Manipulator, mechanical arm and cleaning device

Abstract

The present application discloses a manipulator, a mechanical arm, and a cleaning device. The manipulator comprises a driving member, a transmission mechanism, two gripping arms, and an elastic member. The driving member is connected to the two gripping arms by means of the transmission mechanism and is used for driving the two gripping arms to move close to each other so as to grab an object or driving the two gripping arms to move away from each other so as to release the object. At least one gripping arm is movably connected to the transmission mechanism by means of the elastic member, and the elastic member is configured to apply an acting force to the gripping arm connected to the elastic member, so as to move the gripping arm toward the other gripping arm. Therefore, in a state where the manipulator holds an object, the gripping arm connected to the elastic member is reversely bent, and the elastic member deforms, so that the gripping arm connected to the elastic member can move relative to the transmission mechanism to take out the object between the two gripping arms, thereby avoiding the problem in the related art that the manipulator cannot release the gripped object after an unexpected power failure, and improving the user experience.

Description

robotic arms, robotic hands and cleaning equipment

[0001] This application claims priority to Chinese Patent Application No. 202411047705.9, filed on July 31, 2024, entitled "Robotic Hand, Robotic Arm and Cleaning Equipment", and to Chinese Patent Application No. 202421845526.5, filed on July 31, 2024, entitled "Robotic Hand, Robotic Arm and Cleaning Equipment", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of cleaning equipment technology, and in particular to a robotic hand, robotic arm and cleaning equipment. Background Technology

[0003] With the continuous development of science and technology and the continuous improvement of people's living standards, cleaning equipment, such as intelligent robotic vacuum cleaners, has increasingly entered our daily lives. Current cleaning equipment, in order to better achieve its cleaning function, incorporates robotic arms to grasp or move obstacles, items, and garbage.

[0004] In traditional robotic arms, the end effector will remain holding the object if the cleaning equipment loses power unexpectedly after grasping it, making it inconvenient for the user to remove the object.

[0005] Application content

[0006] The content of this application introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This part of the application is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0007] An embodiment of the first aspect of this application provides a robotic arm, comprising: a drive member, a transmission mechanism, two gripping arms, and an elastic member. The drive member is connected to the two gripping arms via the transmission mechanism to drive the two gripping arms to move closer together to grasp an object or to drive the two gripping arms to move away from each other to release an object. At least one gripping arm is movably connected to the transmission mechanism via the elastic member, which is configured to apply a force to the connected gripping arms that approaches the other gripping arm.

[0008] Furthermore, the clamping arm includes a first clamping section and a second clamping section. The first clamping section is connected to the transmission mechanism, and the second clamping section is located on the side of the first clamping section away from the transmission mechanism. The two second clamping sections can abut against each other. When the two second clamping sections abut against each other, the first clamping sections of the two clamping arms separate.

[0009] Furthermore, the first clamping section includes an outer extension section and an inner extension section, the inner extension section being disposed between the outer extension section and the second clamping section. In the direction from the transmission mechanism to the second clamping section, the outer extension sections of the two clamping arms extend apart from each other, and the inner extension sections of the two clamping arms extend toward each other.

[0010] Furthermore, the outer extension and / or the inner extension extend along a straight line.

[0011] Furthermore, the outer extension and / or the inner extension extends along the curve, with an arc transition between the outer extension and the inner extension.

[0012] Furthermore, in the wall surfaces of the inner extensions of the two clamping arms that face each other, the side closer to the outer extension is concave, and the side closer to the second clamping section is convex.

[0013] Furthermore, the second clamping section is provided with anti-slip teeth, which are used to abut against the object to be clamped.

[0014] Furthermore, the outer wall surface of the end of the second clamping segment furthest from the first clamping segment is an arc surface.

[0015] Furthermore, at the junction of the second clamping segment and the first clamping segment, the width of the second clamping segment is greater than the width of the first clamping segment.

[0016] Furthermore, the second clamping segment extends in a straight line, and when the two clamping arms abut, the second clamping segments on the two clamping arms are parallel and attached.

[0017] Furthermore, the two clamping arms are mirror-shaped.

[0018] Furthermore, the clamping arm is provided with a covering component.

[0019] Furthermore, when the clamping arm includes an inner extension and a second clamping section, the covering member covers the outer walls of the inner extension and the second clamping section.

[0020] Furthermore, the covering is made of soft rubber material and has anti-slip texture.

[0021] Furthermore, the clamping arm is rotatably connected to the transmission mechanism, and a limiting structure is provided between the clamping arm and the transmission mechanism, the limiting structure allowing the clamping arm to rotate relative to the transmission mechanism within a preset angle range.

[0022] Furthermore, the limiting structure is used to restrict the movement of the clamping arm relative to the transmission mechanism between a first position and a second position; under the action of external force, the clamping arm overcomes the elastic force of the elastic element and moves from the first position to the second position, and the elastic element releases energy to switch the clamping arm from the second position to the first position.

[0023] Furthermore, the transmission mechanism includes a worm gear and two worm wheels meshing with the worm gear. The worm gear is connected to the driving member. The two worm wheels correspond to the two clamping arms and are distributed on both sides of the worm gear. The corresponding worm wheels and the clamping arms are connected by a rotating shaft. The elastic element corresponds to the clamping arm. The two ends of the elastic element are connected to the corresponding clamping arm and the worm wheel. The limiting structure is disposed between the corresponding clamping arm and the worm wheel.

[0024] Furthermore, the limiting structure includes a limiting groove and a positioning protrusion; the limiting groove is disposed on the worm gear, and the positioning protrusion is located on the clamping arm, or the limiting groove is disposed on the clamping arm, and the positioning protrusion is located on the worm gear; the positioning protrusion is located in the limiting groove and can move within the limiting groove, so that the clamping arm switches between the first position and the second position.

[0025] Furthermore, the elastic element is a torsion spring, located on the outer periphery of the rotating shaft, with a first end connected to the worm gear and a second end connected to the clamping arm; or the elastic element is a spring, with a first end connected to the worm gear and a second end connected to the clamping arm; or the elastic element is a tension spring, with a first end connected to the worm gear and a second end connected to the clamping arm.

[0026] Furthermore, the elastic element is the torsion spring, the worm gear has a first slot, the clamping arm has a second slot, the first torsion arm of the torsion spring is confined in the first slot, and the second torsion arm of the torsion spring is confined in the second slot.

[0027] Furthermore, during the switching process of the clamping arm between the first position and the second position, the included angle between the first slot and the second slot is smaller than the included angle between the first torsion arm and the second torsion arm when the torsion spring is in a free state.

[0028] Furthermore, the torsion spring is accommodated within the accommodating space defined by the worm gear and the clamping arm; wherein, the worm gear is provided with a first accommodating groove, the first accommodating groove communicating with the first slot, the clamping arm is provided with a second accommodating groove, the second accommodating groove communicating with the second slot, the first torsion arm is accommodated in the first slot, the second torsion arm is accommodated in the second slot, and the other part of the torsion arm is accommodated within the space formed by the first accommodating groove and the second accommodating groove.

[0029] Furthermore, the second end of the torsion spring includes a bending structure, and the second slot includes a constricted section and a flared section. The width of the flared section is greater than the width of the constricted section, and the bending structure is disposed within the flared section.

[0030] Furthermore, the limiting structure is located between the first slot and the second slot; the worm gear has teeth that mesh with the worm in the circumferential direction on the part away from the first slot and the limiting structure.

[0031] Furthermore, the driving component is provided with an overcurrent self-locking device, and the transmission mechanism is provided with a self-locking structure. When the overcurrent self-locking device operates to self-lock the self-locking structure, the angle range of the clamping arm relative to the transmission mechanism is 7° to 10°.

[0032] Furthermore, it also includes: an actuating element and a position switch, wherein the actuating element is used to change the interaction state with the position switch when the clamping arm is in the extreme position, so that the position switch sends an on signal; the extreme position is the extreme position in which the driving element drives the two clamping arms away from each other through the transmission mechanism.

[0033] Furthermore, it also includes: a housing, the drive member and the transmission mechanism are installed inside the housing, the clamping arm passes through the housing and is rotatable relative to the housing; the position switch is fixed relative to the housing, and the actuating member is linked at least with the clamping arm in the extreme position; or, the actuating member is fixed relative to the housing, and the position switch is linked at least with the clamping arm in the extreme position.

[0034] Furthermore, the position switch is fixed on the housing, and the actuating element includes a rotating end rotatably connected to the housing, and a first leg and a second leg spaced apart around the rotating end. The first leg is in contact with or near the position switch, and the second leg faces the clamping arm. During the rotation of the clamping arm toward the limit position, the clamping arm pushes the second leg to rotate, thereby causing the first leg to press the position switch.

[0035] Furthermore, an elastic structure connects the actuating element to the housing, so that the first leg contacts the position switch in the initial or free state without triggering the position switch to send an on signal.

[0036] Furthermore, the housing is provided with a guide post or connected with a connecting shaft, the rotating end of the actuating member is a collar, the first support leg and the second support leg are spaced apart on the periphery of the collar, the collar is sleeved on the guide post or the connecting shaft, one end of the elastic structure is connected to the actuating member, and the other end of the elastic structure is connected to the housing. When the actuating member is in the initial state, the first support leg is in contact with the position switch and does not trigger the position switch to send an position signal.

[0037] Furthermore, a clearance groove is provided on the periphery of the clamping arm near the position switch, and the second leg extends into the clearance groove. During the rotation of the clamping arm to the limit position, the groove wall of the clearance groove is configured to abut against the second leg.

[0038] An embodiment of the second aspect of this application provides a robotic arm, including: a robotic hand according to any one of the first aspects.

[0039] An embodiment of the third aspect of this application provides a self-moving cleaning device, comprising: a main body, and a robotic arm as described in the second aspect.

[0040] The robotic arm and cleaning device provided in this application include a drive component, a transmission mechanism, two gripping arms, and an elastic element. The drive component is connected to the two gripping arms via the transmission mechanism, driving the two gripping arms to move closer or further apart, enabling the robotic arm to grasp or release objects. At least one gripping arm is movably connected to the transmission mechanism via the elastic element, allowing the gripping arm connected to the elastic element to move relative to the transmission mechanism. Thus, while the robotic arm is holding an object, if the gripping arm connected to the elastic element is pulled in the opposite direction, the elastic element deforms, allowing the gripping arm connected to the elastic element to move relative to the transmission mechanism to remove the object between the two gripping arms. This avoids the problem in related technologies where the robotic arm cannot remove the object after an unexpected power outage, improving the user experience and greatly increasing the convenience of removing the object after a power outage, thereby enhancing user satisfaction.

[0041] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0042] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. Wherein:

[0043] Figure 1 shows a schematic diagram of the structure of the robotic arm provided in an embodiment of this application;

[0044] Figure 2 shows a structural schematic diagram of the robotic arm in its initial position as provided in an embodiment of this application;

[0045] Figure 3 shows a structural schematic diagram of the robotic arm in an extreme position provided in an embodiment of this application from one perspective;

[0046] Figure 4 shows an exploded view of a portion of the structure of the robotic arm provided in an embodiment of this application;

[0047] Figure 5 shows a structural schematic diagram of a portion of the robotic arm provided in an embodiment of this application from one perspective.

[0048] Figure 6 illustrates the structural schematic of the worm gear provided in an embodiment of this application;

[0049] Figure 7 illustrates the structural schematic of the robotic arm provided in an embodiment of this application;

[0050] Figure 8 shows a structural schematic diagram of the robotic arm in a clamping state provided in an embodiment of this application from one perspective;

[0051] Figure 9 shows a partial structural perspective view of the robotic arm in a clamping state provided in an embodiment of this application;

[0052] Figure 10 shows a schematic diagram of the manipulator provided in the embodiment of this application in a state of being opened by external force from one perspective;

[0053] Figure 11 shows a partial structural perspective view of the robotic arm provided in the embodiment of this application in the state of being opened by external force;

[0054] Figure 12 shows a structural schematic diagram of a portion of the robotic arm provided in another embodiment of this application from one perspective.

[0055] Figure 13 shows a partially enlarged schematic diagram of point A in the embodiment shown in Figure 12;

[0056] Figure 14 shows an explosion diagram of the robotic arm provided in an embodiment of this application;

[0057] Figure 15 shows a schematic diagram of a portion of the structure of a robotic arm provided in one embodiment of this application;

[0058] Figure 16 shows a schematic diagram of the gripping arm of a robotic arm provided in one embodiment of this application.

[0059] The correspondence between the reference numerals and component names in Figures 1 to 16 is as follows:

[0060] 100. Robotic arm; 110. Drive unit; 120. Transmission mechanism; 121. Worm gear; 122. Worm wheel; 1221. First slot; 1222. First receiving slot; 1223. Tooth; 130. Gripping arm; 131. Second slot; 1311. Narrowing section; 1312. Flaring section; 132. Second receiving slot; 133. Clearance slot; 140. Torsion spring; 141. First torsion arm; 142. Second torsion arm; 150. Limiting structure; 15 1. Limiting groove; 1511. First sidewall; 1512. Second sidewall; 152. Positioning protrusion; 160. Rotating shaft; 170. Actuator; 171. Rotating end; 172. First support leg; 173. Second support leg; 180. Position switch; 190. Housing; 200. Object to be clamped; 134. First clamping section; 1341. Outer extension section; 1342. Inner extension section; 135. Second clamping section; 1351. Anti-slip teeth; 136. Covering component. Detailed Implementation

[0061] The following description provides numerous specific details to offer a more thorough understanding of the technical solutions provided in this application. However, it will be apparent to those skilled in the art that the technical solutions provided in this application can be implemented without one or more of these details.

[0062] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0063] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art.

[0064] As shown in Figures 1 to 13, an embodiment of the first aspect of this application provides a robotic arm 100, an embodiment of the second aspect of this application provides a robotic arm, and an embodiment of the third aspect of this application provides a cleaning device. The robotic arm 100 is applied to the robotic arm, the robotic arm is applied to the cleaning device, and the cleaning device can be a sweeping robot, a sweeping and mopping robot, or other cleaning robots that meet the requirements.

[0065] The cleaning equipment includes, but is not limited to, a main body, a drive system, and a cleaning system. These systems coordinate with each other to enable the cleaning equipment to move autonomously and perform its cleaning function. The functional components constituting these systems are integrated within the main body. It is understood that the cleaning equipment can be a self-moving cleaning device. A self-moving cleaning device is a device that automatically performs cleaning operations in a designated area without user intervention.

[0066] Furthermore, robotic arms are applied to cleaning equipment, such as connecting the robotic arm to the main body of the cleaning equipment, so that the robotic hand 100 at the end of the robotic arm can grasp or move obstacles, objects, and garbage near the cleaning equipment, so as to better achieve autonomous cleaning function.

[0067] In related technologies, robotic arms, due to their relatively low movement speed but high clamping torque requirements, are typically driven by small motors with high reduction ratio transmission mechanisms to reduce module weight. Consequently, the gripping arms of these robotic arms are generally difficult for users to manually pry in the opposite direction. Therefore, if the robotic arm or cleaning equipment experiences an unexpected power outage after gripping an object, the robotic arm will remain in a gripping state, making it inconvenient for the user to remove the gripped object.

[0068] In view of this, as shown in Figures 1, 2, 3, 4, 8 and 9, an embodiment of the first aspect of this application provides a robotic arm 100, including: a drive member 110, a transmission mechanism 120, two gripping arms 130 and an elastic member 140. The drive member 110 is connected to the two gripping arms 130 through the transmission mechanism 120 to drive the two gripping arms 130 to move closer or further away from each other. At least one gripping arm 130 is movably connected to the transmission mechanism 120 through the elastic member 140, and the elastic member 140 is configured to apply a force to the connected gripping arm 130 that approaches the other gripping arm 130.

[0069] The robotic arm 100 provided in this embodiment has a drive unit 110 connected to two gripping arms 130 via a transmission mechanism 120. Driving the two gripping arms 130 to move closer or further apart enables the robotic arm 100 to grasp or release objects. At least one gripping arm 130 is movably connected to the transmission mechanism 120 via an elastic member 140, allowing the gripping arm 130 connected to the elastic member 140 to move relative to the transmission mechanism 120. Thus, while the robotic arm 100 is holding an object, if the gripping arm 130 connected to the elastic member 140 is bent in the opposite direction, the elastic member 140 deforms, allowing the gripping arm 130 connected to the elastic member 140 to move relative to the transmission mechanism 120, thereby removing the object between the two gripping arms 130. This avoids the problem in related technologies where the robotic arm 100 or cleaning equipment cannot remove the object gripped by the robotic arm 100 after an unexpected power outage, improving the user experience and greatly increasing the convenience of removing the object gripped by the robotic arm 100 after a power outage, thus improving user satisfaction. In Figure 2, the two gripping arms 130 of the robotic arm 100 are brought close together to maintain the robotic arm 100 in its initial state. In Figure 3, the two gripping arms 130 of the robotic arm 100 are moved away from each other to put the robotic arm 100 in an open state. It can be understood that the two gripping arms 130 shown in Figure 3 are at their maximum open position. In Figure 8, the two gripping arms 130 of the robotic arm 100 are in a state of gripping an object. In Figure 10, the two gripping arms 130 of the robotic arm 100 are in a state of being opened by external force.

[0070] At least one gripping arm 130 is movably connected to the transmission mechanism 120 via an elastic element 140. One gripping arm 130 can be movably connected to the transmission mechanism 120 via the elastic element 140. In this way, by reversing the gripping arm 130 connected to the elastic element 140, the object held by the robot arm 100 can be removed after the power is cut off. The operation is simple, the use is convenient, and it helps to reduce production costs.

[0071] Alternatively, both gripping arms 130 can be movably connected to the transmission mechanism 120 via elastic elements 140. In this way, by reversing the movement of the two gripping arms 130 connected to the elastic elements 140, the object held by the robotic arm 100 can be removed after power is cut off. This method is simple and convenient to use. Compared to a single gripping arm 130 being movably connected to the transmission mechanism 120 via the elastic elements 140, this configuration increases the relative range of motion of the two gripping arms 130 while the robotic arm 100 is holding an object. This reduces the problem of irregular objects getting stuck on the gripping arms 130 during removal from the gripped robotic arm 100, thus enabling quick, smooth, and convenient removal of objects held by the robotic arm 100. It also expands the scope of application and is suitable for widespread adoption.

[0072] The elastic element 140 is configured to apply a force close to the other clamping arm 130 to the connected clamping arm 130. This can be understood as the elastic element 140 acting on the clamping arm 130 to give it an initial clamping force F1. This configuration ensures that when the robot arm 100 is in a clamping state, the force of the elastic element 140 brings the two clamping arms 130 closer together, and the clamping arms 130 have sufficient torque to ensure that the object can be reliably and stably clamped between the two clamping arms 130.

[0073] Furthermore, the transmission mechanism 120 is equipped with a self-locking structure, that is, the transmission mechanism 120 is configured to have a self-locking function. Thus, after the drive unit 110 is de-energized, the transmission mechanism 120 stops working, and the gripping arm 130 can reliably and stably maintain its current state, thereby improving the stability and accuracy of the robot arm 100 in gripping objects.

[0074] The drive unit 110 is equipped with an overcurrent self-locking device. For example, the drive unit 110 is a motor, which has an overcurrent self-locking device, meaning the motor has an overcurrent protection function. During the process of the motor driving the clamping arms 130 from opening to closing via the transmission mechanism 120, when it encounters the object to be clamped 200, the two clamping arms 130 will clamp the object 200, causing the motor to stall. At this time, the motor's overcurrent self-locking device works; that is, due to the motor's overcurrent protection function, the motor detects overcurrent and stops rotating. At this time, the self-locking structure of the transmission mechanism 120 is in a self-locking state, so that under the self-locking function of the transmission mechanism 120, the drive unit 110 maintains the clamping force F on the object 200 through the clamping arms 130, thereby achieving a reliable and stable clamping operation on the object 200. It is understandable that the clamping force F exerted by the drive member 110 on the clamped object 200 through the clamping arm 130 can be less than or equal to the initial clamping force F1 exerted by the elastic member 140 on the clamping arm 130, so that the clamping arm 130 can reliably and stably clamp the object 200 without rotating relative to the transmission mechanism 120. Alternatively, the clamping force F exerted by the drive member 110 on the clamped object 200 through the clamping arm 130 can be slightly greater than the initial clamping force F1 exerted by the elastic member 140 on the clamping arm 130, so that the clamping arm 130 can still maintain a reliable and stable clamping operation on the object 200 even when rotating a small angle relative to the transmission mechanism 120. Understandably, when the clamping arm 130 clamps the object 200, and when the clamping arm 130 is rotated in the opening direction by an external force (i.e., when the clamping arm 130 rotates away from itself), and when the external force is greater than the initial clamping force F1 of the elastic element 140 on the clamping arm 130, the clamping arm 130 opens and the object is released. Furthermore, the driving element 110 is equipped with an overcurrent self-locking device, and the transmission mechanism 120 is equipped with a self-locking structure. When the overcurrent self-locking device operates to lock the self-locking structure, the angle range of rotation of the clamping arm 130 relative to the transmission mechanism 120 is 7° to 10°.

[0075] In other words, when the clamping arm 130 clamps the object 200, causing the overcurrent self-locking device of the drive unit 110 to work, such as when the motor stops rotating due to overcurrent protection, the self-locking structure of the transmission mechanism 120 is in a self-locking state. For example, the transmission mechanism 120 includes a worm gear 122 and a worm 121, and a self-locking function is configured between the worm 121 and the worm gear 122. Thus, after the drive unit 110 is de-energized, the transmission mechanism 120 stops working, and the clamping arm 130 can reliably and stably maintain its current state to reliably and stably clamp the object 200. At this time, the angle range of the clamping arm 130 relative to the transmission mechanism 120 is 7° to 10°. That is to say, when the clamping arm 130 is clamping an object, the angle range of the clamping arm 130 relative to the transmission mechanism 120 under the action of external force can be 7° to 10°. That is, the angle range of each clamping arm 130 rotating away from each other is 7° to 10°. This ensures that the distance between the two clamping arms 130 under the action of external force is large enough, providing sufficient movement space for the clamped object 200 to smoothly detach from the clamping arm 130, thereby improving the smoothness of the clamped object 200 detaching from the clamping arm 130.

[0076] Specifically, when the overcurrent self-locking device of the driving component 110 activates and locks the self-locking structure of the transmission mechanism 120, the angle of rotation of the clamping arm 130 relative to the transmission mechanism 120 can be 7°, 8°, 9°, 10°, or other angles. It can be understood that when the angle of rotation of the clamping arm 130 relative to the transmission mechanism 120 is within the range of 10°, it can be understood that the driving component 110, through the clamping force F exerted by the clamping arm 130 on the clamped object 200, prevents the clamping arm 130 from rotating relative to the transmission mechanism 120. When the angle of rotation of the clamping arm 130 relative to the transmission mechanism 120 is within the range of 7°, it can be understood that the driving component 110, through the clamping force F exerted by the clamping arm 130 on the clamped object 200, causes the clamping arm 130 to rotate relative to the transmission mechanism 120 by an angle of 10° - 7° = 3°.

[0077] The clamping arm 130 includes a first clamping section 134 and a second clamping section 135. The first clamping section 134 is connected to the transmission mechanism 120. The second clamping section 135 is located on the side of the first clamping section 134 away from the transmission mechanism 120. The two second clamping sections 135 can abut against each other. When the two second clamping sections 135 abut against each other, the first clamping sections 134 of the two clamping arms 130 are separated.

[0078] When the gripping arm 130 grips an object, the first gripping section 134 can also contact the object from the side, thereby increasing the overall contact area, providing additional support and friction, preventing the object from rolling or slipping during gripping, and improving the stability of gripping.

[0079] By separating the first gripping segments 134 of the two gripping arms 130, the gripping arms 130 can better adapt to objects with irregular shapes. When gripping objects with complex shapes and uneven surfaces, the second gripping segment 135 can grasp the main part of the object, while the first gripping segment 134 can provide additional gripping force from different angles and positions according to the shape characteristics of the object. For example, when gripping an object with protrusions or depressions, the first gripping segment 134 can embed into these irregular parts and work in conjunction with the second gripping segment 135 to ensure a firm grip. For large flat objects, such as sheet metal, the first gripping segments 134 of the two gripping arms 130 can provide support from the two edges of the sheet metal, while the second gripping segment 135 clamps the surface of the sheet metal; for small three-dimensional objects, such as cubic parts, the first gripping segments 134 and the second gripping segments 135 can apply gripping force from different faces, improving the versatility of the robot 100 in different application scenarios.

[0080] When the two second clamping sections 135 come into contact, the first clamping sections 134 of the two clamping arms 130 are separated, so that the two second clamping sections 135 roughly form a closed ring structure.

[0081] The clamping arm 130 is generally a bent elongated structure, with the first clamping section 134 and the second clamping section 135 being two sections along the length of the clamping arm 130. The first clamping section 134 is the section close to and connected to the transmission mechanism 120, and the second clamping section 135 is the section of the clamping arm 130 away from the transmission mechanism 120.

[0082] Furthermore, the clamping arm 130 can be a one-piece structure, and the clamping arm 130 can be integrally formed. The first clamping section 134 and the second clamping section 135 are two connecting parts of the one-piece clamping arm 130. It can also be understood that the first clamping section 134 and the second clamping section 135 are made as a single piece.

[0083] The first clamping section 134 includes an outer extension section 1341 and an inner extension section 1342. The inner extension section 1342 is disposed between the outer extension section 1341 and the second clamping section 135. In the direction from the transmission mechanism 120 to the second clamping section 135, the outer extension sections 1341 of the two clamping arms 130 extend apart from each other, and the inner extension sections 1342 of the two clamping arms 130 extend toward each other.

[0084] For objects with irregular shapes, depressions, or protrusions, the combination of the outer extension 1341 and the inner extension 1342 can better adapt to their shape. The outer extension 1341 can conform to the outer contour of the object, while the inner extension 1342 can penetrate into the depressions of the object or surround the protrusions, providing multi-directional clamping force.

[0085] The angle formed by the outer extension 1341 and the inner extension 1342 is an obtuse angle.

[0086] Among them, the outer extensions 1341 of the two clamping arms 130 roughly form an "eight" shape, and along the direction from the transmission mechanism 120 to the second clamping section 135, the outer extensions 1341 of the two clamping arms 130 gradually move away from each other.

[0087] Among them, the inner extensions 1342 of the two clamping arms 130 roughly form an "eight" shape, and along the direction from the transmission mechanism 120 to the second clamping section 135, the outer extensions 1341 of the two clamping arms 130 gradually approach each other.

[0088] Furthermore, when the two clamping arms 130 are in contact, the part where the distance between the two clamping arms 130 is the junction of the inner extension 1342 and the outer extension 1341.

[0089] As shown in Figures 1, 2 and 3, the outer extension 1341 and / or the inner extension 1342 extend along a straight line.

[0090] By extending the outer extension 1341 and / or the inner extension 1342 along a straight line, the structure of the first clamping section 134 is relatively simple, making it easier to achieve precise dimensional control and processing technology during manufacturing.

[0091] When installing the gripper arm 130 into the transmission mechanism 120 and the entire robotic arm 100, the straight extension is easier to position and install. During assembly, its position and angle can be determined more accurately, reducing adjustment time during installation. Furthermore, the straight structure facilitates inspection and detection of potential problems during subsequent equipment commissioning and maintenance, reducing maintenance difficulty.

[0092] In this case, only the outer extension segment 1341 can extend along a straight line, only the inner extension segment 1342 can extend along a straight line, or both the outer extension segment 1341 and the inner extension segment 1342 can extend along a straight line.

[0093] As shown in Figures 14, 15 and 16, the outer extension 1341 and / or the inner extension 1342 extend along the curve, with an arc transition between the outer extension 1341 and the inner extension 1342.

[0094] By setting the outer extension 1341 and / or the inner extension 1342 to extend along the curve, it can better fit various irregularly shaped objects. Compared with a straight structure, it can more effectively clamp irregularly shaped objects and reduce the risk of shaking or slipping of objects during the clamping process.

[0095] At the same time, it also allows external forces to be distributed more evenly on the gripping arm 130, avoiding stress concentration at a specific point or area. When gripping an object, the force exerted by the object on the gripping arm 130 can be more naturally distributed and transmitted along the curved surface, reducing the possibility of damage to the gripping arm 130 due to stress concentration and extending the service life of the gripping arm 130, especially under long-term high-load working conditions.

[0096] By setting the transition between the outer extension 1341 and the inner extension 1342 to an arc shape, when the gripping arm 130 grips an object and bears a load, the force can be smoothly distributed along the arc surface, avoiding stress concentration points in the transition area, reducing the risk of material fatigue and damage caused by stress concentration, extending the service life of the gripping arm 130, and improving its reliability in long-term use.

[0097] In this case, only the outer extension 1341 can extend along the curve, only the inner extension 1342 can extend along the curve, or both the outer extension 1341 and the inner extension 1342 can extend along the curve.

[0098] In the wall surface where the inner extensions 1342 of the two clamping arms 130 are arranged facing each other, the side near the outer extension 1341 is concave, and the side near the second clamping section 135 is convex.

[0099] The concave design near the outer extension 1341 better accommodates any protrusions or irregular shapes that may exist on the object in that area. When grasping an object with local protrusions, the concave wall can conform to these protrusions, increasing the contact area and friction, and preventing the object from moving in that direction.

[0100] The concave and convex walls allow for a more balanced distribution of clamping force on the object. The concave portion generates a concentrated force when it contacts the protruding part of the object, while the convex portion disperses the force over a larger area. The two work together to make the clamping force on the entire object more uniform.

[0101] Among them, the wall surfaces of the inner extensions 1342 of the two clamping arms 130 facing each other are roughly S-shaped along the extension direction, with the part near the outer extension 1341 recessed inward and the part near the second clamping section 135 protruding outward.

[0102] The second clamping section 135 is provided with anti-slip teeth 1351, which are used to abut against the object 200 to be clamped.

[0103] By incorporating anti-slip teeth 1351, the friction between the gripping arm 130 and the object 200 to be gripped can be increased. When gripping an object, the anti-slip teeth 1351 can embed into minute unevenness on the object's surface or form a tighter mechanical engagement with the object's surface. Whether the object has a smooth surface or a certain degree of roughness, the anti-slip teeth 1351 can effectively prevent the object from slipping during the gripping process.

[0104] For cylindrical or rotationally symmetrical objects, the anti-slip teeth 1351 prevent rotation between the clamping arms 130. The irregular contact between the anti-slip teeth 1351 and the object surface creates multiple resistance points that resist the rotational tendency of the object caused by external forces or its own gravity.

[0105] For softer objects, such as rubber or plastic products, the anti-slip teeth 1351 can provide sufficient gripping force without damaging the surface. The design of the anti-slip teeth 1351 can be optimized according to the material properties of the object, such as using a blunter tooth shape or a smaller tooth spacing, which ensures sufficient friction while avoiding excessive indentation or damage to the surface of soft objects. This allows the robotic arm 100 to be widely used for gripping household items of different materials, improving the versatility of the device.

[0106] For objects with rough surfaces, large particles, or textures, the anti-slip teeth 1351 can better conform to the object's surface. The teeth interlock with the uneven parts of the object's surface, allowing the gripping force to be transferred to the object more effectively, thus enhancing the gripping ability on such objects.

[0107] Among them, the anti-slip teeth 1351 on the second clamping section 135 of the two clamping arms 130 are arranged opposite each other, and when the second clamping section 135 is in contact, that is, in contact through the position of the anti-slip teeth 1351.

[0108] Furthermore, when the anti-slip teeth 1351 on the two second clamping sections 135 are in contact, the tooth tips can be opposite each other or the tooth tips can be opposite each other, that is, the tooth tips are inserted into the tooth grooves.

[0109] As shown in Figures 1, 2 and 3, in one embodiment, the outer wall surface of the end of the second clamping segment 135 that is away from the first clamping segment 134 is an arc surface.

[0110] It can prevent the second gripping section 135 at the tip from scratching the object during the movement of the robotic arm 100.

[0111] Among them, the outer wall surface of the arc-shaped surface extends along the thickness direction of the second clamping section 135.

[0112] Furthermore, the second clamping section 135 can be a long strip-shaped structure, with the outer wall surface parallel to the length direction being a plane and the outer wall surface extending along the thickness direction being an arc surface.

[0113] Furthermore, anti-slip teeth 1351 are set on the curved surface.

[0114] At the junction of the second clamping section 135 and the first clamping section 134, the width of the second clamping section 135 is greater than the width of the first clamping section 134.

[0115] The wider second clamping section 135 can better conform to the contour changes of the object's surface, maintain sufficient contact area, and ensure good clamping effect.

[0116] The junction between the second clamping section 135 and the first clamping section 134 is stepped, and the width of the second clamping section 135 is greater than the width of the first clamping section 134.

[0117] As shown in Figures 14, 15 and 16, in another embodiment, the second clamping segment 135 extends in a straight line, and when the two clamping arms 130 abut, the second clamping segments 135 on the two clamping arms 130 are parallel and attached.

[0118] By extending the second clamping section 135 in a straight line, and thus making the second clamping sections 135 of the two clamping arms 130 parallel and close together, clamping force can be applied evenly from both sides when clamping items, ensuring that the items will not bend, wrinkle or slip during the gripping process.

[0119] When faced with long, narrow objects, the second gripping segment 135, which is arranged in parallel among the two gripping arms 130, makes it easier to grasp them. After gripping the object, it can maintain the object's stable posture, keeping it in a relatively stable position and angle, preventing it from falling during handling. It also facilitates subsequent automated processing, such as accurately placing different types of objects into their corresponding recycling areas, thus improving the robot's intelligence and work efficiency.

[0120] The relative positions of the second gripping segments 135 of the two gripping arms 130 are fixed and predictable, enabling the control system of the sweeping robot to more accurately calculate and control the movement path and gripping position of the gripping arms 130, thus simplifying the control logic.

[0121] The second clamping section 135 extends in the radial direction of the circular trajectory of the clamping arm 130 as it rotates.

[0122] Among them, the anti-slip teeth 1351 are set on the wall surface where the two second clamping sections 135 are in contact.

[0123] The two gripping arms 130 are mirror-shaped, making them completely symmetrical in structure and motion. When gripping objects, they maintain uniform and symmetrical force, preventing tilting or slippage due to uneven force and ensuring the objects remain stably gripped during handling. Furthermore, the forces on the two gripping arms 130 cancel each other out symmetrically when gripping objects, reducing torsional or bending moments on the overall robotic arm 100 structure and improving the structural strength and stability of the gripping arms 130.

[0124] By mirroring the two gripping arms 130, the positional accuracy when gripping objects is improved. After visual recognition or sensor positioning of the object, the robot can more accurately calculate the gripping point position based on the symmetrical gripping arm 130 structure. Both gripping arms 130 can approach the object simultaneously at the same speed and angle, ensuring that the object is centered within the gripping arms 130 during the gripping process, reducing the possibility of the object falling or failing to grip due to positional deviation. This high-precision gripping is particularly important for operations in confined spaces or complex environments, such as gripping objects in furniture crevices or corners, improving the robot's efficiency and reliability in complex scenarios.

[0125] The plane of symmetry of the two clamping arms 130 is located at the midpoint between the two clamping arms 130.

[0126] The clamping arm 130 is provided with a cover 136. By providing the cover 136, the clamping arm 130 can be isolated from direct contact with the debris, reducing the scratching and wear of the clamping arm 130 by the sharp parts or rough surfaces of the debris.

[0127] The cover 136 can be made of a soft material, providing a soft contact surface to protect the object to be clamped, and can cushion the pressure exerted by the clamping arm 130 on the object, preventing the object from breaking or being damaged due to direct contact with an overly hard clamping surface.

[0128] The covering 136 can be made of a material with a certain anti-slip effect, such as surface roughness or special texture, which can increase the friction between the gripping arm 130 and the debris, preventing the debris from slipping during handling. This improves the reliability of gripping, reduces the need for repeated gripping operations due to debris falling, and improves cleaning efficiency.

[0129] The covering 136 is sleeved on the clamping arm 130. It can be sleeved in a fixed and non-removable manner or sleeved in a detachable manner, so that the covering 136 can be replaced after it is damaged.

[0130] The covering 136 covers the outer wall of the inner extension 1342 and the second clamping section 135. The inner extension 1342 and the second clamping section 135 have a higher frequency of contact with the object to be clamped. Covering the outer wall of the inner extension 1342 and the second clamping section 135 with the covering 136 can provide good protection for the inner extension 1342, the second clamping section 135 and the object to be clamped, and can also provide good anti-slip effect.

[0131] During assembly, it is also easier to cover the outer wall of the inner extension 1342 and the second clamping section 135 with the covering part 136, thereby improving assembly efficiency.

[0132] The cover 136 is made of soft rubber material to ensure that the cover 136 can play a good protective role.

[0133] The cover 136 is provided with anti-slip texture to ensure that the cover 136 can play a good anti-slip role.

[0134] As shown in Figures 4, 9, and 11, in some possible embodiments provided in this application, the clamping arm 130 is rotatably connected to the transmission mechanism 120. A limiting structure 150 is provided between the clamping arm 130 and the transmission mechanism 120. The limiting structure 150 is used to limit the rotation angle of the clamping arm 130 relative to the transmission mechanism 120. Since the elastic member 140 is configured to apply a force close to the other clamping arm 130 to the connected clamping arm 130, the setting of the limiting structure 150 allows the clamping arm 130 to rotate within a preset angle range relative to the transmission mechanism 120. This ensures that when the clamping arm 130 is in a free state, the clamping arm 130 connected to the elastic member 140 has a tendency to move closer to the other clamping arm 130, ensuring that the clamping arm 130 has sufficient torque so that the object can be reliably and stably clamped between the two clamping arms 130. When the clamping arm 130 is pried in the opposite direction, the object clamped by the robot arm 100 can be quickly, smoothly, and conveniently removed. The operation is simple and convenient.

[0135] Specifically, the preset angle can be from 5° to 15°, such as 5°, 10°, 15°, or other angles. That is, under the action of external force, the angle at which the clamping arm 130 rotates relative to the transmission mechanism 120 can be 5°, 10°, 15°, or other angles. Furthermore, based on the specific value of the preset angle, the range of the angle at which the clamping arm 130 rotates relative to the transmission mechanism 120 can be reasonably set when the overcurrent self-locking device of the drive component 110 operates to self-lock the self-locking structure of the transmission mechanism 120, so as to improve the smoothness of the clamped object 200 disengaging from the clamping arm 130.

[0136] As shown in Figures 9 and 11, in some possible embodiments provided in this application, the limiting structure 150 is used to restrict the movement of the gripping arm 130 relative to the transmission mechanism 120 between a first position and a second position. In the first position, the same gripping arm 130 is closer to another gripping arm 130 than in the second position. The gripping arm 130 is configured to switch from the first position to the second position under the action of an external force, and the gripping arm 130 is configured to switch from the second position to the first position under the action of an elastic member 140. Specifically, the gripping arm 130 shown in Figure 9 is in the first position, at which time the robot arm 100 is in a gripping state. The gripping arm 130 shown in Figure 11 is in the second position, at which time the robot arm 100 is in a state of being opened by external force.

[0137] In other words, as shown in Figure 9, when the robot arm 100 holds the object in a clamping state, the clamping arm 130 is in the first position under the action of the elastic member 140 and the limiting structure 150. Compared with the clamping arm 130 in the second position, the clamping arm 130 in the first position is closer to the other clamping arm 130. At this time, the elastic member 140 makes the clamping arm 130 have a tendency to move closer to the other clamping arm 130, so as to ensure that the clamping arm 130 has sufficient torque so that the object can be reliably and stably clamped between the two clamping arms 130. If the robot arm 100 or the cleaning equipment loses power in this state, causing the drive component 110 to lose power, the clamping arms 130 cannot be driven away from each other through the transmission mechanism 120 to remove the clamped object from the robot arm 100. As shown in Figure 11, the user can reverse the direction of the clamping arms 130 to move them away from each other. In this way, the clamping arms 130 move from the first position to the second position under the action of external force, overcoming the elastic force of the elastic component 140. Thus, the object clamped by the robot arm 100 can be conveniently removed from between the two clamping arms 130. The operation is simple and convenient.

[0138] Understandably, during the process of the clamping arm 130 moving from the first position to the second position under the action of external force to overcome the elastic force of the elastic element 140, the elastic element 140 stores energy. Therefore, when the external force disappears, the elastic element 140 releases energy to switch the clamping arm 130 from the second position to the first position and maintain it in the first position, thereby realizing the reset of the clamping arm 130 and ensuring that the clamping arm 130 has sufficient torque.

[0139] As shown in Figure 9, when the clamping arm 130 is in the first position, it can be understood that the clamping arm 130 is in the initial position relative to the transmission mechanism 120, and at this time, the clamping arm 130 does not rotate relative to the transmission mechanism 120. When the clamping arm 130 is in the second position, it can be understood that the clamping arm 130 is in the movable position relative to the transmission mechanism 120, and at this time, the rotation angle of the clamping arm 130 relative to the transmission mechanism 120 can be preset.

[0140] As shown in Figures 4 and 5, in some possible embodiments provided in this application, the transmission mechanism 120 includes a worm gear 121 and two worm wheels 122 meshing with the worm gear 121. The worm gear 121 is connected to the drive member 110. The two worm wheels 122 correspond to two gripping arms 130 and are distributed on both sides of the worm gear 121. The corresponding worm wheels 122 are connected to the gripping arms 130. Thus, when the drive member 110 operates, the worm wheel 122 and worm gear 121 mechanism can drive the two gripping arms 130 to move closer or further apart, thereby realizing the operation of the robot arm 100 to grasp or release objects. The worm wheel 122 and worm gear 121 transmission ensures that the transmission mechanism 120 has a large reduction ratio. When the drive member 110 has relatively low power, the movement speed of the gripping arms 130 is low while maintaining sufficient gripping torque. This improves the stability and accuracy of the robot arm 100 in gripping objects, while also reducing the weight of the robot arm 100 and facilitating operation.

[0141] The worm gear 122 and the gripping arm 130 are connected by a rotating shaft 160 and an elastic element 140. When the worm gear 122 rotates, it drives the gripping arm 130 to rotate synchronously. Two elastic elements 140 correspond to the gripping arms 130. Each end of the elastic element 140 is connected to the corresponding gripping arm 130 and the worm gear 122, allowing each gripping arm 130 to rotate relative to its corresponding worm gear 122. Therefore, when the robot arm 100 is gripping an object, by reversing the movement of the two gripping arms 130, the relative range of motion of the two gripping arms 130 can be increased. This allows for the quick, smooth, and convenient removal of the object gripped by the robot arm 100, and expands its usability.

[0142] By setting a limiting structure 150 between the corresponding gripping arm 130 and the worm gear 122, the limiting structure 150 can limit the rotation angle of the gripping arm 130 relative to the corresponding worm gear 122, so as to ensure that the gripping arm 130 has sufficient torque, so that the object can be reliably and stably clamped between the two gripping arms 130, and ensure that the object held by the robot arm 100 can be conveniently and quickly removed from the robot arm 100.

[0143] Furthermore, the transmission mechanism 120 is configured to have a self-locking function, such as a self-locking function between the worm gear 121 and the worm wheel 122. Thus, after the drive unit 110 is de-energized, the transmission mechanism 120 stops working, and the gripping arm 130 can reliably and stably remain in its current state, thereby improving the stability and accuracy of the robot arm 100 in gripping objects.

[0144] As shown in Figures 4, 5, 6, and 7, in some possible embodiments provided in this application, the limiting structure 150 includes a limiting groove 151 and a positioning protrusion 152. One of the limiting groove 151 and the positioning protrusion 152 is disposed on the worm gear 122, and the other is disposed on the clamping arm 130. The positioning protrusion 152 is located within the limiting groove 151 and can move within the limiting groove 151 to allow the clamping arm 130 to switch between a first position and a second position. The limiting groove 151 and the positioning protrusion 152 are easy to process and implement.

[0145] Specifically, as shown in Figures 6 and 7, the limiting groove 151 can be provided on the worm gear 122, and the positioning protrusion 152 can be located on the clamping arm 130. Alternatively, the limiting groove 151 can be provided on the clamping arm 130, and the positioning protrusion 152 can be located on the worm gear 122.

[0146] As shown in Figures 6, 9, and 11, the limiting groove 151 includes a first sidewall 1511 and a second sidewall 1512 along the rotation direction of the clamping arm 130 relative to the worm gear 122. The first sidewall 1511 is close to the other clamping arm 130, and the second sidewall 1512 is away from the other clamping arm 130. Normally, as shown in Figure 9, under the action of the elastic member 140, the clamping arm 130 causes the positioning protrusion 152 to abut against the first sidewall 1511 of the limiting groove 151, at which time the clamping arm 130 is in the first position. As shown in Figure 11, when the clamping arm 130 moves away from the other clamping arm 130 under the action of an external force, and the positioning protrusion 152 abuts against the second sidewall 1512 of the limiting groove 151, the clamping arm 130 is in the second position. In other words, under the action of the limiting structure 150, the clamping arm 130 moves between the first sidewall 1511 and the second sidewall 1512 in the limiting groove 151. Specifically, the rotation angle of the clamping arm 130 between the first sidewall 1511 and the second sidewall 1512 can be a preset angle, such as 5° to 15°.

[0147] Specifically, as shown in Figures 8 and 9, under the action of the elastic element 140, when the transmission mechanism 120 is fixed, the clamping arms 130 move towards each other until they abut against the first sidewall 1511 of the limiting groove 151, with an initial clamping force F1. When the clamping arms 130 are subjected to an external force moving away from each other, if the external force is greater than F1 (e.g., F1 is 8N), the elastic element 140 will be further compressed and twisted, and the clamping arms 130 will begin to rotate away from each other, forming an open state. When the external force is greater than or equal to F2 (e.g., F2 is 12N), the clamping arms 130 press against the second sidewall 1512. At this time, the clamping arms 130 reach the maximum opening angle (relative to the worm gear), as shown in Figures 10 and 11.

[0148] As shown in Figures 4 and 5, in some possible embodiments provided in this application, the elastic element 140 is a torsion spring. The torsion spring is disposed at the shaft 160 of the worm gear 122. The first end of the torsion spring is connected to the worm gear 122, and the second end of the torsion spring is connected to the clamping arm 130. The shaft 160 connects the worm gear 122 and the clamping arm 130. The torsion spring can be coaxially arranged with the shaft 160, that is, the torsion spring is located on the outer periphery of the shaft 160. The first end of the torsion spring is connected to the worm gear 122, and the second end of the torsion spring is connected to the clamping arm 130, so that the torsion spring can stably provide elastic force, enabling the clamping arm 130 to switch from a second position to a first position and remain in the first position.

[0149] In some other possible embodiments provided in this application, the elastic element 140 is a spring, with the first end of the spring connected to the worm gear 122 and the second end of the spring connected to the clamping arm 130. The spring can stably provide elastic force, enabling the clamping arm 130 to switch from the second position to the first position and remain in the first position.

[0150] In some other possible embodiments provided in this application, the elastic element 140 is a tension spring, with the first end of the tension spring connected to the worm gear 122 and the second end of the tension spring connected to the clamping arm 130. The tension spring can stably provide elastic force, enabling the clamping arm 130 to switch from the second position to the first position and remain in the first position.

[0151] Therefore, the type of elastic element 140 can be reasonably selected according to structural requirements and installation location. It is understood that the elastic element 140 can also be an elastic component other than torsion spring, spring, or tension spring, which can provide elastic force to switch the clamping arm 130 from the second position to the first position and keep it in the first position.

[0152] As shown in Figures 4, 5, 6, and 7, in some possible embodiments provided in this application, the elastic element 140 is a torsion spring, the worm gear 122 has a first slot 1221, and the clamping arm 130 has a second slot 131. The first torsion arm 141 of the torsion spring is confined within the first slot 1221, and the second torsion arm 142 of the torsion spring is confined within the second slot 131. Thus, the torsion spring is installed through the first slot 1221 and the second slot 131, and the torsion spring provides a movable connection between the worm gear 122 and the clamping arm 130, resulting in a simple structure and convenient installation.

[0153] Specifically, the first torsion arm 141 of the torsion spring can be inserted into the first slot 1221, locked in the first slot 1221, or bonded to the first slot 1221 by an adhesive, and the second torsion arm 142 of the torsion spring can be inserted into the second slot 131, locked in the second slot 131, or bonded to the second slot 131 by an adhesive.

[0154] The torsion spring can be a compression torsion spring. Under the action of the limiting structure 150, the first torsion arm 141 and the second torsion arm 142 of the torsion spring are subjected to force and are respectively limited in the first slot 1221 and the second slot 131. Thus, the torsion spring can switch the clamping arm 130 from the second position to the first position and keep it in the first position.

[0155] In some possible embodiments provided in this application, during the switching process of the clamping arm 130 between the first position and the second position, the included angle between the first slot 1221 and the second slot 131 is smaller than the included angle between the first torsion arm 141 and the second torsion arm 142 when the torsion spring is in a free state. Therefore, by reasonably setting the positions of the first slot 1221 and the second slot 131, under the action of the limiting structure 150, the torsion spring is in a compressed state, that is, the first torsion arm 141 and the second torsion arm 142 of the torsion spring are subjected to force, which is respectively confined within the first slot 1221 and the second slot 131. This ensures that the torsion spring can switch the clamping arm 130 from the second position to the first position and maintain it in the first position.

[0156] As shown in Figures 4, 5, 6 and 7, in some possible embodiments provided in this application, the torsion spring is housed within the accommodating space defined by the worm gear 122 and the clamping arm 130. This makes the structure between the worm gear 122, the torsion spring and the clamping arm 130 compact, which can meet the design requirements of the robot arm 100 to be compact and small in size, and thus meet the design requirements of the robot arm to be compact and small in size, and the design requirements of the cleaning equipment to be compact and small in size.

[0157] As shown in Figure 6, the worm gear 122 is provided with a first receiving groove 1222, which communicates with the first slot 1221 to accommodate part of the torsion spring. As shown in Figure 7, the clamping arm 130 is provided with a second receiving groove 132, which communicates with the second slot 131 to accommodate part of the torsion spring. That is, the first torsion arm 141 of the torsion spring is accommodated in the first slot 1221, the second torsion arm 142 of the torsion arm is accommodated in the second slot 131, and the other part of the torsion arm is accommodated in the space formed by the first receiving groove 1222 and the second receiving groove 132. Thus, the torsion arm can be accommodated relatively compactly in the receiving space defined by the worm gear 122 and the clamping arm 130, and can be movably connected to the worm gear 122 and the clamping arm 130. The structure is simple and can meet the design requirements of the robot arm 100 for a compact structure and small size.

[0158] As shown in Figure 15, the second end of the torsion spring 140 includes a bending structure. As shown in Figure 7, the second slot 131 includes a constricted section 1311 and a flared section 1312. The width of the flared section 1312 is greater than the width of the constricted section 1311. The bending structure is disposed within the flared section 1312.

[0159] By setting a constriction section 1311 and a flaring section 1312 on the second slot 131, the bending structure of the second end of the torsion spring 140 is set in the flaring section 1312, which increases the space occupied by the second end of the torsion spring 140, thereby preventing the second end of the torsion spring 140 from coming out of the second slot 131 and ensuring good stability.

[0160] When assembling the robotic arm 100, the installation of the torsion spring 140 is facilitated by setting the flared section 1312 and the bending structure. The installer can first align the bending structure of the second end of the torsion spring 140 with the flared section 1312, and then easily place the torsion spring 140 into the second slot 131. After that, the first end of the torsion spring 140 is installed into the first slot 1221 of the worm gear 122, which reduces installation time and difficulty, improves production efficiency, and reduces assembly costs.

[0161] The bending structure is L-shaped, meaning that the second end of the torsion spring 140 is bent in an L-shape.

[0162] As shown in Figures 4, 5, 6, and 7, in some possible embodiments provided in this application, the limiting structure 150 is located between the first slot 1221 and the second slot 131; the worm gear 122 has teeth 1223 that mesh with the worm 121 on the circumferential direction of the portion away from the first slot 1221 and the limiting structure 150. That is, the teeth 1223 that mesh with the worm 121 are not arranged on the entire circumference of the worm gear 122, but rather on the worm shaft. The teeth 1223 of the rod 121, the limiting structure 150 connected to the clamping arm 130 and the elastic element 140, and the first slot 1221 are distributed at different positions around the worm gear 122. Thus, the first slot 1221, the limiting structure 150 and the teeth 1223 are arranged in a combined manner. Compared with the teeth 1223 being provided on the entire circumference of the worm gear 122, this is beneficial to improving the overall strength of the worm gear 122, thereby increasing the service life of the worm gear 122.

[0163] Further, as shown in Figure 6, the limiting groove 151 of the limiting structure 150 is formed on the worm gear 122, and the positioning protrusion 152 is located on the clamping arm 130. Thus, a portion of the circumferential direction of the worm gear 122 is provided with teeth 1223. On the portion of the worm gear 122 away from the teeth 1223, a first slot 1221 and a limiting groove 151 are formed on the surface opposite to the clamping arm 130 to ensure that the first slot 1221 can reliably connect with the elastic member 140, and the limiting groove 151 can reliably cooperate with the positioning protrusion 152 on the clamping arm 130.

[0164] As shown in Figures 12 and 13, in some possible embodiments provided in this application, the robot arm 100 further includes an actuator 170 and a position switch 180. The actuator 170 is used to change the interaction state with the position switch 180 when the gripping arm 130 is in the extreme position, so that the position switch 180 sends a position signal.

[0165] As shown in Figure 3, the extreme position of the clamping arms 130 can be understood as the extreme position where the driving member 110 drives the two clamping arms 130 away from each other through the transmission mechanism 120. It is understood that at the extreme position, the opening angle between the two clamping arms 130 can be less than or equal to 180°. For example, at the extreme position, the included angle between the two clamping arms 130 can be 150°, 170°, 180°, or other angles. It is understood that in other examples, the opening angle between the two clamping arms 130 at the extreme position can also be greater than 180°.

[0166] As shown in Figures 3, 12, and 13, when the gripping arm 130 is in its extreme position, if the drive member 110 drives the two gripping arms 130 to continue moving away from each other through the transmission mechanism 120, there is a possibility that the gripping arm 130 may collide with other parts of the robot 100 and be damaged. Therefore, by setting the action member 170 and the position switch 180, when the gripping arm 130 is in its extreme position, the action member 170 changes its interaction with the position switch 180, so that the position switch 180 sends a position signal. The drive member 110 stops rotating according to the position signal from the position switch 180. This can avoid the problem of the gripping arm 130 in its extreme position continuing to move away from each other and colliding with other parts of the robot 100 and being damaged, thereby improving the service life of the gripping arm 130 and improving the overall reliability of the robot 100.

[0167] The position switch 180 can be a photoelectric switch, a mechanical switch, or other detection mechanism that meets the requirements. The operating states of the actuator 170 and the position switch 180 can include contact and non-contact, obstruction and non-obstruction, etc. For example, when the position switch 180 is a mechanical switch, the operating states of the actuator 170 and the position switch 180 can be contact and non-contact; when the position switch 180 is not a photoelectric switch, the operating states of the actuator 170 and the position switch 180 can be obstruction and non-obstruction.

[0168] As shown in Figures 1 and 12, in some possible embodiments provided in this application, the robotic arm 100 further includes: a housing 190, a drive component 110 and a transmission mechanism 120 installed inside the housing 190, and a gripping arm 130 passing through the housing 190 and rotatable relative to the housing 190. Thus, the housing 190 can provide good protection for the drive component 110 and the transmission mechanism 120, reduce the possibility of foreign objects colliding with the drive component 110 and the transmission mechanism 120, reduce the possibility of impurities contaminating the drive component 110 and the transmission mechanism 120, extend the service life of the drive component 110 and the transmission mechanism 120, and improve the reliability of the drive component 110 and the transmission mechanism 120.

[0169] In this configuration, one of the position switch 180 and the actuator 170 is fixed relative to the housing 190, while the other is linked to at least the clamping arm 130 when it is in the extreme position. This ensures that when the clamping arm 130 is in the extreme position, it drives the actuator 170 to change the working state of the actuator 170 and the position switch 180, so that the position switch 180 sends a position signal.

[0170] As shown in Figures 12 and 13, the position switch 180 may be fixed relative to the housing 190, and the actuating element 170 may be linked at least with the clamping arm 130 in the extreme position; or the actuating element 170 may be fixed relative to the housing 190, and the position switch 180 may be linked at least with the clamping arm 130 in the extreme position.

[0171] In this configuration, one of the position switch 180 and the actuating element 170 is fixed relative to the housing 190. This can be understood as either the position switch 180 and the actuating element 170 being connected to and fixed on the housing 190, or the position switch 180 and the actuating element 170 being connected to the driving element 110 and the transmission mechanism 120, which are fixed relative to the housing 190, thereby achieving the fixation relative to the housing 190.

[0172] In this configuration, at least one of the position switch 180 and the actuator 170 is linked to the clamping arm 130 in its extreme position. This can be achieved by the clamping arm 130 in its extreme position driving the other of the position switch 180 and the actuator 170 to change the operating state of the actuator 170 and the position switch 180; or, the movement of the clamping arm 130 can drive the other of the position switch 180 and the actuator 170 to change the operating state of the actuator 170 and the position switch 180 when the actuator is in its extreme position.

[0173] As shown in Figures 12 and 13, in some possible embodiments provided in this application, the position switch 180 is fixed on the housing 190, and the actuating element 170 includes a rotating end 171 rotatably connected to the housing 190, and a first leg 172 and a second leg 173 spaced apart around the rotating end 171. The first leg 172 is in contact with or near the position switch 180, and the second leg 173 faces the clamping arm 130. During the rotation of the clamping arm 130 to the limit position, the second leg 173 is pushed to rotate, so as to drive the first leg 172 to press the position switch 180.

[0174] In this configuration, the first leg 172 of the actuator 170 is in contact with or near the position switch 180. This indicates that in the initial or free state, i.e., when the actuator 170 is not subjected to external force (i.e., when the clamping arm 130 has not reached its limit position), the first leg 172 will not trigger the position switch 180. At this time, the first leg 172 may be in contact with the position switch 180, or it may be near the position switch 180 and separated from it. It is understood that an elastic structure can be connected between the actuator 170 and the housing 190 to allow the first leg 172 to contact the position switch 180 in the initial or free state without triggering the position switch 180 to send a position signal.

[0175] The second leg 173 faces the clamping arm 130. As the clamping arm 130 rotates to its limit position, it pushes the second leg 173 to rotate, thereby causing the first leg 172 to rotate and press the position switch 180. Thus, through the linkage between the clamping arm 130 rotating to the limit position and the second leg 173, the first leg 172 and the position switch 180 are switched from a contact or separation state to a pressed state, thereby changing the working state of the actuator 170 and the position switch 180, triggering the position switch 180 to act, and causing the position switch 180 to send an on signal.

[0176] As shown in Figure 13, the housing 190 may be equipped with a guide post or connected to a connecting shaft. The rotating end 171 of the actuating member 170 is a collar. The first support leg 172 and the second support leg 173 are spaced apart on the circumference of the collar. The collar is sleeved on the guide post or connecting shaft. One end of the elastic structure is connected to the actuating member 170, and the other end of the elastic structure is connected to the housing 190, so that in the initial state, the first support leg 172 of the actuating member 170 is in contact with the position switch 180 but will not press the position switch 180 to send a position signal. The elastic structure can be a spring, torsion spring, tension spring, or other structure.

[0177] The position switch 180 can be connected to the housing 190 via at least one of the following methods: bolt structure, snap-fit ​​structure, tenon and mortise structure, or adhesive bonding. Specifically, the position switch 180 can be fixed inside the housing 190 to protect it, thereby extending its service life and improving the overall reliability of the robot arm 100.

[0178] As shown in Figure 13, in some possible embodiments provided in this application, the clamping arm 130 is provided with a relief groove 133 on the periphery near the position switch 180, and the second leg 173 extends into the relief groove 133. During the rotation of the clamping arm 130 to the extreme position, the groove wall of the relief groove 133 is configured to abut against the second leg 173.

[0179] In other words, as the gripping arm 130 of the robotic arm 100 rotates from the gripping state to the open state and then rotates towards its open limit position, the groove wall of the clearance groove 133 first abuts against the second leg 173, and then pushes the second leg 173 to rotate, thereby causing the first leg 172 to rotate. When the gripping arm 130 opens to its limit position, the second leg 173 drives the first leg 172 to rotate, causing the first leg 172 to press the position switch 180, and causing the position switch 180 to send a position signal. Thus, by providing the clearance groove 133 on the gripping arm 130, the structure of the gripping arm 130 is improved, and the action part that abuts against the second leg 173 is provided, simplifying the structure and reducing manufacturing costs. At the same time, the structure of the action part 170 and the gripping arm 130 is made compact, which meets the design requirements of the robotic arm 100 for a compact structure and small size, and thus meets the design requirements of the robotic arm for a compact structure and small size.

[0180] An embodiment of the second aspect of this application provides a robotic arm, including: a robotic hand 100 as described in any of the first aspects. Since the robotic arm includes the robotic hand 100 of any of the aforementioned aspects, it has all the technical effects of the aforementioned robotic hand 100, which will not be described in detail here.

[0181] Furthermore, the robotic arm also includes a base and a connecting arm. The base is connected to the main body of the cleaning equipment, and the connecting arm connects the base and the robotic arm 100. The connecting arm is configured to be able to flip, rotate, move along the X-axis, move along the Y-axis, and move along the Z-axis relative to the base, or at least one or a combination thereof. Thus, the robotic arm 100 can move flexibly relative to the base in a variety of ways, so that the robotic arm 100 can flexibly and accurately grasp objects near the cleaning equipment.

[0182] An embodiment of the third aspect of this application provides a cleaning device, including: a main body, and a robotic arm provided in any of the foregoing embodiments. The robotic arm is connected to the main body. Since the cleaning device includes the robotic arm of any of the foregoing embodiments, it has all the technical effects of the aforementioned robotic arm, which will not be described in detail here.

[0183] The robotic arm is connected to the main body, allowing it to move along with the main body and move to the work station to grasp and move objects.

[0184] Furthermore, the main body is equipped with a receiving cavity, and the base of the robotic arm is connected to the receiving cavity. The robotic arm can be stored inside the receiving cavity or extended outside the receiving cavity. Thus, depending on the need for grasping objects, the robotic arm can be extended outside the receiving cavity or stored inside the receiving cavity. Because the receiving cavity is located on the main body of the equipment, the robotic arm can be stored by making full use of the structure of the main body. The structure is simple and can meet the design requirements of compact structure and small size of cleaning equipment. At the same time, when there is no need to grasp objects, storing the robotic arm in the receiving cavity can reduce the damage to the robotic arm caused by external objects colliding with it, thereby increasing the service life of the robotic arm.

[0185] This disclosure has been described through the above embodiments; however, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this disclosure to the described embodiments. Furthermore, those skilled in the art will understand that this disclosure is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of this disclosure, all of which fall within the scope of protection claimed by this disclosure. The scope of protection of this disclosure is defined by the appended claims and their equivalents.

Claims

1. A robot, wherein, The mechanical hand comprises a driving member, a transmission mechanism, two clamping arms and an elastic member, the driving member is connected with the two clamping arms through the transmission mechanism, so as to drive the two clamping arms to move close to each other to grab an object or to move away from each other to release the object, at least one of the clamping arms is movably connected with the transmission mechanism through the elastic member, and the elastic member is configured to apply a force to the connected clamping arm to move close to the other clamping arm. The clamping arm comprises a first clamping section and a second clamping section, the first clamping section is connected with the transmission mechanism, and the second clamping section is located on the side of the first clamping section away from the transmission mechanism, the two second clamping sections can abut against each other, and the first clamping sections of the two clamping arms are away from each other when the two second clamping sections abut against each other.

2. The robot of claim 1, wherein, The first clamping section comprises an outer extension section and an inner extension section, the inner extension section is arranged between the outer extension section and the second clamping section, the outer extension sections of the two clamping arms extend away from each other in the direction from the transmission mechanism to the second clamping section, and the inner extension sections of the two clamping arms extend towards each other.

3. The robot of claim 2, wherein, The outer extension section and / or the inner extension section extend along a straight line.

4. The robot of claim 3, wherein, The outer extension section and / or the inner extension section extend along a curve, and the outer extension section and the inner extension section are connected through an arc.

5. The robot of claim 3, wherein, In the wall surfaces of the inner extension sections of the two clamping arms arranged towards each other, the side close to the outer extension section is concave, and the side close to the second clamping section is convex.

6. The robot of claim 5, wherein, The second clamping section is provided with anti-skid teeth for abutting against the object to be clamped.

7. The robot of claim 2, wherein, The outer wall surface of the end of the second clamping section away from the first clamping section is an arc surface.

8. The robot of claim 2, wherein, The width of the second clamping section is greater than that of the first clamping section at the joint between the second clamping section and the first clamping section.

9. The robot of claim 8, wherein, The second clamping section extends along a straight line, and the second clamping sections on the two clamping arms are parallel and fit together when the two clamping arms abut against each other.

10. The robot of claim 5, wherein, The two clamping arms are mirror arranged.

11. The robot of claim 1, wherein, The clamping arm is provided with a cladding member.

12. The robot of any of claims 1-11, wherein, When the clamping arm comprises an inner extension section and a second clamping section, the cladding member clads the outer wall of the inner extension section and the second clamping section.

13. The robot of claim 12, wherein, The cladding member is made of soft rubber material, and the cladding member is provided with anti-skid lines.

14. The robot of claim 13, wherein, 15. The mechanical hand according to claim 1, wherein The clamping arm is rotatably connected with the transmission mechanism, and a limiting structure is arranged between the clamping arm and the transmission mechanism, so that the clamping arm rotates relative to the transmission mechanism within a preset angle range.

16. The mechanical hand according to claim 15, wherein The limiting structure is used to limit the movement of the clamping arm relative to the transmission mechanism between a first position and a second position; The clamping arm moves from the first position to the second position against the elastic force of the elastic member under the action of an external force, and the elastic member releases energy to switch the clamping arm from the second position to the first position.

17. The mechanical hand according to claim 16, wherein ​ The transmission mechanism comprises a worm and two worm gears meshing with the worm, the worm is connected with the driving member, the two worm gears correspond to the two clamping arms and are distributed on both sides of the worm, the corresponding worm gear and the clamping arm are connected through a rotating shaft, the elastic member corresponds to the clamping arm, and the two ends of the elastic member are connected with the corresponding clamping arm and the worm gear, and the limiting structure is arranged between the corresponding clamping arm and the worm gear.

18. The manipulator according to claim 17, wherein, The limiting structure comprises a limiting groove and a positioning protrusion; The limiting groove is arranged on the worm gear, and the positioning protrusion is arranged on the clamping arm, or the limiting groove is arranged on the clamping arm, and the positioning protrusion is arranged on the worm gear; The positioning protrusion is located in the limiting groove and can move in the limiting groove, so that the clamping arm is switched between the first position and the second position.

19. The manipulator according to claim 17, wherein, The elastic member is a torsion spring, the torsion spring is located on the outer circumferential side of the rotating shaft, the first end of the torsion spring is connected with the worm gear, and the second end of the torsion spring is connected with the clamping arm; or The elastic member is a spring, the first end of the spring is connected with the worm gear, and the second end of the spring is connected with the clamping arm; or The elastic member is a tension spring, the first end of the tension spring is connected with the worm gear, and the second end of the tension spring is connected with the clamping arm.

20. The manipulator according to claim 19, wherein, The elastic member is the torsion spring, the worm gear is provided with a first clamping groove, the clamping arm is provided with a second clamping groove, the first torsion arm of the torsion spring is limited in the first clamping groove, and the second torsion arm of the torsion spring is limited in the second clamping groove.

21. The manipulator according to claim 20, wherein, During switching of the clamping arm between the first position and the second position, the included angle between the first clamping groove and the second clamping groove is smaller than the included angle between the first torsion arm and the second torsion arm when the torsion spring is in a free state.

22. The manipulator according to claim 20, wherein, The torsion spring is contained in a containing space defined by the worm gear and the clamping arm; The worm gear is provided with a first containing groove in communication with the first clamping groove, the clamping arm is provided with a second containing groove in communication with the second clamping groove, the first torsion arm is contained in the first clamping groove, the second torsion arm is contained in the second clamping groove, and the other part of the torsion arm is contained in the space formed by the first containing groove and the second containing groove.

23. The robot of claim 22, wherein, The second end of the torsion spring comprises a bending structure, the second clamping groove comprises a necked section and an expanded section, the slot width of the expanded section is greater than that of the necked section, and the bending structure is arranged in the expanded section.

24. The manipulator according to claim 20, wherein, The limiting structure is located between the first clamping groove and the second clamping groove; The worm gear is provided with a tooth portion meshing with the worm on the circumferential direction of the portion away from the first clamping groove and the limiting structure.

25. The manipulator according to claim 1, wherein the driving member is provided with an overcurrent self-locking device, the transmission mechanism is provided with a self-locking structure, and the overcurrent self-locking device is configured to work to make the self-locking structure self-locked, and the angle range of the clamping arm relative to the transmission mechanism is 7° to 10°. Further comprising:

26. The robot of claim 1, wherein, an acting member and a position switch, the acting member is configured to change the acting state with the position switch when the clamping arm is in the limit position, so that the position switch sends a position signal; the limit position is the limit position of the driving member driving the two clamping arms away from each other through the transmission mechanism. Further comprising:

27. The robot of claim 26, wherein, a housing, the driving member and the transmission mechanism are installed inside the housing, and the clamping arm is arranged through the housing and is rotatable relative to the housing; the position switch is fixed relative to the housing, and the acting member is linked with at least the clamping arm in the limit position; or, the acting member is fixed relative to the housing, and the position switch is linked with at least the clamping arm in the limit position.

28. The manipulator according to claim 27, wherein the position switch is fixed on the housing, the acting member includes a rotating end rotatably connected with the housing, and a first supporting leg and a second supporting leg arranged at the periphery of the rotating end, the first supporting leg contacts or is located near the position switch, and the second supporting leg faces the clamping arm, and the clamping arm pushes the second supporting leg to rotate during the rotation to the limit position, so as to drive the first supporting leg to press the position switch. a resilient structure is connected between the acting member and the housing, so that the first supporting leg contacts the position switch in the initial state or free state, and does not trigger the position switch to send a position signal.

29. The robot of claim 28, wherein, the housing is provided with a guide column or a connecting shaft, the rotating end of the acting member is a sleeve ring, the first supporting leg and the second supporting leg are arranged at the periphery of the sleeve ring, the sleeve ring is sleeved on the guide column or the connecting shaft, one end of the resilient structure is connected with the acting member, and the other end of the resilient structure is connected with the housing, in the initial state of the acting member, the first supporting leg contacts the position switch, and does not trigger the position switch to send a position signal.

30. The robot of claim 29, wherein, 31. The manipulator according to claim 28, wherein the clamping arm is provided with a avoiding slot near the periphery of the position switch, the second supporting leg extends into the avoiding slot, and the slot wall of the avoiding slot is configured to abut against the second supporting leg during the rotation of the clamping arm to the limit position. comprising:

32. A robotic arm, wherein, the manipulator according to any one of claims 1 to 31. comprising:

33. A self-moving cleaning device, wherein, a main body, and the manipulator arm according to claim 32. ​

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