connected to the first flipping drive member 321 via the first flipping connecting rod 322. The first flipping connecting rod 322 includes a first drive rod 3221 and a first support rod 3222. One end of the first drive rod 3221 is connected to the output end of the first flipping drive member 321 to drive the first drive rod 3221 to rotate. The other end of the first drive rod 3221 is hinged to the end of the first support rod 3222. The end of the first support rod 3222 away from the first drive rod 3221 is hinged to the first cover 41. Specifically, the end of the first support rod 3222 is hinged to the portion of the first cover 41 near the second cover 42. The first flipping drive component 321 includes a drive motor or a combination of a drive motor and a reducer, which can be selected according to actual needs.

[0075] In the initial state, the first drive rod 3221 extends downward or tilts downward, and the end of the first support rod 3222 is hinged to the end of the first drive rod 3221. When the cover is opened, the first flipping drive 321 drives the first drive rod 3221 to rotate (counterclockwise), which in turn drives the first support rod 3222 to move upward, so that the end of the first support rod 3222 away from the first drive rod 3221 lifts the first cover 41 to make way for the removal of the robotic arm body 1, and then returns to its original position for the second cover 42 to be stacked.

[0076] This driving method is convenient, and the first cover 41 can be lifted by a small rotation of the output shaft of the first flipping drive 321, which increases efficiency.

[0077] In some embodiments, the end of the first support rod 3222 connected to the first drive rod 3221 has a protrusion, so that the end of the first support rod 3222 connected to the first drive rod 3221 has a hook structure.

[0078] In this configuration, the first support rod 3222 can provide sufficient support.

[0079] In some embodiments, the second flipping component 33 includes a second flipping drive component and a second flipping connecting rod 332. The second flipping drive component is mounted on the machine body 3. The second flipping connecting rod 332 includes a second driving rod 3321 and a second support rod 3322. The end of the second driving rod 3321 is bent, and the bent end of the second driving rod 3321 is connected to the output end of the second flipping drive component to increase the rotation angle of the second driving rod 3321. The other end of the second driving rod 3321 is hinged to the second cover 42 so that the second cover 42 can be flipped around the axis of the output shaft of the second flipping drive component. One end of the second support rod 3322 is hinged to the machine body 3, and the other end of the second support rod 3322 is hinged to the second cover 42. The second flipping drive component includes a drive motor or a combination of a drive motor and a reducer, which can be selected according to actual needs.

[0080] In this design, the second drive rod 3321, in cooperation with the second support rod 3322, can cause the second cover 42 to rotate, so that the second cover 42 can always extend horizontally, thereby allowing the second cover 42 to cover the top of the first cover 41.

[0081] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0082] The above descriptions are merely specific embodiments of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features of the application described herein.

Claims

1. A robotic arm used in a cleaning robot, characterized in that, The device includes a robotic arm body (1) and a robotic gripper (2) disposed on the robotic arm body (1). The robotic arm body (1) is capable of driving the robotic gripper (2) to rotate in the horizontal direction and swing in the vertical direction. The robotic gripper (2) includes a base (21) and a drive member (22) and two grippers (23) disposed on the base (21). The drive member (22) is capable of driving the two grippers (23) to move closer or further away. The grippers (23) are used to grip items to be cleaned or to assemble cleaning parts.

2. The robotic arm according to claim 1, characterized in that, The driving component (22) includes a first driving component (221) and two transmission components (222). The first driving component (221) can drive the two grippers (23) to move through the two transmission components (222).

3. The robotic arm according to claim 2, characterized in that, The first driving member (221) has a worm gear (2211) at its output end. The transmission member (222) includes a transmission gear set (2221) and a connecting rod structure (2222). The first gear of the transmission gear set (2221) can mesh with the worm gear (2211), and the last gear of the transmission gear set (2221) is connected to the chuck (23) through the connecting rod structure (2222).

4. The robotic arm according to claim 3, characterized in that, The linkage structure (2222) includes a first link (22221) and a second link (22222); One end of the first rod (22221) is connected to the end gear of the transmission gear set (2221), and the other end of the first rod (22221) is hinged to the gripper (23); One end of the second rod (22222) is hinged to the base (21), and the second end of the second rod (22222) is hinged to the gripper (23).

5. The robotic arm according to claim 1, characterized in that, The robotic arm includes a second drive unit and a rotating base (31) mounted on the body (3) of the cleaning robot. The second drive unit can drive the rotating base (31) to rotate. The robotic arm body (1) is mounted on the rotating base (31).

6. The robotic arm according to claim 5, characterized in that, The robotic arm body (1) includes a first arm (11), a second arm (12) and a third arm (13) connected in sequence. The first arm (11) is mounted on the rotating seat (31), and the robotic claw (2) is mounted on the third arm (13). The first arm (11) is able to swing vertically relative to the rotating seat (31), the second arm (12) is able to swing vertically relative to the first arm (11), and the third arm (13) is able to swing vertically relative to the second arm (12).

7. The robotic arm according to claim 6, characterized in that, The first arm (11) is provided with a third driving member inside for driving the first arm (11) to swing vertically relative to the rotating seat (31); And / or, the interior of the first arm (11) is provided with a fourth drive member for driving the second arm (12) to swing relative to the first arm (11) in a vertical direction; And / or, the interior of the second arm (12) is provided with a fifth drive member for driving the third arm (13) to swing vertically relative to the second arm (12).

8. The robotic arm according to claim 6, characterized in that, The second arm (12) is located on one side of the first arm (11), and the third arm (13) is located at the end of the second arm (12).

9. A cleaning robot, characterized in that, It includes a body (3) and a robotic arm as described in any one of claims 1 to 8, mounted on the body (3).

10. The cleaning robot according to claim 9, characterized in that, The body (3) is provided with a cover assembly (4), which is configured to open when the robotic arm is in working state and cover the outer periphery of the robotic arm when it is not in working state.

11. The cleaning robot according to claim 10, characterized in that, The cover assembly (4) includes a first cover (41) and a second cover (42) disposed opposite to each other. The body (3) is provided with a first flipping member (32) and a second flipping member (33). The first flipping member (32) can drive the first cover (41) to flip, and the second flipping member (33) can drive the second cover (42) to flip. The flipped second cover (42) can be stacked on the first cover (41).

12. The cleaning robot according to claim 11, characterized in that, The first flipping component (32) includes a first flipping drive component (321) and a first flipping connecting rod (322). The first flipping connecting rod (322) includes a first drive rod (3221) and a first support rod (3222). One end of the first drive rod (3221) is connected to the output end of the first flipping drive component (321), and the other end of the first drive rod (3221) is hinged to the end of the first support rod (3222). The end of the first support rod (3222) away from the first drive rod (3221) is hinged to the first cover (41).

13. The cleaning robot according to claim 11, characterized in that, The second flipping component (33) includes a second flipping drive component and a second flipping link (332). The second flipping link (332) includes a second drive rod (3321) and a second support rod (3322). The end of the second drive rod (3321) is bent. The bent end of the second drive rod (3321) is connected to the output end of the second flipping drive component. The other end of the second drive rod (3321) is hinged to the second cover (42). One end of the second support rod (3322) is hinged to the body (3). The other end of the second support rod (3322) is hinged to the second cover (42).