Manipulator, robotic arm mechanism, cleaning device, and cleaning system

Abstract

A manipulator (25), a robotic arm mechanism (20), a cleaning device, and a cleaning system, relating to the technical field of cleaning devices. The manipulator (25) comprises: a housing (256), a driving assembly (253), and two gripper jaws (2521, 2522), wherein the housing (256) is formed with an accommodating space, the driving assembly (253) is arranged in the accommodating space, mounting ends of the two gripper jaws (2521, 2522) are located in the accommodating space and are connected to the driving assembly (253), and gripping ends of the two gripper jaws (2521, 2522) extend out of the housing (256); and the driving assembly (253) is configured for driving the two gripper jaws (2521, 2522) to move close to or away from each other.

Description

robotic arms, robotic arm mechanisms, cleaning equipment and cleaning systems

[0001] Cross-references to related applications

[0002] This disclosure claims priority to Chinese patent applications Nos. 202411047705.9 and 202421845526.5, filed on July 31, 2024, the contents of which are incorporated herein by reference in their entirety. Technical Field

[0003] This disclosure relates to the field of cleaning equipment technology, and more specifically, to a robotic arm, robotic arm mechanism, cleaning equipment, and cleaning system. Background Technology

[0004] 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.

[0005] Currently, the robotic arm at the end of the robotic arm 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.

[0006] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0007] The purpose of this disclosure is to provide a robotic hand, robotic arm mechanism, cleaning equipment, and cleaning system.

[0008] According to one aspect of this disclosure, a robotic arm is provided, the robotic arm comprising:

[0009] A housing having a receiving space;

[0010] A drive component, wherein the drive component is disposed within the receiving space;

[0011] Two grippers, the mounting ends of which are located within the receiving space and connected to the drive assembly, and the gripping ends of which extend outside the housing; the drive assembly is configured to drive the two grippers to move closer to or further away from each other.

[0012] In one exemplary embodiment of this disclosure, the drive assembly includes a driver, a transmission mechanism, and an elastic element, at least one of the grippers being movably connected to the transmission mechanism via the elastic element, the elastic element being configured to apply a force toward the other gripper to the connected grippers.

[0013] In one exemplary embodiment of this disclosure, the gripper is rotatably connected to the transmission mechanism, and a limiting structure is provided between the gripper and the transmission mechanism. The limiting structure is used to limit the rotation angle of the gripper relative to the transmission mechanism.

[0014] In one exemplary embodiment of this disclosure, the limiting structure is configured to restrict the movement of the gripper relative to the transmission mechanism between a first position and a second position, the gripper being configured to switch from the first position to the second position under the action of an external force, and the gripper being configured to switch from the second position to the first position under the action of the elastic restoring force of the elastic member.

[0015] In an exemplary embodiment of this disclosure, the transmission mechanism includes a worm and two worm wheels meshing with the worm. The worm is connected to the driver, and the two worm wheels correspond to two grippers and are distributed on both sides of the worm. The corresponding worm wheels and grippers are connected by a rotating shaft.

[0016] The two ends of the elastic element are connected to the corresponding gripper and the worm gear, and the limiting structure is disposed between the corresponding gripper and the worm gear.

[0017] In one exemplary embodiment of this disclosure, the limiting structure includes a limiting groove and a positioning protrusion. One of the limiting groove and the positioning protrusion is disposed on the worm gear, and the other is disposed on the gripper. The positioning protrusion is located in the limiting groove and can move within the limiting groove, so that the gripper can switch between a first position and a second position relative to the worm gear.

[0018] In one exemplary embodiment of this disclosure, the elastic element is a torsion spring, which is disposed at the rotating shaft. One end of the torsion spring is connected to the worm gear, and the other end of the torsion spring is connected to the gripper.

[0019] In one exemplary embodiment of this disclosure, the worm gear is provided with a first slot, and the gripper is provided with a second slot; the torsion spring includes a first torsion arm and a second torsion arm located at both ends, the first torsion arm being located in the first slot, and the second torsion arm being located in the second slot.

[0020] In one exemplary embodiment of this disclosure, during the movement of the gripper between the first position and the second position, the angle between the first slot and the second slot is smaller than the angle between the first torsion arm and the second torsion arm when the torsion spring is in a free state.

[0021] In an exemplary embodiment of this disclosure, the worm gear is provided with a first receiving groove, which communicates with the first slot; the gripper is provided with a second receiving groove, which communicates with the second slot; the second receiving groove and the second slot communicate to form a receiving space, and the torsion spring is received within the receiving space.

[0022] In one exemplary embodiment of this disclosure, the limiting structure is located between the first slot and the second slot in the circumferential direction of the worm gear;

[0023] 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.

[0024] In one exemplary embodiment of this disclosure, the driver 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 gripper can rotate relative to the transmission mechanism within a preset angle range.

[0025] In one exemplary embodiment of this disclosure, the preset angle range is 7° to 10°.

[0026] In one exemplary embodiment of this disclosure, the robotic arm further includes:

[0027] A position switch, wherein the position switch is disposed in the receiving space;

[0028] A switching element is disposed in the receiving space, and the switching element is configured to change the operating state of the position switch when the gripper is in the extreme position, so that the position switch sends an position signal.

[0029] In one exemplary embodiment of this disclosure, one of the position switch and the switching element is fixed relative to the housing, and the other is at least linked to the gripper in the extreme position.

[0030] In one exemplary embodiment of this disclosure, the position switch is fixed to the housing, and the switching element is rotatably connected to the housing;

[0031] The switch includes a rotating part rotatably connected to the housing and a first leg and a second leg spaced apart around the rotating part. The first leg faces the position switch, and the second leg faces the gripper. As the gripper rotates toward the limit position, it pushes the second leg to rotate, thereby causing the first leg to trigger the position switch.

[0032] In one exemplary embodiment of this disclosure, the gripper is provided with a pushing structure, which pushes the second leg to rotate as the gripper rotates toward the extreme position.

[0033] In one exemplary embodiment of this disclosure, the pushing structure includes a groove disposed on the periphery of the gripper near the position switch, the second leg extending into the groove, and during the rotation of the gripper toward the limit position, the groove wall is configured to abut against the second leg to push the second leg to rotate.

[0034] In one exemplary embodiment of this disclosure, the robotic arm further includes an elastic member disposed between the switch member and the housing, the elastic member being configured to apply a force to the rotating portion in the opposite direction to the pushing force applied by the gripper.

[0035] In one exemplary embodiment of this disclosure, a rotation limiting structure is provided between the switch and the housing, and the rotation limiting structure is configured to limit the rotation angle of the switch toward the side opposite to the direction of the steering trigger position;

[0036] When the switch is in a free state, it is located in a position where the position switch action is not triggered under the force of the elastic member.

[0037] In one exemplary embodiment of this disclosure, the elastic element is a torsion spring.

[0038] According to another aspect of this disclosure, a robotic arm mechanism is provided, which includes the robotic hand as described above.

[0039] According to another aspect of this disclosure, a cleaning apparatus is provided, the cleaning apparatus comprising:

[0040] Equipment body:

[0041] The robotic arm mechanism described above is mounted on the main body of the device.

[0042] According to another aspect of this disclosure, a cleaning system is provided, the cleaning system comprising:

[0043] The cleaning equipment described above;

[0044] A base station, which is used to interface with the cleaning equipment.

[0045] The robotic arm disclosed herein includes a drive assembly connected to a first gripper and a second gripper. Driving the first and second grippers to move closer or further apart enables the robotic arm to grasp or release objects. A housing forms an accommodating space within which the drive assembly is located. The mounting ends of the first and second grippers are located within the accommodating space and connected to the drive assembly. The gripping ends of the first and second grippers extend outside the housing. The entire drive assembly is fixed to a single housing, resulting in a smaller overall size and concealed drive assembly, thus enhancing aesthetics. Simultaneously, the housing provides excellent protection for the actuator and transmission mechanism, reducing the likelihood of foreign objects colliding with them, minimizing contamination, extending their service life, and improving their reliability.

[0046] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0047] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0048] Figure 1 is a schematic diagram of a robotic arm mechanism on a cleaning device retracting the device body according to an embodiment of the present disclosure.

[0049] Figure 2 is a schematic diagram of the unfolded robotic arm mechanism on a cleaning device provided in one embodiment of the present disclosure.

[0050] Figure 3 is a schematic diagram of a robotic arm mechanism provided in one embodiment of this disclosure.

[0051] Figure 4 is an exploded view of a robotic arm base provided in one embodiment of this disclosure.

[0052] Figure 5 is a cross-sectional view of a support arm in its initial position relative to the base of a robotic arm, according to an embodiment of this disclosure.

[0053] Figure 6 is a schematic diagram of the support arm in its initial position relative to the robot arm base according to an embodiment of the present disclosure.

[0054] Figure 7 is a schematic diagram of the rotation of the support arm relative to the base of the robotic arm according to an embodiment of the present disclosure.

[0055] Figure 8 is a schematic diagram of a transmission component provided in one embodiment of this disclosure.

[0056] Figure 9 is a schematic diagram of a transmission component provided in one embodiment of the present disclosure from another perspective.

[0057] Figure 10 is a schematic diagram of a steering seat provided in one embodiment of the present disclosure.

[0058] Figure 11 is a schematic diagram of another view of the steering seat provided in one embodiment of the present disclosure.

[0059] Figure 12 is a schematic diagram of a steering seat and a first mechanical joint provided in one embodiment of the present disclosure.

[0060] Figure 13 is a schematic diagram of the support arm relative to the steering seat and in a folded state according to an embodiment of the present disclosure.

[0061] Figure 14 is a schematic diagram of the support arm relative to the steering seat and in the deployed state according to an embodiment of the present disclosure.

[0062] Figure 15 is a schematic diagram of the wire harness connection on the connecting arm according to an embodiment of the present disclosure.

[0063] Figure 16 is a schematic diagram of the wiring harness on the robotic arm mechanism provided in one embodiment of the present disclosure.

[0064] Figure 17 is a schematic diagram of a rotary joint provided in one embodiment of the present disclosure.

[0065] Figure 18 is a schematic diagram of a rotary joint in a first position and a wiring harness provided in an embodiment of the present disclosure.

[0066] Figure 19 is a schematic diagram of the rotary joint and wiring harness provided in an embodiment of the present disclosure when the joint is rotated to the second position.

[0067] Figure 20 is a schematic diagram of the main body and rotary joint of a robotic arm provided in one embodiment of the present disclosure.

[0068] Figure 21 is a schematic diagram of the main body and rotary joint of a robotic arm provided in one embodiment of the present disclosure from another perspective.

[0069] Figure 22 is a schematic diagram of a sealing member and a rotary joint provided in one embodiment of the present disclosure.

[0070] Figure 23 is a schematic diagram of the rotation mode of the robot arm relative to the working arm provided in one embodiment of the present disclosure.

[0071] Figure 24 is a schematic diagram of the connection between a rotary joint and a driver according to an embodiment of the present disclosure.

[0072] Figure 25 is a schematic diagram of a rotary joint and a limiting structure in the rotation direction provided in an embodiment of the present disclosure.

[0073] Figure 26 is a schematic diagram of the drive shaft connection between the rotary joint and the driver provided in one embodiment of the present disclosure.

[0074] Figure 27 is a magnified view of a portion of Figure 26.

[0075] Figure 28 is a cross-sectional view of the drive shaft connection between the rotary joint and the driver provided in an embodiment of the present disclosure.

[0076] Figure 29 is an exploded view of a working arm provided in one embodiment of this disclosure.

[0077] Figure 30 is a schematic diagram of a working arm gripping method provided in one embodiment of the present disclosure.

[0078] Figure 31 is a schematic diagram of the connection between the connecting arm and the mechanical joint provided in one embodiment of the present disclosure.

[0079] Figure 32 is a schematic diagram of a robotic arm mechanism in a folded state according to an embodiment of the present disclosure.

[0080] Figure 33 is a schematic diagram of a robotic arm mechanism in an deployed state according to an embodiment of the present disclosure.

[0081] Figure 34 is a schematic diagram of a robotic arm mechanism provided in one embodiment of the present disclosure in another deployed state.

[0082] Figure 35 is a schematic diagram of a trigger switch provided in one embodiment of the present disclosure.

[0083] Figure 36 is a schematic diagram of a robotic arm equipped with a camera and a fill light according to an embodiment of the present disclosure.

[0084] Figure 37 is a schematic diagram showing the placement of the camera and fill light on the robotic arm according to an embodiment of this disclosure.

[0085] Figure 38 is a schematic diagram of the camera and fill light on the robotic arm and the wiring harness avoidance arrangement provided in an embodiment of this disclosure.

[0086] Figure 39 is a schematic diagram of a camera and a fill light on a robotic arm and an object to be gripped, provided in one embodiment of this disclosure.

[0087] Figure 40 is a schematic diagram of a camera image captured by an embodiment of this disclosure.

[0088] Figure 41 is a schematic diagram of the shooting angle of the camera and the emission angle of the fill light on the robotic arm provided in one embodiment of the present disclosure.

[0089] Figure 42 is an exploded view of a robotic arm provided in one embodiment of this disclosure.

[0090] Figure 43 is a schematic diagram of the robotic arm opening the upper shell according to an embodiment of this disclosure.

[0091] Figure 44 is a schematic diagram of a robotic arm drive assembly provided in one embodiment of the present disclosure.

[0092] Figure 45 is a schematic diagram of an embodiment of the present disclosure, in which elastic elements are provided on the first and second grippers.

[0093] Figure 46 is a schematic diagram of a switching element and an elastic actuating element provided in one embodiment of the present disclosure.

[0094] Explanation of reference numerals in the attached drawings: 10. Equipment body; 110. Receiving groove; 120. Cover plate; 20. Robotic arm mechanism; 21. Robotic arm base; 2111. Base plate; 2112. Bottom shell; 2113. Upper shell; 2114. Abutment part; 2115. Mounting groove; 2116. Circuit board mounting groove; 2117. Circuit board; 2118. Bolt; 2119. Buffer support pad; 212. Steering seat; 2121. Rotating part; 21211. Clearance groove; 2122. Limiting part; 21221. Limiting groove; 2123. Transmission part; 21241. First support part; 21242. Second support part; 21243. First mounting groove; 21244. Second mounting groove; 21251. First protrusion; 21252. 2126. Two protrusions; 2127. Annular boss; 2128. Rotating shaft; 2131. Drive motor; 2132. Transmission gear; 2133. Gearbox; 214. Limiting post; 215. Transmission component; 2151. Connecting part; 2152. Elastic part; 2153. Annular structure; 2154. Abutting protrusion; 2155. Trigger part; 2156. Hollow structure; 216. Detection switch; 2171. First plane bearing; 2172. Second plane bearing; 22. Support arm; 220. Support arm body; 221. First wire buckle; 222. Rotating shaft; 23. Connecting arm; 230. Connecting arm body; 231. Connecting arm housing; 232. Wire harness adapter plate; 2340. Mounting hole; 2341. First clamping part; 2342. Second clamping part; 235. Threaded part; 24. Working arm; 240. Working arm body; 241. First driver; 2410. Output shaft; 242. Rotary joint; 2421. Countersunk hole; 2422. Clearance groove; 2423. Connecting part; 2424. Opening; 2425. Sealing part; 2426. Limiting protrusion; 2431. Arc-shaped support part; 2432. Limiting groove; 2433. Limiting block; 244. Adapter; 245. Screw; 2461. First mounting plate; 2462. Second mounting plate; 2463. Upper shell; 2464. Lower shell; 2465. Middle shell; 247. Anti-slip layer; 248. Second wire clip; 249. Circuit board; 25. Robotic arm; 250. Main body; 2511. Clearance notch; 2521. First gripper; 2522. Second gripper; 2523. Second receiving groove; 2524. Slide groove; 2525. Pressing plate; 253. Drive assembly; 2531. Driver; 2532. Transmission mechanism; 25321. Worm gear; 25322. Worm; 2534. Elastic element; 25351. Limiting groove; 25352. Positioning protrusion; 25361. First slot; 25362. Second slot; 2537. First receiving groove; 254. Camera; 255. Fill light; 256. Housing; 2561. Upper housing; 2562. Lower housing; 2563. Bottom housing; 2564. Abutment protrusion; 2565. Clearance groove; 2571. Position switch;2572, Switch component; 25720, Rotating part; 25721, First support leg; 25722, Second support leg; 25723, Third support leg; 2573, Elastic actuating element; 2574, Mounting shaft; 261, First mechanical joint; 2611, Drive motor; 2612, Screw; 2613, Guide nut; 2614, Motor base; 2615, Rotating shaft; 262, Second mechanical joint; 2621, First wire groove; 263, Third mechanical joint; 2631, Second wire groove; 2632, Rotating shaft; 270, Wiring harness; 2701, First section; 2702, Second section; 2703, Third section; 2704, Fourth section; 271, First wiring harness; 272, Second wiring harness; 273, Bending section; 281. First trigger switch; 282. Second trigger switch; 283. Third trigger switch; 2841. Trigger button; 2842. Actuating spring; 2843. Switch contact; 2844. Switch body; 30. Object to be clamped. Detailed Implementation

[0095] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0096] Although relative terms such as "up" and "down" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples shown in the accompanying drawings. It is understood that if the device of the icon is flipped upside down, the component described as "up" will become the component described as "down." When a structure is "up" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.

[0097] The terms “a,” “one,” “the,” “the,” and “at least one” are used to indicate the presence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first,” “second,” and “third,” etc., are used only as markers and are not a limitation on the number of objects.

[0098] The embodiments of this disclosure provide a cleaning device, which may be, for example, a robot vacuum cleaner, a robot mopping, or a robot vacuum and mop combo. The following description uses a robot vacuum cleaner as an example of a cleaning device. The cleaning device may include a device body, a drive module, a sensing module, a control module, a cleaning module, an energy module, and a human-computer interaction module.

[0099] In some embodiments, the device body is configured to automatically move along a target direction on a travel surface, which can be the surface to be cleaned by the cleaning device. If the cleaning device is a sweeping and mopping robot, then the cleaning device operates on the ground, which is the aforementioned operating surface.

[0100] In some embodiments, the drive module includes a drive wheel assembly. The drive module can control both the left and right wheels simultaneously. For more precise control of the machine's movement, the drive module preferably includes a left drive wheel assembly and a right drive wheel assembly, respectively. The left and right drive wheel assemblies are symmetrically arranged along a transverse axis defined by the device body.

[0101] In some embodiments, to enable the automatic cleaning device to move more stably or with greater mobility on the ground, the automatic cleaning device may include one or more steering wheels; wherein, the steering wheels may be driven wheels or driving wheels, and their structural forms include, but are not limited to, casters, and the steering wheels may be located in front of the driving wheel assembly. A drive motor provides power to the driving wheel assembly and / or the steering wheels.

[0102] In some embodiments, the sensing module includes a position determination device located above the device body, a buffer located in the forward portion of the device body, and a cliff sensor and ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, odometer, and other sensing devices located at the bottom of the device body, providing the control module with various position and motion state information of the device body. For example, the forward portion of the device body is provided with a buffer. During the cleaning process, when the drive wheel assembly propels the cleaning device to move on the ground, the buffer detects one or more objects in the travel path of the cleaning device via the sensor module, such as an infrared sensor. The cleaning device can respond to the objects detected by the buffer, such as steps, obstacles, or walls, and control the drive structure to make the cleaning device respond to the objects, such as stepping over steps.

[0103] In some embodiments, the control module can combine distance and speed information fed back from sensors such as buffers, cliff sensors, ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, and odometers to comprehensively determine the current working state of the robot vacuum cleaner, such as climbing stairs, crossing thresholds, walking on carpets, being on a cliff, stuck above or below, having a full dustbin, or being picked up. It will also provide specific next action strategies for different situations, making the cleaning equipment work more in line with the user's requirements and providing a better user experience. Furthermore, the control module can plan the most efficient and reasonable cleaning path and cleaning method based on real-time map information generated by SLAM (Simultaneous Localization and Mapping), which can improve the cleaning efficiency of the cleaning equipment.

[0104] In some embodiments, the cleaning module may include a dry cleaning module, or a dry and wet cleaning module. The dry cleaning module may include a roller brush assembly, side brushes, etc., while the wet cleaning module may include a cleaning head, a water tank, etc.

[0105] In some embodiments, the energy module includes a rechargeable battery, such as a nickel-metal hydride battery or a lithium battery. The rechargeable battery may be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. These circuits are then connected to a microcontroller control circuit. The device body is charged by connecting to a charging station via charging electrodes located on the side or bottom of the device.

[0106] In some embodiments, the human-machine interface module includes buttons on the device's main panel for users to select functions; it may also include a display screen and / or indicator lights and / or a speaker, which display the current machine status or function selection options to the user; and it may also include a mobile client application. For path navigation cleaning devices, the mobile client can display a map of the device's environment and its location to the user, providing richer and more user-friendly functions.

[0107] In some embodiments, as shown in Figures 1 and 2, a robotic arm mechanism 20 is connected to the cleaning device to grasp or move obstacles or garbage, so as to better achieve the autonomous cleaning function.

[0108] The robotic arm mechanism 20 is connected to the equipment body 10 of the cleaning equipment, so that the robotic arm mechanism 20 can move with the equipment body 10 and move to the waiting position to grasp the object to be clamped.

[0109] The cleaning equipment body 10 has a receiving groove 110. The robotic arm mechanism 20 can be stored inside the receiving groove 110 or extended outside the receiving groove 110. That is, according to the need for grasping objects, the robotic arm can be extended outside the receiving groove 110 or stored inside the receiving groove 110. Since the receiving groove 110 is set on the equipment body 10, the structure of the equipment body 10 can be fully utilized to realize the storage of the robotic arm mechanism 20. 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, the robotic arm mechanism 20 is stored in the receiving groove 110 and the opening of the receiving groove 110 is sealed by a cover plate 120 that can be opened and closed electrically. This can reduce the damage to the robotic arm caused by external objects colliding with it, and also prevent sewage, dust and other debris from entering the receiving groove 110, thereby improving the reliability and service life of the robotic arm mechanism 20.

[0110] As shown in Figure 3, the robotic arm mechanism 20 includes a robotic arm base 21 and multiple robotic arms. These robotic arms may include a support arm 22, a connecting arm 23, and a working arm 24. A robotic hand 25 may be mounted on the working arm 24. The robotic arm base 21 is used to connect to the equipment body 10 of the cleaning equipment. The support arm 22, connecting arm 23, and working arm 24 connect the robotic arm base 21 and the robotic hand 25. The support arm 22, connecting arm 23, and working arm 24 are configured to be able to flip and rotate relative to the robotic arm base 21, enabling the robotic hand 25 to move flexibly relative to the robotic arm base 21, thus facilitating the robotic hand 25 to flexibly and accurately grasp objects near the cleaning equipment.

[0111] The present disclosure will now use a cleaning device as a sweeping robot, and the robotic arm mechanism 20 includes a robotic arm base 21, a support arm 22, a connecting arm 23 and a working arm 24. The working arm 24 is equipped with a robotic hand 25. The robotic arm mechanism 20 will be described in detail by way of example.

[0112] In some embodiments, as shown in Figures 4 to 8, the robotic arm base 21 includes a base plate 2111, a steering seat 212, and a drive assembly. The steering seat 212 is disposed on the base plate 2111 and is rotatable relative to the base plate 2111. The steering seat 212 has a first limiting structure, and the base plate 2111 has a second limiting structure. The first and second limiting structures cooperate to restrict the rotation of the steering seat 212 relative to the base plate 2111 between a first position and a second position. The drive assembly is disposed on the base plate 2111 and is configured to drive the steering seat 212 to rotate, thereby allowing the steering seat 212 to rotate relative to the base plate 2111 between the first and second positions. It should be noted that the steering seat 212 and the drive assembly being disposed on the base plate 2111 means that the steering seat 212 and the drive assembly are located above the base plate 2111. The steering seat 212 and the drive assembly can be directly connected to the base plate 2111 or indirectly connected to it through other connecting parts.

[0113] The robotic arm base 21 is also equipped with a position detection component, which is located on the base plate 2111 and is configured to detect the position of the steering seat 212. When the steering seat 212 rotates to a position close to the first position or a position close to the second position, the position detection component outputs a position signal to determine whether the steering seat 212 has rotated into position.

[0114] The robotic arm base 21 is also equipped with a controller, which is configured to respond to position signals and output a first control signal. The drive component responds to the first control signal to drive the steering seat 212 to decelerate and rotate, and then stops driving after a preset delay. By controlling the drive component to stop after a delay, the steering seat 212 can be positioned correctly, avoiding any misalignment at the first and second positions.

[0115] The robotic arm base 21 is also equipped with a current detector, which is connected to the controller. The current detector is configured to detect the current when the drive motor 2131 in the drive assembly is working. When the detector detects that the current value when the drive assembly is working is greater than the preset current value, the controller outputs a second control signal according to the current information detected by the current detector. The drive assembly responds to the second control signal and stops driving the steering seat 212 to rotate.

[0116] The robotic arm base 21 provided in this disclosure, by setting a first limiting structure and a second limiting structure on the steering seat 212 and the base plate 2111, physically restricts the rotational position of the steering seat 212 relative to the base plate 2111, limiting the rotation of the steering seat 212 between a first position and a second position. By setting a position detection component, when the steering seat 212 is about to rotate to the first position or the second position, causing the first limiting structure and the second limiting structure to abut and limit, the position detection component sends a position signal. After receiving the position signal, the controller controls the drive component to decelerate, thereby causing the steering seat 212 to decelerate when it is about to rotate to the first position or the second position, and thus allowing the steering seat 212 to rotate slowly and smoothly to the first position. The first or second limiting structure is positioned to avoid contact between the first and second limiting structures at high relative speeds. When the steering seat 212 slowly and smoothly rotates to the first or second position, the first and second limiting structures prevent the steering seat 212 from continuing to rotate. At this time, the drive component continues to work, causing the current of the drive component to increase, such as the current of the drive motor. The current detector can detect the increased current. When the controller obtains the working current from the current detector and it is greater than the preset current value, it outputs a second control signal to the drive component to stop the drive component from rotating, thereby completing the precise steering of the steering seat 212 on the base plate 2111.

[0117] The components of the robotic arm base 21 provided in this disclosure will now be described in detail by way of example.

[0118] Specifically, as shown in Figure 4, the base plate 2111 can be rectangular. A receiving slot 110 is typically provided on the robotic vacuum cleaner to house the robotic arm mechanism 20, allowing the robotic arm mechanism 20 to be almost entirely retracted into the receiving slot 110 when fully folded, preventing the robotic arm mechanism 20 from protruding or excessively protruding from the surface of the robotic vacuum cleaner and affecting its appearance design. Since the robotic arm is usually rod-shaped, multiple robotic arms are stacked together when folded; therefore, the receiving slot 110 matches the robotic arm mechanism 20 in a rectangular shape. By setting the base plate 2111 to a rectangle to match the shape of the receiving slot 110, the base plate 2111 can form a larger installation area within the limited size of the receiving slot 110, improving the stability and reliability of the connection.

[0119] The base plate 2111 can be connected to the equipment body 10 in the receiving groove 110 via a threaded connection. For example, mounting holes are provided on the base plate 2111, and threaded posts are provided at the bottom of the receiving groove 110. The base plate 2111 is fixed in the receiving groove 110 by the threaded connection, thereby achieving a fixed connection between the entire robotic arm mechanism 20 and the equipment body 10. In addition, the threaded connection between the base plate 2111 and the equipment body 10 facilitates the assembly of the robotic arm mechanism 20 and makes disassembly convenient, which facilitates the maintenance and upgrading of the robotic arm mechanism 20 and improves the adaptability when different robotic arm mechanisms 20 need to be assembled.

[0120] The base plate 2111 can be a sheet metal part. Sheet metal structures have high structural strength, which improves the stability of the entire robotic arm mechanism 20 on the equipment body 10. At the same time, sheet metal parts have good plasticity, allowing for the design of mounting positions for different components, thus improving the accuracy and stability of installation.

[0121] Specifically, as shown in Figures 4 and 5, when the steering seat 212 is rotatably connected to the base plate 2111, a first planar bearing 2171 and a second planar bearing 2172 can be respectively provided on both sides of the base plate 2111 in the thickness direction. The first planar bearing 2171 is sleeved on the rotating shaft 2127 of the steering seat 212 to realize the rotatable connection between the steering seat 212 and the base plate 2111. The rotating shaft 2127 of the steering seat 212 can be provided with a threaded hole. Then, a bolt 2118 is screwed into the threaded hole of the rotating shaft 2127 from the other side of the base plate 2111 to realize the connection between the bolt 2118 and the rotating shaft 2127. The rotating shaft of the steering seat 212 A second planar bearing 2172 is fitted onto the end of 2127 extending to the other side of the base plate 2111. After the bolt 2118 is tightened with the rotating shaft 2127, the head of the bolt 2118 limits the second planar bearing 2172 between the bolt 2118 and the base plate 2111, realizing a rotatable connection between the bolt 2118 and the base plate 2111. Through the threaded connection between the bolt 2118 and the rotating shaft 2127, the steering seat 212 is axially limited and assembled on the base plate 2111. Through the first planar bearing 2171 and the second planar bearing 2172, the steering seat 212 is rotatably assembled on the base plate 2111.

[0122] A washer may be fitted onto the shank of bolt 2118, positioned between the head of bolt 2118 and the second planar bearing 2172. The diameter of the washer is larger than the diameter of the bolt head, ensuring sufficient radial contact area between the bolt head and the second planar bearing 2172 to improve the stability of the rotatable connection between the second planar bearing 2172 and the base plate 2111. Alternatively, the bolt head diameter can be set larger to provide sufficient contact area with the second planar bearing 2172, eliminating the need for an additional washer; this disclosure does not impose any limitations on this.

[0123] Specifically, as shown in Figures 6 and 7, the first limiting structure includes a limiting groove 21221, and the second limiting structure includes a limiting post 214. The limiting post 214 is located in the limiting groove 21221 and can slide in the limiting groove 21221. Through the cooperation between the limiting groove 21221 and the limiting post 214, the rotation of the steering seat 212 between the first position and the second position can be restricted.

[0124] The base plate 2111 can be provided with a limiting post 214 as a second limiting structure, and a limiting groove 21221 can be provided on the circumferential surface of the steering seat 212, with the limiting post 214 located in the limiting groove 21221. When the steering seat 212 rotates, the limiting post 214 moves relative to the limiting groove 21221. When the two end sidewalls of the limiting groove 21221 in the rotation direction of the steering seat 212 abut against the limiting post 214, it restricts the continued rotation of the steering seat 212, thereby limiting the rotation angle of the steering seat 212 on the base plate 2111. Alternatively, a limiting groove can be provided on the base plate 2111, and a limiting protrusion can be provided on the circumferential surface of the steering seat 212, with the limiting protrusion located in the limiting groove, thus limiting the steering angle.

[0125] For example, as shown in Figures 6 and 7, the limiting post 214 cooperates with the limiting groove 21221 to allow the steering seat 212 to rotate 90° on the base plate 2111, that is, the support arm 22 connected to the steering seat 212 can rotate 90° relative to the base plate 2111. When the support arm 22 is in the folded state, the length direction of the support arm 22 is perpendicular to the forward direction of the sweeping robot. At this time, by allowing the steering seat 212 to rotate 90° on the base plate 2111, the support arm 22 can rotate 90° under the drive of the steering seat 212, that is, the length direction of the support arm 22 is parallel to the forward direction of the sweeping robot. When the support arm 22 rotates under the drive of the steering seat 212 in the folded state, the size of the accommodating groove 110 needs to be large enough to avoid the groove wall interfering with the rotation of the support arm 22. Typically, the size of the receiving groove 110 is comparable to the size of the robotic arm mechanism 20. Therefore, when the support arm 22 needs to be in the extended state, it is necessary to first use the first mechanical joint 261 to extend the support arm 22 from the folded state located in the receiving groove 110 to the extended state located outside the receiving groove 110. At this time, the support arm 22 can be in a state where its length direction is perpendicular to the plane of the equipment body 10. Then, the steering seat 212 can drive the support arm 22 to rotate 0 to 90° relative to the equipment body 10, that is, the support arm 22 can drive the end-effector 25 to extend to the front or side of the equipment body 10. Of course, the rotation angle range of the steering seat 212 on the base plate 2111 can also be 60° to 180°, such as 60°, 90°, 120°, 150°, 180°, etc., or even 360° rotation without dead angle. In this case, no limiting structure is required to limit the rotation angle, and this disclosure does not impose any limitations on this.

[0126] The steering seat 212 can be rotated to a position close to the first position, which can be a position with an angle of 3° to 10° from the first position, such as 3°, 4°, 5°, 6°, 7°, 8°, 9°, 10°, etc.; of course, it can also be a position with an angle of less than 3° or greater than 10° from the first position. The steering seat 212 can be rotated to a position close to the second position, which can be a position with an angle of 3° to 10° from the second position, such as 3°, 4°, 5°, 6°, 7°, 8°, 9°, 10°, etc.; of course, it can also be a position with an angle of less than 3° or greater than 10° from the first position. This disclosure does not limit this.

[0127] Specifically, the position detection component includes: a transmission member 215 and a detection switch 216. The transmission member 215 is disposed on the base and includes a first end and a second end that are opposite to each other. The detection switch 216 is disposed on the base and is disposed opposite to the second end of the transmission member 215.

[0128] As shown in Figures 10 and 11, the steering seat 212 is provided with a first protrusion 21251 and a second protrusion 21252. The first protrusion 21251 and the second protrusion 21252 are distributed circumferentially at a predetermined angle on the outer circumferential surface of the steering seat 212. This predetermined angle is the same as or substantially the same as the angle at which the steering seat 212 can rotate on the base plate 2111. That is, when the steering seat 212 rotates to the first position, the first protrusion 21251 abuts against the first end of the transmission member 215 to push the transmission member 215 and trigger the detection switch 216 at the second end of the transmission member 215; when the steering seat 212 rotates to the second position, the second protrusion 21252 abuts against the first end of the transmission member 215 to push the transmission member 215 and trigger the detection switch 216 at the second end of the transmission member 215. Through the detection switch 216, information on whether the steering seat 212 has rotated to the correct position can be accurately obtained.

[0129] The first protrusion 21251 and the second protrusion 21252 can be protrusions directly formed on the outer peripheral surface of the steering seat 212, or they can be protrusion structures formed relative to each other on the outer peripheral surface of the steering seat 212 through a recessed structure. A recessed structure is formed on the outer peripheral surface of the steering seat 212, and the first protrusion 21251 and the second protrusion 21252 are formed at both ends by the recessed structure extending radially inward. The relative formation of the first protrusion 21251 and the second protrusion 21252 through the recessed structure serves two purposes: firstly, the first protrusion 21251 and the second protrusion 21252 do not protrude from the outer peripheral surface of the steering seat 212, thus avoiding interference with other structures on the base plate 2111 during rotation, improving the structural compactness of the steering seat 212; secondly, the recessed structure forms a groove, allowing the first end of the transmission component 215 to be located in the groove, thus limiting the first end and preventing it from being touched by other components.

[0130] The first protrusion 21251 and the second protrusion 21252 can be arc protrusions, and the transition between the arc protrusion and the non-protruding part can be rounded, which improves the smoothness and stability of the first end of the transmission component 215 sliding from the non-protruding part to the protrusion, and avoids jamming.

[0131] Specifically, as shown in Figures 8 and 9, the transmission component 215 includes a connecting portion 2151 and an elastic portion 2152. One end of the connecting portion 2151 is connected to the elastic portion 2152, and the other end is disposed opposite to the steering seat 212 and is used to abut against the first protrusion 21251 or the second protrusion 21252. The elastic portion 2152 is disposed opposite to the detection switch 216. When the first protrusion 21251 or the second protrusion 21252 abuts against the connecting portion 2151, the connecting portion 2151 pushes the elastic portion 2152 and triggers the detection switch 216 after the elastic portion 2152 deforms. By providing the elastic portion 2152, and utilizing the elastic restoring force of the transmission component 215 itself, the second end of the transmission component 215 can be separated from the detection switch 216 when the first protrusion 21251 or the second protrusion 21252 is not abutting against the connecting portion 2151, so that the detection switch 216 is in the off state. Of course, the detection switch 216 can also be in the off state when the second end of the transmission member 215 is in contact with the trigger, or in the first state when the second end of the transmission member 215 is in contact with the trigger, and in the second state when the second end of the transmission member 215 is not triggered; the different states of the second end of the transmission member 215 when triggered and not triggered can help determine the position of the steering seat 212, and this disclosure does not limit it.

[0132] As shown in Figures 8 and 9, the elastic part 2152 is annular, forming an accommodating space in which the detection switch 216 is located. The connecting part 2151 is rod-shaped, with one end connected to the annular elastic part 2152 and the other end forming the first end of the transmission member 215 for engagement with the first protrusion 21251 or the second protrusion 21252. When one end of the connecting portion 2151 is pushed by the first protrusion 21251 or the second protrusion 21252, the other end of the connecting portion 2151 forms a compression on the elastic portion 2152, causing the elastic portion 2152 to deform, and then triggering the detection switch 216 through the deformation of the elastic portion 2152; when the first protrusion 21251 or the second protrusion 21252 does not push the connecting portion 2151, the force applied by the connecting portion 2151 to the elastic portion 2152 is reduced or canceled, thereby making the elastic portion 2152 in a free state or a slightly deformed state, so that the elastic portion 2152 separates from the detection switch 216, and is in a state where the detection switch 216 is not triggered.

[0133] The accommodating space formed by the portion of the elastic part 2152 connected to the connecting part 2151 has a relatively large width, which facilitates deformation at this location under the influence of the connecting part 2151. A trigger part 2155 is also provided on the inner wall of the accommodating space of the elastic part 2152, and the trigger part 2155 is positioned opposite to the detection switch 216. A hollow structure 2156 is formed between the trigger part 2155 and the elastic part 2152, which facilitates the elastic part 2152 in recovering its elastic deformation.

[0134] The transmission member 215 may also consist only of a connecting portion 2151. An independent elastic element, in cooperation with the transmission member 215, enables the triggering and disengagement of the detection switch 216. For example, an elastic element may be provided at the second end of the transmission member 215. When the first end of the transmission member 215 is pushed by the first protrusion 21251 or the second protrusion 21252, the second end of the transmission member 215 moves towards the detection switch 216 by pressing the elastic element, thus triggering the detection switch 216. When the first protrusion 21251 or the second protrusion 21252 does not push the transmission member 215, the elastic restoring force of the elastic element causes the second end of the transmission member 215 to move towards the first end, thereby separating the elastic element 2152 from the detection switch 216, resulting in a state where the detection switch 216 is not triggered. The elastic element may be, for example, a spring. In addition, a tension spring can be provided at the first end of the transmission member 215 so that the transmission member 215 can be separated from the detection switch 216 by the elastic restoring force of the tension spring when the transmission member 215 is not pushed by the first protrusion 21251 or the second protrusion 21252.

[0135] The detection switch 216 can be a trigger switch, which is in a conducting or disconnected state when activated by the transmission member 215. For example, the trigger switch can be a BTE switch (BTE-PVT / R) used to control the on / off state of the circuit to realize the switching function of the circuit.

[0136] Specifically, the robotic arm base 21 also includes: a base shell 2112, which is connected to a base plate 2111. The base shell 2112 and the base plate 2111 enclose a receiving space, in which the transmission component 215 is located. A guide structure is formed on the base shell 2112, which is configured to guide the movement of the transmission component 215. By providing a guide structure on the base shell 2112, the transmission component 215 can only move along the guide formed by the guide structure, thereby accurately triggering the detection switch 216.

[0137] The transmission component 215 and the base shell 2112 may each have a slider and a groove. The groove and the slider work together to guide the movement of the transmission component 215. Simultaneously, by setting the length of the groove, the distance the slider moves during sliding is limited, thus limiting the movement of the transmission component 215. This restricts its movement within a certain range, minimizing the distance traveled while still triggering the detection switch 216. This enhances the effectiveness of the elastic restoring force and improves the reliability of the transmission component 215 triggering the detection switch 216.

[0138] For example, as shown in Figures 8 and 9, the main body of the transmission component 215 is provided with an annular structure 2153 forming a groove, and a slider is provided on the inner wall of the bottom shell 2112. After the bottom shell 2112 is assembled onto the bottom plate 2111, the slider on the inner wall of the bottom shell 2112 is located in the groove on the transmission component 215, thereby guiding the sliding of the transmission component 215 and limiting its movement distance; in addition, the slider and groove arrangement can also enable quick positioning of the transmission component 215 during installation, improving assembly efficiency.

[0139] Specifically, the drive assembly includes a drive motor 2131 and a transmission gear 2132. The drive motor 2131 includes a drive shaft, and the transmission gear 2132 is drively connected to the drive shaft. The outer circumferential surface of the steering seat 212 has a circumferentially extending toothed structure. The transmission gear 2132 meshes with the toothed structure to drive the steering seat 212 to rotate between a first position and a second position. By using the drive motor 2131 and the gear structure to drive the steering seat 212, the control of the rotation angle can be more precise, and the reliability and stability are relatively high.

[0140] A reduction gearbox 2133 may be provided between the drive motor 2131 and the transmission gear 2132. The reduction gearbox 2133 is equipped with a reduction gear set. The speed of the drive motor 2131 driving the transmission gear 2132 can be adjusted through the reduction gearbox 2133, and the torque of the drive transmission gear 2132 can be increased, thereby improving the stability of the drive steering seat 212 when it drives the robotic arm to rotate.

[0141] The base plate 2111 is also provided with a circuit board (PCB) 2117, and the circuit board 2117 is provided with a controller. The controller is connected to the drive motor 2131, the detection switch 216 and the current detector to control the drive motor 2131.

[0142] The bottom shell 2112 may also have a circuit board mounting groove 2116 formed on its top surface away from the bottom plate 2111, which provides a limiting mounting for the circuit board 2117. Of course, the circuit board can also be directly mounted onto the bottom plate 2111, and this disclosure does not impose any restrictions on this.

[0143] The bottom shell 2112 may also be provided with an upper shell 2113. The bottom shell 2112 and the upper shell 2113 enclose a receiving space, forming a sealed installation of the circuit board 2117, thereby preventing sewage, dust and other debris from entering the circuit board 2117 and improving the stability of the circuit board 2117. In addition, the drive motor 2131 and the gearbox 2133 can also be installed in the receiving space formed by the bottom shell 2112 and the upper shell 2113 to improve the stability of the drive motor 2131 and the gearbox 2133.

[0144] The bottom shell 2112 and the bottom plate 2111 are connected to form an enclosure space. The transmission gear 2132, the transmission component 215 and the detection switch 216 are located in the enclosure space to protect the rotating parts and prevent sewage, dust and other debris from entering the transmission parts, thereby improving the life and stability of the rotating parts.

[0145] Among them, the bottom shell 2112 has a mounting groove 2115 formed on the top surface away from the bottom plate 2111, and the drive motor 2131 is located in the mounting groove 2115. That is, the base can also be set as a mounting seat by setting the mounting structure, so as to improve the structural compactness and achieve the purpose of small size and light and thin design.

[0146] The transmission component 215 can be located between the transmission gear 2132 and the base shell 2112, with the transmission gear 2132 and the inner wall of the base shell 2112 forming a limiting force on the transmission component 215 in the axial direction. As shown in Figure 9, an abutment protrusion 2154 is provided on the surface of the transmission component 215 facing the transmission gear 2132, so that the transmission component 215 can be supported on the transmission gear 2132, for example, abutting against the part of the transmission gear 2132 near the inner ring where no teeth are provided. Of course, the transmission component 215 can also be located between the transmission gear 2132 and the base plate 2111, or offset from the transmission gear 2132 on the base plate 2111; this disclosure does not limit this.

[0147] The bottom shell 2112 and the base plate 2111 can be connected by threaded fittings. For example, a threaded hole is provided on the bottom shell 2112, and a through hole is provided on the base plate 2111. A screw passes through the threaded hole on the base plate 2111 and screws into the threaded hole on the bottom shell 2112, achieving a detachable fixed connection between the bottom shell 2112 and the base plate 2111, thereby improving assembly efficiency and maintenance convenience. Of course, the bottom shell 2112 and the base plate 2111 can also be connected by snap-fit, adhesive, welding, etc., and this disclosure does not impose any limitations on this.

[0148] The base plate 2111 may also be provided with a buffer support pad 2119, which serves to buffer the support arm 22 when it rotates towards the folded state, and simultaneously provides support for the support arm 22 when it is in the folded state. The shape of the support surface on the buffer support pad 2119 can match the contact portion of the support arm 22 to improve the buffering effect and support stability. The buffer support pad 2119 can be fixedly connected to the base plate 2111 using threaded parts to improve assembly efficiency and maintenance convenience; alternatively, it can be connected by snap-fit, adhesive, welding, or other methods. For example, the buffer support pad 2119 can be a buffer rubber pad, which provides good buffering effect and high stability.

[0149] Among them, the buffer support pad 2119, the steering seat 212, the transmission component 215 and the detection switch 216 are arranged sequentially along the length of the base plate 2111. That is, the components on the base plate 2111 can be distributed along the length of the support arm 22 when it is in the folded state, thereby avoiding increasing the width of the base plate 2111. This makes the overall structural size of the robotic arm base 21 comparable to the size of the connected support arm 22, thus achieving the purpose of small size and light and thin design.

[0150] In some embodiments, as shown in Figures 10 and 11, the steering seat 212 includes: a rotating portion 2121, a limiting portion 2122, a transmission portion 2123, a first support portion 21241, and a second support portion 21242. The rotating portion 2121 includes a first side and a second side opposite to each other along the axial direction. The first support portion 21241 and the second support portion 21242 are disposed on the first side of the rotating portion 2121 and are radially spaced apart. An installation space is formed between the first support portion 21241 and the second support portion 21242, and the installation space is configured to accommodate a target robotic arm. The limiting portion 2122 is disposed on the second side of the rotating portion 2121 and is configured to cooperate with a target limiting structure to restrict the rotation of the steering seat 212 between a first position and a second position. The transmission portion 2123 is disposed on the second side of the rotating portion 2121 and is configured to cooperate with a target drive assembly to rotate the steering seat 212.

[0151] The steering seat 212 provided in this disclosure integrates the rotating part 2121, the limiting part 2122, the transmission part 2123, the first support part 21241, and the second support part 21242 together. It can cooperate with the rotary structure system that controls reciprocating rotation and the lifting structure system that controls the lifting and folding of the robotic arm. The lifting structure system that controls the lifting and folding of the robotic arm is placed in the middle area between the first support part 21241 and the second support part 21242. The bottom of the steering seat 212 is designed with the limiting part 2122 and the transmission part 2123 to meet the steering function. The integrated design of the steering seat 212 can not only meet the rotation and lifting functions, but also minimize the volume of the entire motion structure, which can improve its applicability in home appliances.

[0152] Specifically, the steering seat 212 further includes a first protrusion 21251 and a second protrusion 21252, which are disposed on the rotating part 2121. The first protrusion 21251 and the second protrusion 21252 are configured to trigger the detection switch 216. When the steering seat 212 rotates to the first position, the first protrusion 21251 triggers the detection switch 216. When the steering seat 212 rotates to the second position, the second protrusion 21252 triggers the detection switch 216.

[0153] The transmission part 2123 and the limiting part 2122 are distributed circumferentially on the outer peripheral surface of the rotating part 2121, so that the transmission part 2123 and the limiting part 2122 are located at the same height in the axial direction of the steering seat 212, which allows the axial dimension of the steering seat 212 to be designed to be smaller, thereby making the structure of the steering seat 212 more compact.

[0154] Specifically, an annular boss 2126 is formed on the second side of the rotating part 2121, surrounding the pivot of the steering seat 212. A transmission part 2123 and a limiting part 2122 are formed circumferentially on the annular boss 2126. By providing the annular boss 2126, a bearing can be fitted into the space enclosed by the inner ring, allowing the steering seat 212 to be rotatably mounted on the base plate 2111. Furthermore, the transmission part 2123 and the limiting part 2122 can be provided on the outer circumferential surface of the annular boss 2126, giving the annular boss 2126 three functions and significantly improving the structural compactness of the steering seat 212.

[0155] The annular boss 2126 has a toothed structure extending circumferentially and a limiting groove 21221 extending circumferentially on its circumferential surface. The toothed structure can be part of the tooth structure of a gear. The arc occupied by the toothed structure in the circumferential direction must meet the requirements of the reciprocating rotation angle of the steering seat 212. For example, when the reciprocating rotation angle of the steering seat 212 is 90°, the arc occupied by the toothed structure in the circumferential direction must be greater than or equal to π / 2. The arc occupied by the limiting groove 21221 in the circumferential direction matches the reciprocating rotation angle of the steering seat 212, for example, π / 2.

[0156] The steering seat 212 further includes a rotating shaft 2127, which is located on the second side of the rotating part 2121 and at the center of the annular boss 2126. By setting the rotating shaft 2127, the inner ring of the first plane bearing 2171 can be fitted onto the rotating shaft 2127, thereby realizing a rotatable connection between the steering seat 212 and the base plate 2111. A threaded hole can be provided at the end of the rotating shaft 2127, that is, a threaded hole is provided on the side of the rotating shaft 2127 facing the base plate 2111; a bolt 2118 can be provided on the base plate 2111; a second plane bearing 2172 is sleeved on the end of the rotating shaft 2127 of the steering seat 212 that extends to the other side of the base plate 2111; after the bolt 2118 is tightened with the rotating shaft 2127, the head of the bolt 2118 limits the second plane bearing 2172 between the bolt 2118 and the base plate 2111, realizing the rotatable connection between the bolt 2118 and the base plate 2111; through the first plane bearing 2171 and the second plane bearing 2172, the rotatable assembly of the steering seat 212 on the base plate 2111 is realized.

[0157] Specifically, as shown in Figures 12 to 14, the support arm 22 is pivotally connected to the steering seat 212 via a rotating shaft 222. The support arm 22 includes a support arm body 220 and a first mechanical joint 261. The support arm body 220 is pivotally connected to the steering seat 212, and the first mechanical joint 261 is used to drive the support arm 22 to rise or fall relative to the steering seat 212.

[0158] The first support portion 21241 and the second support portion 21242 are respectively provided with first mounting grooves 21243 at their ends opposite to the rotating portion 2121. The first mounting grooves 21243 are configured to assemble the rotating shaft 222 of the robotic arm. The rotating shaft 222 on the support arm body 220 is placed in the first mounting grooves 21243 on the first support portion 21241 and the second support portion 21242. Then, a pressure block and a threaded component are used to fix the rotating shaft 222 on the support arm body 220 to the first support portion 21241 and the second support portion 21242.

[0159] Specifically, the first mechanical joint 261 includes a drive motor 2611, a screw 2612, and a guide nut 2613. The guide nut 2613 is threadedly connected to the screw 2612 and hinged to the steering seat 212 via a steering shaft 2615. The drive motor 2611 is mounted on the support arm body 220. The first end of the screw 2612 is connected to the drive motor 2611, and the second end of the screw 2612 passes through the guide nut 2613 and faces the steering seat 212. The drive motor 2611 drives the screw 2612 to rotate, causing the screw 2612 and the guide nut 2613 to move relative to each other. This allows the screw 2612 to move relative to the guide nut 2613 towards or away from the steering seat 212, thereby lifting or lowering the support arm 22 relative to the steering seat 212. In other words, the support arm 22 can be in a folded or unfolded state relative to the steering seat 212 to meet the needs of different postures of the robotic arm.

[0160] In this design, the first support portion 21241 and the second support portion 21242 each have a second mounting groove 21244 formed on the sidewall of the rotating portion 2121 on the same radial side. The second mounting groove 21244 is configured to assemble the steering shaft 2615 of the guide nut 2613. The steering shaft 2615 is placed in the second mounting groove 21244 on the first support portion 21241 and the second support portion 21242, and then the steering shaft 2615 is fixed to the first support portion 21241 and the second support portion 21242 by using a pressure block and a threaded component. After installation, the steering shaft 2615 of the guide nut 2613 and the rotating shaft 222 on the support arm body 220 are arranged parallel to each other on the first support portion 21241 and the second support portion 21242.

[0161] When the support arm 22 descends from the unfolded state shown in Figure 14 to the folded state shown in Figure 13, the second end of the screw 2612 moves away from the first end connected to the drive motor 2611 relative to the guide nut 2613. At this time, the length of the second end of the screw 2612 extending between the first support part 21241 and the second support part 21242 through the guide nut 2613 increases. During the rotation, the screw 2612 also descends relative to the rotating part 2121 as the support arm 22 rotates. At this time, there is a possibility that the second end of the screw 2612 may interfere with the surface of the rotating part 2121. By providing a clearance groove 21211 on the surface of the rotating part 2121 located on the first side, clearance can be formed for the second end of the screw 2612, avoiding interference between it and the structure on the steering seat 212; at the same time, it is possible to avoid interference between the structure on the steering seat 212 and the second end of the screw 2612 by increasing the height of the first support part 21241 and the second support part 21242, making the structure of the steering seat 212 more compact and meeting the design requirements of smaller size.

[0162] The clearance groove 21211 extends radially along the rotating part 2121, and the extension direction is perpendicular or substantially perpendicular to the direction from the first support part 21241 to the second support part 21242. That is, the extension direction is perpendicular to the steering shaft 2615 where the guide nut 2613 is provided, forming an effective arc-shaped clearance space. At the same time, it avoids the clearance groove 21211 being too large, thus improving the structural strength of the steering seat 212.

[0163] The drive motor 2611 drives the screw 2612 to rotate within the guide nut 2613, adjusting the distance between the drive motor 2611 and the guide nut 2613. This allows the support arm 22 to rotate relative to the steering seat 212 from 0 to 90 degrees. Of course, the maximum rotation angle of the support arm 22 relative to the steering seat 212 can also be greater than 90 degrees, such as 100°, 110°, 120°, etc., which can be set as needed. This disclosure does not impose any limitations on this.

[0164] The first mechanical joint 261 further includes a motor base 2614, which is rotatably connected to the support arm body 220, and a drive motor 2611 is mounted on the motor base 2614. During the lifting or lowering of the support arm 22 relative to the steering seat 212, the motor base 2614 allows the drive motor 2611 to rotate relative to the support arm body 220, preventing interference between the drive motor 2611 and the support arm body 220. This ensures that the screw 2612 moves smoothly relative to the guide nut 2613 without jamming.

[0165] In some embodiments, the robotic arm mechanism 20 includes multiple robotic arms, with adjacent robotic arms rotatably connected via robotic arm joints; wherein, as shown in FIG15, at least one robotic arm includes a robotic arm body, a wire harness adapter plate 232, a first wire harness 271 and a second wire harness 272, the wire harness adapter plate 232 is disposed on the robotic arm body, the first wire harness 271 is connected to the wire harness adapter plate 232, the second wire harness 272 is connected to the wire harness adapter plate 232, and the first wire harness 271 and the second wire harness 272 are electrically connected through the wire harness adapter plate 232.

[0166] The robotic arm mechanism 20 disclosed herein includes a wiring harness adapter plate 232, which allows the wiring harness of the entire arm to be divided into two sections, thus meeting the design requirements of the robotic arm being able to be assembled and repaired separately and achieving a lightweight design.

[0167] Specifically, the support arm 22 and the connecting arm 23 are rotatably connected via a second mechanical joint 262 to perform relative pitching motion; the connecting arm 23 and the working arm 24 are rotatably connected via a third mechanical joint 263 to perform relative pitching motion. The wiring harnesses on the support arm 22 and the working arm 24 need to pass through the connecting arm 23. The wiring harnesses are connected by a wiring harness adapter plate 232 provided on the connecting arm body 230, which facilitates the assembly of the wiring harnesses.

[0168] The first wire harness 271 is detachably connected to the wire harness adapter plate 232, or the second wire harness 272 is detachably connected to the wire harness adapter plate 232, or both the first wire harness 271 and the second wire harness 272 are detachably connected to the wire harness adapter plate 232. This detachable connection facilitates the assembly and maintenance of the first wire harness 271 and the second wire harness 272. Of course, both the first wire harness 271 and the second wire harness 272 are fixedly connected to the wire harness adapter plate 232 by welding; this disclosure does not impose any limitations on this.

[0169] The first wire harness 271 is a flat wire, or the second wire harness 272 is a flat wire, or both the first wire harness 271 and the second wire harness 272 are flat wires. By using flat wires, the thickness of the wire harness can be reduced, making it easier to install in the connecting arm housing 231 of the connecting arm 23, thereby enabling further thinning of the connecting arm 23.

[0170] Specifically, as shown in Figure 16, the wiring harness on the support arm 22 needs to extend to the connecting arm 23 via the second mechanical joint 262, and the wiring harness on the connecting arm 23 needs to extend to the working arm 24 via the third mechanical joint 263. The second mechanical joint 262 may have the same or similar structure as the third mechanical joint 263. A first wire groove 2621 can be provided in the second mechanical joint 262, and a second wire groove 2631 can be provided in the third mechanical joint 263. When the wire harness passes through the second mechanical joint 262 and the third mechanical joint 263, it can be located in the first wire groove 2621 and the second wire groove 2631, forming assembly positioning and limiting through the first wire groove 2621 and the second wire groove 2631. During the rotation of the second mechanical joint 262 and the third mechanical joint 263, the wire harness can slide along the extension direction in the first wire groove 2621 and the second wire groove 2631, forming a guiding effect through the first wire groove 2621 and the second wire groove 2631, improving the wire pulling phenomenon, and increasing the service life of the wire harness to meet the requirement of a service life of more than 50,000 cycles.

[0171] In this design, the first groove 2621 of the second mechanical joint 262 and the second groove 2631 of the third mechanical joint 263 are arc-shaped. The shape of the first groove 2621 matches that of the second mechanical joint 262, and the shape of the second groove 2631 matches that of the third mechanical joint 263, thus preventing the wire harness from bending at a small angle. The width and depth of the first groove 2621 and the second groove 2631 can be designed according to the size of the wire harness to prevent the wire harness from having large gaps in the first groove 2621 and the second groove 2631, which could cause it to wobble and come out of the first groove 2621 and the second groove 2631. It also prevents the first groove 2621 and the second groove 2631 from being too small, which could cause the wire harness to be squeezed, resulting in increased friction and preventing it from sliding in the groove.

[0172] As shown in Figure 16, the support arm 22 has a first wire buckle 221 near the end connected to the second mechanical joint 262. The wire harness is fixed through the first wire buckle 221 and then passes out of the support arm 22. The working arm 24 has a second wire buckle 248 near the end connected to the third mechanical joint 263. The wire harness passes into the working arm 24 and is fixed through the second wire buckle. The first wire buckle 221 and the second wire buckle 248 can be ultra-thin structures, such as wire buckle plates. After the wire buckle plates compress the wire harness, they can be fixed by screws. By controlling the tightening force of the screws, the compressive force applied to the wire harness is achieved.

[0173] As shown in Figure 16, both the first wire harness 271 and the second wire harness 272 have bent sections 273 at both ends of the connecting arm 23. These bent sections 273 can absorb the deformation of the wire harness when it rotates at the second mechanical joint 262 and the third mechanical joint 263, so that the wire harness is not pulled during the movement. When the mechanical joint can meet the degree of freedom of 0 to 240°, the wire harness is relatively fixed, which can improve the service life.

[0174] Specifically, the wiring harness running along the joints of the robotic arm includes multiple leads, which are wrapped together by a protective layer. The exposed wires are also wrapped in the protective layer, ensuring a fixed wire length and preventing the wiring harness from being pulled during movement. When combined, the harness can be completely stored in the wire groove, thus meeting the requirements for the lifespan of the wiring and ensuring that the wiring harness is completely retracted into the entire arm after combination. The multiple leads may include power wires and signal wires, etc.

[0175] The protective layer may include a woven mesh, which provides good wrapping effect and is lightweight.

[0176] In some embodiments, as shown in Figures 17-19, the working arm 24 of the robotic arm mechanism 20 is connected to the main body 250 of the robotic hand 25 via a rotary joint 242. The working arm 24 includes a working arm body 240 and a first driver 241, which is disposed on the working arm body 240. The rotary joint 242 includes a first end and a second end opposite to each other in a first direction. The first end is connected to the first driver 241, which is configured to drive the rotary joint 242 to rotate about the first direction. A countersunk hole 2421 extending toward the first end is formed on the second end. A clearance groove 2422 extending circumferentially with a predetermined arc is formed on the outer peripheral surface of the rotary joint 242, and the clearance groove 2422 communicates with the countersunk hole 2421. The first direction is the axial direction of the rotary joint 242.

[0177] The robotic arm 25 includes a main body 250, a second actuator, a first gripper 2521, and a second gripper 2522. The main body 250 includes a first end and a second end in opposite directions along a first direction. The second actuator is disposed on the main body 250. The first gripper 2521 and the second gripper 2522 are rotatably connected to the first end of the main body 250. The second actuator is configured to drive the first gripper 2521 and the second gripper 2522 to switch between an open state and a clamping state. The second end of the main body 250 is fixedly connected to the second end of the rotary joint 242, and the receiving space formed by the main body 250 communicates with the countersunk hole 2421.

[0178] The wire harness 270 on the working arm 24 needs to pass through the rotary joint and extend into the robot arm 25. One end of the wire harness 270 is located on the robot arm 25, and after passing through the countersunk hole 2421 and the clearance groove 2422 on the rotary joint 242, the other end extends to the robot arm.

[0179] The robotic arm mechanism 20 disclosed herein includes a first driver 241 on the working arm 24 that drives a rotary joint 242 to rotate. The rotary joint 242 causes the robotic arm 25 to rotate as a whole, so that the first gripper 2521 and the second gripper 2522 of the robotic arm 25 can be adjusted at the correct angle to grip the object to be gripped, thereby improving the gripping performance of the robotic arm. By providing a countersunk hole 2421 and a clearance groove 2422 on the rotary joint 242, the wire harness 270 can pass through the rotary joint 242 through the clearance groove 2422 and the countersunk hole 2421. The clearance groove 2422 extends along the rotation direction on the outer peripheral surface of the rotary joint 242. Therefore, during the rotation of the rotary joint 242, the wire harness 270 moves relative to the clearance groove 2422, which can reduce the pulling of the wire harness 270 when the rotary joint 242 rotates, and improve the life of the wire harness 270 to meet the life requirement of the rotary joint 242 being able to rotate more than 50,000 times.

[0180] Specifically, as shown in Figure 20, in the first direction, a connecting portion 2423 is provided between the second end of the rotary joint 242 and the clearance groove 2422, that is, the clearance groove 2422 is spaced apart from the main body 250 of the robot arm 25. Of course, in the first direction, the clearance groove 2422 can also be located directly at the end of the main body 250 of the robot arm 25, that is, on the end face of the second end of the rotary joint 242.

[0181] As shown in Figures 20 and 21, the connecting portion 2423 may have an opening 2424 that connects to the countersunk hole 2421 in the radial direction of the rotary joint 242, and the opening 2424 penetrates the second end of the rotary joint 242 and the clearance groove 2422 in a first direction. By forming an opening 2424 in the connecting portion 2423 that penetrates the second end of the rotary joint 242 and the clearance groove 2422, the wire harness 270 can be directly threaded through the opening 2424 onto the rotary joint 242, which facilitates the assembly of the wire harness 270 and also facilitates subsequent maintenance. The width of the opening 2424 in the circumferential direction of the rotary joint 242 can be relatively small, just enough for the wire harness 270 to pass through the opening 2424 into the countersunk hole 2421, thereby improving the structural strength of the rotary joint 242.

[0182] As shown in Figure 20, a clearance notch 2511 is formed on the second end of the main body 250 of the robot arm 25. The clearance notch 2511 communicates with the opening 2424 and the countersunk hole 2421 at the second end of the rotary joint 242. By forming the clearance notch 2511 on the second end of the main body 250 of the robot arm 25, the wire harness 270 can be directly threaded through the opening 2424 on the rotary joint 242 and the clearance notch 2511 on the robot arm 25, thus completing the purpose of threading on the rotary joint 242 and into the robot arm 25, which facilitates the assembly of the wire harness 270.

[0183] As shown in Figure 22, a sealing element 2425 is provided on the opening 2424 or the opening 2424 and the clearance notch 2511. By providing the sealing element 2425 on the opening 2424 or the opening 2424 and the clearance notch 2511, after the wire harness 270 is passed through the opening 2424 and the clearance notch 2511 into the rotary joint 242 and the main body 250 of the robot arm 25, the opening 2424 and / or the clearance notch 2511 can be sealed, thereby preventing the wire harness 270 from coming out of the opening 2424 or the clearance notch 2511, and thus limiting the wire harness 270.

[0184] The sealing component 2425 is detachably connected to the main body 250 of the rotary joint 242 and / or the robot arm 25, which facilitates the assembly of the sealing component 2425 and facilitates subsequent maintenance.

[0185] The first driver 241 is configured to drive the rotary joint 242 to rotate around a first direction by a preset angle, wherein the angle corresponding to the preset arc of the clearance groove 2422 is greater than or equal to 50% of the preset angle. For example, the preset angle may be 240°, then the angle corresponding to the preset arc of the clearance groove 2422 may be greater than or equal to 120°, so that the rotary joint 242 minimizes the pulling of the wire harness 270 during rotation. Preferably, the angle corresponding to the preset arc is greater than or equal to the preset angle, for example, the angle corresponding to the preset arc of the clearance groove 2422 is greater than 240°, then the rotary joint 242 can completely avoid pulling the wire harness 270 during rotation, thereby improving the lifespan of the wire harness 270.

[0186] In this design, the rotary joint 242 and the main body 250 of the robot arm 25 are integrally formed. By making the rotary joint 242 and the main body 250 integral, the rotary joint 242 can be formed simultaneously with the main body 250 of the robot arm 25 through injection molding, improving production efficiency and reducing production costs. Furthermore, the connection structure between the integrally formed rotary joint 242 and the main body 250 has high strength. Even with the clearance groove 2422 and opening 2424 provided on the rotary joint 242, the structural strength of the rotary joint 242 still meets the requirements. In addition, by making the rotary joint 242 and the main body 250 integral, there are no assembly errors between them, thereby improving the precise control of the rotation angle of the robot arm 25. Of course, the rotary joint 242 and the main body 250 can also be separate structures, for example, connected by threaded connections, welding, bonding, snap-fitting, etc., and this disclosure does not impose any limitations on this.

[0187] Specifically, the wire harness 270 includes a first segment 2701 located in the countersunk hole 2421 and a second segment 2702 located in the relief groove 2422. The first segment 2701 extends along a first direction, and the second segment 2702 extends radially along the rotary joint 242. By having the second segment 2702 of the wire harness 270 located in the relief groove 2422 extend radially along the rotary joint 242, the wire harness 270 can move relative to the relief groove 242 during the rotation of the rotary joint 242, thereby reducing the pulling force on the wire harness 270 during the rotation of the rotary joint 242 and improving the lifespan of the wire harness 270.

[0188] Specifically, when the robotic arm 25 is in its initial position relative to the working arm 24, the second segment 2702 is located at the middle position along the circumference of the clearance groove 2422. This means the distance between the wiring harness 270 and both ends of the clearance groove 2422 is the same or substantially the same. This ensures that the wiring harness 270 is not pulled or excessively pulled when the robotic arm 25 rotates in opposite directions, thus extending the lifespan of the wiring harness 270. It should be noted that the initial position of the robotic arm 25 relative to the working arm 24 refers to the position of the robotic arm mechanism 20 when it is retracted into the folded state of the receiving slot 110 of the sweeping robot. After each gripping operation, the robotic arm 25 returns to its initial position relative to the working arm 24.

[0189] As shown in Figure 17, the wiring harness 270 also includes a third segment 2703 and a fourth segment 2704. The third segment 2703 is connected to the second segment 2702, and the fourth segment 2704 is connected to the third segment 2703. The second segment 2702 is led out from the clearance groove 2422 to the side of the rotary joint 242 through the third segment 2703, and then the wiring harness is led out along the length of the working arm 24 through the fourth segment 2704.

[0190] In some embodiments, as shown in Figures 23-27, the working arm 24 includes a working arm body 240 and a first driver 241. The first driver 241 is disposed on the working arm body 240. The working arm body 240 is provided with a support structure, a first limiting structure, and a second limiting structure. A rotary joint 242 connects the first driver 241 and the main body 250 of the robot arm 25. The rotary joint 242 is provided with a mounting hole at one end near the first driver 241. The output shaft 2410 of the first driver 241 is disposed in the mounting hole and is positioned and connected to the mounting hole in the circumferential direction of the output shaft 2410. The rotary joint 242 rotates on the support structure, and the support structure limits the radial movement of the rotary joint 242. A third limiting structure is provided on the outer peripheral surface of the rotary joint 242. The third limiting structure cooperates with the first limiting structure to limit the axial movement of the rotary joint 242, and the third limiting structure cooperates with the second limiting structure to allow the rotary joint 242 to rotate by a preset angle.

[0191] The robotic arm mechanism 20 disclosed herein includes a support structure, a first limiting structure, and a second limiting structure on the main body 240 of the working arm. A third limiting structure is provided on the outer circumferential surface of the rotary joint 242. The third limiting structure cooperates with the first limiting structure to limit the axial movement of the rotary joint 242. The third limiting structure cooperates with the second limiting structure to allow the rotary joint 242 to rotate at a preset angle, thereby fixing the rotary joint 242 axially and limiting the rotation angle of the rotary joint 242 in the circumferential direction, thus improving the accuracy of the rotation angle of the robotic arm 25. In addition, by placing the output shaft 2410 of the first driver 241 in the mounting hole and positioning it in the circumferential direction with the mounting hole of the rotary joint 242, the output shaft 2410 and the rotary joint 242 are positioned in the circumferential direction, and the output shaft 2410 cannot rotate relative to the rotary joint 242, thereby improving the accuracy of driving the rotary joint 242 to rotate.

[0192] The support structure includes multiple arc-shaped support portions 2431 that match the outer peripheral surface of the rotary joint 242. These arc-shaped support portions 2431 are configured to support the rotary joint 242. The rotary joint 242 is essentially located within the receiving space formed by the housing of the working arm 24. By providing the arc-shaped support portions 2431 on the working arm 24, support is provided for the rotary joint 242, allowing it to rotate smoothly. The curvature of the support surface of the arc-shaped support portion 2431 matches the curvature of the outer peripheral surface of the rotary joint 242, preventing radial wobble between the rotary joint 242 and the arc-shaped support portion 2431, thus improving stability during rotation.

[0193] The rotary joint 242 has at least one arc-shaped support portion 2431 distributed on each of its opposite sides in the radial direction. Multiple arc-shaped support portions 2431 can also be distributed in the radial direction. In other words, multiple arc-shaped support portions 2431 are distributed in the circumferential and radial directions of the rotary joint 242 to limit the radial movement of the rotary joint 242 and improve the stability during rotation.

[0194] Specifically, as shown in Figures 24-27, the first limiting structure includes a limiting groove 2432 between two adjacent arc-shaped support portions 2431 in the radial direction of the rotary joint 242, and the third limiting structure includes a limiting protrusion 2426 located on the outer peripheral surface of the rotary joint 242. The limiting protrusion 2426 is located in the limiting groove 2432, thus limiting the axial movement of the rotary joint 242. By utilizing the adjacent arc-shaped support portions 2431 and employing the limiting protrusion 2426 with a width equivalent to the spacing between the adjacent arc-shaped support portions 2431, the axial movement of the rotary joint 242 is limited. The arc-shaped support portions 2431 thus achieve both a supporting function and a limiting function in both the axial and radial directions.

[0195] The limiting protrusion 2426 extends a predetermined arc length in the circumferential direction of the rotary joint 242, meaning the limiting protrusion 2426 can be an arc-shaped protrusion. By making the limiting protrusion 2426 an arc-shaped protrusion, more contact area can be provided with the adjacent arc-shaped support portion 2431, thereby improving the stability of axial positioning. Of course, the cross-section of the limiting protrusion 2426 can also be rectangular, trapezoidal, chamfered, or irregular, and this disclosure does not impose any limitations on this.

[0196] Among them, an annular groove extending in the circumferential direction of the rotary joint 242 is formed between two adjacent arc-shaped support portions 2431, and the limiting protrusion 2426 can rotate in the annular groove.

[0197] The second limiting structure includes a limiting block 2433 located in the limiting groove 2432. The limiting block 2433 restricts the rotation of the limiting protrusion 2426 within the limiting groove 2432, allowing the limiting protrusion 2426 to rotate within the limiting groove 2432 by a preset angle. The setting of the limiting block 2433 in the annular groove limits the rotation angle of the limiting protrusion 2426 within the annular groove, thereby limiting the rotation angle of the rotary joint 242 relative to the working arm 24. By setting the position and size of the limiting block 2433, the rotation angle of the rotary joint 242 relative to the working arm 24 can be limited to 240°.

[0198] The limiting block 2433 is connected to two adjacent arc-shaped support parts 2431, which can improve the structural strength of the limiting block 2433 and reduce the manufacturing cost. Of course, the limiting block 2433 and the two adjacent arc-shaped support parts 2431 can be arranged at intervals, and this disclosure does not limit this.

[0199] Specifically, the rotary joint 242 is provided with a threaded hole connecting the mounting hole and the outer peripheral surface. The robotic arm mechanism 20 also includes screws, which are screwed into the threaded hole and abut against the output shaft 2410, thus securing the output shaft 2410 in the mounting hole. The screw-based fixation method facilitates assembly and offers relatively high economic efficiency for subsequent maintenance.

[0200] As shown in Figures 27 and 28, the robotic arm mechanism 20 further includes an adapter 244, which is disposed in a mounting hole and positioned circumferentially connected to the mounting hole. The adapter 244 has an assembly hole, in which the output shaft 2410 of the first driver 241 is disposed and positioned circumferentially connected. By providing the adapter 244 and changing its structural dimensions, the output shafts 2410 of different drivers can be adapted, thus improving the adaptability of the rotary joint 242.

[0201] The adapter 244 has a threaded hole that connects the mounting hole and the outer peripheral surface, the rotary joint 242 has a through hole that connects the threaded hole, and the robotic arm mechanism 20 also includes a screw 245. One end of the screw 245 is located in the through hole, and the other end is screwed into the threaded hole and abuts against the output shaft 2410, thereby fastening the output shaft 2410 in the mounting hole.

[0202] The outer circumferential surface of the output shaft 2410 includes an arc surface and a plane along the circumferential direction, i.e., the cross-section is D-shaped. After the screw 245 is screwed into the threaded hole on the adapter 244, it abuts against the plane on the output shaft 2410. By making the screw 245 abut against the plane on the output shaft 2410, the fastening force of the screw 245 on the output shaft 2410 can be increased, and the rotational error of the rotary joint 242 can be less than 1.5°.

[0203] The adapter 244 can be oval, and the mounting hole on the rotary joint 242 can also be oval.

[0204] In some embodiments, as shown in FIG29, the working arm body 240 of the working arm 24 includes a first mounting plate 2461, a second mounting plate 2462 and a housing. The first mounting plate 2461 and the second mounting plate 2462 are fixedly connected. The first driver 241 and the rotary joint 242 are located in the mounting space formed by the first mounting plate 2461 and the second mounting plate 2462. The housing forms an accommodating space, and the first mounting plate 2461 and the second mounting plate 2462 are located in the accommodating space.

[0205] The robotic arm mechanism 20 disclosed herein includes a working arm body 240 comprising a first mounting plate 2461 and a second mounting plate 2462 fixedly connected. A first driver 241 and a rotary joint 242 are located in the mounting space formed by the first mounting plate 2461 and the second mounting plate 2462. The first mounting plate 2461 and the second mounting plate 2462 greatly enhance the structural strength of the working arm 24, thereby enabling the working arm 24 to lift a sweeping robot weighing approximately 10 kg.

[0206] The first mounting plate 2461 and the second mounting plate 2462 are fixedly connected by a sleeve and threaded fittings. The sleeve is clamped between the first mounting plate 2461 and the second mounting plate 2462, forming an installation space between them. Then, the first mounting plate 2461 and the second mounting plate 2462 are fixed together by screws and nuts.

[0207] The first mounting plate 2461 and the second mounting plate 2462 can be sheet metal parts made of metal, giving them high structural strength. Of course, the first mounting plate 2461 and the second mounting plate 2462 can also be made of other materials with high structural strength, such as carbon fiber, and this disclosure does not limit them.

[0208] As shown in Figure 29, the main body 240 of the working arm includes an upper shell 2463, a lower shell 2464 and a middle shell 2465. The first driver 241, the rotary joint 242 and the circuit board 249 can be disposed on the middle shell 2465 and in the shell formed by the upper shell 2463 and the lower shell 2464.

[0209] As shown in Figure 30, an anti-slip layer 247 is provided on the outer surface of the housing, which improves the gripping feel and increases the surface friction of the working arm 24 when gripping it. The anti-slip layer 247 can be a rubber layer, providing a good feel and excellent anti-slip effect. Alternatively, the anti-slip layer 247 can be a roughened surface formed on the housing surface through a roughening process; this disclosure does not impose any limitations on this.

[0210] Specifically, as shown in Figure 31, one end of the connecting arm 23 is connected to the pivot 2632 of the third mechanical joint 263, and the other end is connected to the pivot of the second mechanical joint 262. The two sections of the connecting arm 23 are respectively provided with mounting holes 2340. The pivots of the second mechanical joint 262 and the pivots 2632 of the third mechanical joint 263 are respectively located in the mounting holes 2340 at both ends of the connecting arm 23 and are positioned and connected to the mounting holes 2340 in the circumferential direction.

[0211] The connecting arm 23 has oval-shaped mounting holes 2340 at both ends. The cross-sections of the rotating shafts of the second mechanical joint 262 and the third mechanical joint 263 are also oval-shaped, thus forming a circumferential positioning connection between the rotating shafts of the second mechanical joint 262 and the third mechanical joint 263 and the mounting holes 2340, thereby improving the accuracy of rotation. Of course, the mounting holes 2340 at both ends of the connecting arm 23 can also be D-shaped, and the cross-sections of the rotating shafts of the second mechanical joint 262 and the third mechanical joint 263 can also be matched to be D-shaped. This disclosure does not impose any restrictions on this.

[0212] As shown in Figure 31, both ends of the connecting arm 23 are provided with a first clamping part 2341 and a second clamping part 2342. A mounting hole 2340 is formed between the first clamping part 2341 and the second clamping part 2342, that is, a fastening seam is formed connecting the edge of the end and the mounting hole 2340. The first clamping part 2341 and the second clamping part 2342 are connected by a threaded part 235, which fastens the rotating shaft 2632 in the mounting hole 2340, and can achieve the effect of guiding the swing error to be less than 0.5°.

[0213] In some embodiments, two adjacent robotic arms in the robotic arm mechanism 20 are rotatably connected to be in a folded or unfolded state relative to each other. At least one of the two adjacent robotic arms is provided with a trigger switch, which activates the trigger switch on the other robotic arm when the two robotic arms rotate relative to each other to be in a folded state.

[0214] The robotic arm mechanism 20 provided in this disclosure has a trigger switch on at least one of two adjacent robotic arms. When the two robotic arms rotate relative to each other to a folded state, one robotic arm triggers the trigger switch on the other robotic arm. The trigger switch is triggered by the movement between the robotic arms themselves. The electrical signal generated when the robotic arm triggers the trigger switch is sent to the controller. The controller determines that the robotic arm has reached a preset position based on the received electrical signal. The controller further outputs a command to stop the motor of the mechanical joint from rotating, thereby achieving the goal that when the robotic arm reaches the preset position, the motor of the corresponding mechanical joint stops moving, thus stopping the robotic arm. By the initial position of the robotic arm reaching the folded state, the starting position information of the motor controlling the movement of the robotic arm is further provided, thereby achieving precise posture control when each mechanical joint of the robotic arm extends from the receiving slot 110 of the device body 10. In addition, the encoder can be used to assist the motor of the mechanical joint in accurately controlling the posture of the robotic arm without the need for the motor, which greatly reduces the cost. Furthermore, the trigger switch can withstand pressure for a long time, reducing the later maintenance cost.

[0215] Specifically, as shown in Figures 32 to 34, the multiple robotic arms include a support arm 22, a connecting arm 23, and a working arm 24 that are rotatably connected in sequence. The connecting arm 23 and the support arm 22 can rotate relative to each other in a folded or unfolded state, and the working arm 24 and the connecting arm 23 can rotate relative to each other in a folded or unfolded state.

[0216] In the stacking direction when the robotic arm is in the folded state, the thickness of the support arm 22 and the working arm 24 is greater than the thickness of the connecting arm 23. The connecting arm 23 is mainly used to connect the support arm 22 and the working arm 24 so that the working arm 24 can be in different working postures relative to the support arm 22. There is no need to set transition components on the connecting arm 23, such as the drive motor for driving the steering seat and the drive motor for driving the robotic arm 25 to rotate. It is sufficient to ensure that the wiring harness passes through the connecting arm 23. Therefore, the connecting arm 23 can be designed as a thin and light structure, with a thickness less than that of the support arm 22 and the working arm 24.

[0217] The support arm 22 is equipped with a first trigger switch 281. When the connecting arm 23 rotates relative to the support arm 22 and is in a folded state, the connecting arm 23 triggers the first trigger switch 281. The working arm 24 is equipped with a second trigger switch 282. When the working arm 24 rotates relative to the connecting arm 23 and is in a folded state, the connecting arm 23 triggers the second trigger switch 282. Because the support arm 22 and the working arm 24 contain many components, their thickness is relatively large, while the connecting arm 23 has relatively few components, making it thinner and lighter. Therefore, the trigger switches can be installed using the existing space of the support arm 22 and the working arm 24 without increasing their thickness.

[0218] The first trigger switch 281 is located on the end of the support arm 22 away from the end connected to the connecting arm 23. The end of the support arm 22 away from the connecting arm 23 is connected to the steering seat, and a drive assembly is provided on the side facing the base plate 2111 to drive the support arm 22 to pitch relative to the steering seat. Therefore, the side of the support arm 22 away from the base plate 2111 has installation space, which facilitates the layout of the first trigger switch 281 on the support arm 22 and does not increase the thickness of the support arm 22 due to the installation of the first trigger switch 281.

[0219] The second trigger switch 282 is located on the side of the working arm 24 away from the robot arm 25. Since the first driver 241 and the rotary joint 242 are located at the end of the working arm 24 closest to the robot arm 25, there is installation space on the side of the working arm 24 away from the robot arm 25, which facilitates the layout of the second trigger switch 282 on the working arm 24 and does not increase the thickness of the working arm 24 due to the placement of the second trigger switch 282.

[0220] The robotic arm equipped with a trigger switch has a receiving space and a through hole. The switch body of the trigger switch is assembled in the receiving space, and the trigger button of the trigger switch extends out of the periphery of the robotic arm through the through hole. The length of the trigger button extending out of the periphery of the robotic arm through the through hole is such that when two adjacent robotic arms are in the folded state, the switch is triggered by pressing the trigger button, and the switch is deactivated when the two adjacent robotic arms change from the folded state to the unfolded state.

[0221] In this design, when the two robotic arms are rotated relative to each other and in a folded state, one robotic arm presses a trigger button on the other robotic arm to activate a trigger switch. The switch is activated directly through the robotic arm's housing, eliminating the need for additional triggering structures, resulting in high accuracy and avoiding increased arm thickness. Alternatively, a separate triggering structure can be provided for pressing the trigger switch while it is in the folded state, thus activating it; this disclosure does not impose any limitations on this approach.

[0222] Specifically, at least one of the robotic arm base 21 and the support arm 22 is equipped with a third trigger switch 283. When the support arm 22 rotates relative to the robotic arm base 21 to a folded state, one of the robotic arm base 21 and the support arm 22 triggers the third trigger switch 283 on the other. By providing a third trigger switch 283 on at least one of the robotic arm base 21 and the support arm 22, when the support arm 22 is in the retracted position relative to the robotic arm base 21, the signal from the third trigger switch 283 can control the support arm 22 to stop rotating. This eliminates the need for an encoder to assist the motor in precisely controlling the posture, significantly reducing costs.

[0223] As shown in Figure 34, the support arm 22 is equipped with a third trigger switch 283, and the robotic arm base 21 is equipped with an abutment member 2114. When the support arm 22 rotates relative to the robotic arm base 21 to a folded state, the abutment member 2114 triggers the third trigger switch 283. Since the drive assembly needs to be installed in the support arm 22, the support arm 22 has a accommodating space to accommodate the third trigger switch 283.

[0224] The third trigger switch 283 on the support arm 22 is located on the end of the support arm 22 away from the end that is rotatably connected to the robot arm base 21. Since the drive component in the support arm 22 is located at the end closer to the steering seat 212, the end away from the steering seat 212 has more installation space, which facilitates the layout of the third trigger switch 283.

[0225] The abutment 2114 can be a pressure block that is fixed to the base plate 2111 by a threaded part, which is easy to assemble and has high stability.

[0226] As shown in Figure 35, the trigger switch can be a micro switch. The squeezing force provided by the robotic arm is applied to the actuating spring 2842 via the trigger key 2841 of the micro switch (e.g., a push button, lever, roller, etc.). When the actuating spring 2842 moves to the critical point, it generates an instantaneous action, triggering the switch contact 2843, causing the switch body 2844 to connect or disconnect. When the squeezing force on the trigger key 2841 is removed, the actuating spring 2842 generates a reverse action force. When the reverse stroke of the transmission element reaches the critical point of the spring's action, the reverse action is completed instantaneously. The micro switch has a short travel, low actuation force, and rapid switching; the action speed of its moving contact is independent of the action speed of the transmission element.

[0227] In one embodiment, as shown in FIG36, the robotic arm 25 includes a main body 250, a drive assembly 253, and a camera 254. The main body 250 includes a first end and a second end in opposite directions along a first direction. A first gripper 2521 and a second gripper 2522 are rotatably connected to the first end of the main body 250. The drive assembly 253 is disposed on the main body 250 and is configured to drive the first gripper 2521 and the second gripper 2522 to switch between an open state and a gripping state. The camera 254 is fixedly disposed on the main body 250 and faces the second end in a direction pointing towards the first end. The camera 254 is offset from the first gripper 2521 and the second gripper 2522 along a second direction, and the second direction intersects with the first direction.

[0228] The robotic arm 25 disclosed herein, through its structural layout with the gripper in front and the camera 254 below, achieves a stable viewing angle for the camera 254, while simultaneously allowing for accurate visual positioning of the gripper and the object being grasped, thereby improving the recognition rate.

[0229] Specifically, as shown in Figure 36, the robotic arm 25 also includes a supplementary light 255, which is located at the first end of the main body 250 and faces the second end in a direction pointing towards the first end. By setting up the supplementary light 255, the shooting effect of the camera 254 in low-light environments is improved.

[0230] As shown in Figure 37, the fill light 255 is located on the same side of the first gripper 2521 and the second gripper 2522 along the second direction as the camera 254. By positioning the fill light 255 and the camera 254 on the same side of the first gripper 2521 and the second gripper 2522, the fill light 255 can provide better fill light effect, further improving the shooting effect of the camera 254 in low-light environments.

[0231] As shown in Figure 37, the fill light 255 is offset from the camera 254 along a third direction. This third direction intersects with both the second and first directions. This offset arrangement ensures that the light source provided by the fill light 255 is not blocked by the camera 254, further improving the shooting effect of the camera 254 in low-light environments. The first direction can be the length direction of the main body 250, the second direction can be the thickness direction of the main body 250, and the third direction can be the width direction of the main body 250.

[0232] As shown in Figure 37, in the first direction, the fill light 255 is positioned on the side of the camera 254 near the second end of the main body 250, that is, the fill light 255 is located behind the camera 254, so that the light source provided by the fill light 255 will not cause the camera 254 to be overexposed and cross-exposed, thereby further improving the shooting effect of the camera 254.

[0233] As shown in Figure 37, in the third-party direction, the camera 254 is located in the middle area of ​​the main body 250. By positioning the camera 254 in the middle area of ​​the main body 250, that is, in the image captured by the camera 254, the robotic arm 25 can be located in the middle position, thereby improving the accurate visual positioning function between the gripper and the object being grasped and increasing the recognition rate.

[0234] Specifically, as shown in Figure 38, the first gripper 2521 and the second gripper 2522 are connected to the first end of the main body 250 and extend from the end face of the first end of the main body 250. A clearance groove 2565 is formed on the first end of the main body 250, and the camera 254 is located in the clearance groove 2565. On the one hand, this avoids the camera 254 from protruding from the shape of the main body 250, thereby avoiding the increase in the size of the robot arm 25 due to the installation of the camera 254. On the other hand, the clearance groove 2565 can avoid the wire harness at the second mechanical joint 262 on the connecting arm 23, thus avoiding the main body 250 from squeezing and wearing the wire harness in the folded state.

[0235] The supplementary light 255 is located in the clearance groove 2565, which avoids the supplementary light 255 protruding from the main body 250, thereby avoiding the increase in the size of the robot arm 25 due to the installation of the supplementary light 255.

[0236] The main body 250 includes a housing 256, which forms an accommodating space. The housing 256 has a first mounting hole and a second mounting hole communicating with the accommodating space. A camera 254 is located in the accommodating space and mounted on the first mounting hole, exposed through the first mounting hole for taking pictures. A supplementary light 255 is located in the accommodating space and mounted on the second mounting hole, exposed through the second mounting hole for providing supplementary lighting. By placing the camera 254 and the supplementary light 255 within the accommodating space of the housing 256, the housing 256 provides protection for the camera 254 and the supplementary light 255, preventing them from being bumped or damaged by sewage and dust during use, thus improving their lifespan and enhancing their reliability.

[0237] Specifically, as shown in Figures 39 and 40, the camera 254 can simultaneously observe the gripper and the object being grasped, thus enabling accurate visual positioning through the cooperation of the camera 254 and the processor.

[0238] The robotic arm 25 can rotate within a range of 0° to 240° under the drive of the working arm 24. That is, by rotating the robotic arm 25, the camera 254 can be rotated from below the first gripper 2521 and the second gripper 2522 to above the first gripper 2521 and the second gripper 2522, so as to facilitate shooting or human-computer interaction.

[0239] As shown in Figure 41, when the robotic arm 25 is in a horizontal state, the central axis of the camera 254 is also set horizontally. The field of view (FOV) ∠A of the camera 254 can be 110° to 120°, such as 110°, 112°, 115.6°, 118°, 120°, etc., which will not be listed here in this disclosure, so as to cover the end of the gripper on the robotic arm 25 and the object 30 to be gripped in the target area.

[0240] As shown in Figure 41, when the robotic arm 25 is in a horizontal position, the supplementary light 255 emits light at a lower angle towards the ground. Since the supplementary light 255 is located to the side and rear of the camera 254, the housing 256 above the supplementary light 255 provides some obstruction. By directing the emission angle of the supplementary light 255 towards the ground, the light from the supplementary light can be projected onto the object 30 to be clamped in the target area as much as possible, thereby improving the supplementary lighting effect. The illumination angle ∠B of the supplementary light 255 can be 55° to 60°, such as 55°, 56°, 57°, 58°, 58.57°, 59°, 60°, etc., which are not listed here. The angle ∠C between the illumination angle of the supplementary light 255 and the horizontal line can be 10° to 20°, such as 10°, 13°, 15°, 18°, 20°, etc., which are not listed here.

[0241] In some embodiments, as shown in FIG42, the robotic arm 25 includes: a housing 256, a drive assembly 253, and two grippers, namely a first gripper 2521 and a second gripper 2522. The housing 256 forms a receiving space, the drive assembly 253 is disposed in the receiving space, the mounting ends of the two grippers are located in the receiving space and connected to the drive assembly 253, and the gripping ends of the two grippers extend out of the housing 256. The drive assembly 253 is configured to drive the two grippers to move closer or further apart to achieve gripping or releasing of an object.

[0242] The robotic arm 25 disclosed herein has a drive assembly 253 connected to a first gripper 2521 and a second gripper 2522, which drives the first gripper 2521 and the second gripper 2522 to move closer or further apart, thereby enabling the robotic arm 25 to grasp or release objects. The housing 256 forms an accommodating space, and the drive assembly 253 is disposed within the accommodating space. The mounting ends of the first gripper 2521 and the second gripper 2522 are located within the accommodating space and connected to the drive assembly 253. The clamping ends of the first gripper 2521 and the second gripper 2522 extend out of the housing 256. The entire drive assembly 253 is fixed on a housing 256, which integrates the components and makes the overall size smaller. The drive assembly 253 is not exposed, which improves the aesthetics. At the same time, the housing 256 can provide good protection for the driver 2531 and the transmission mechanism 2532, reducing the possibility of foreign objects colliding with the driver 2531 and the transmission mechanism 2532, reducing the possibility of impurities contaminating the driver 2531 and the transmission mechanism 2532, extending the service life of the driver 2531 and the transmission mechanism 2532, and improving the reliability of the driver 2531 and the transmission mechanism 2532.

[0243] As shown in Figure 42, the shell 256 may include an upper shell 2561, a lower shell 2562 and a bottom shell 2563, which are fastened together to form an integral shell with a accommodating space.

[0244] Specifically, as shown in Figures 43-45, the drive assembly 253 includes a driver 2531, a transmission mechanism 2532, and an elastic element 2534. The driver 2531 is connected to two grippers via the transmission mechanism 2532 to drive the two grippers to move closer or further apart. At least one gripper is movably connected to the transmission mechanism 2532 via the elastic element 2534, which is configured to apply a force to the connected grippers to move closer to the other gripper. A mounting structure matching the drive assembly 253 is formed on the lower housing 2562, and the drive assembly 253 can be mounted on the lower housing 2562.

[0245] In related technologies, because the grippers on the robotic arm 25 move at low speeds but require high clamping torque, a small motor with a high reduction ratio transmission mechanism is typically used for drive to reduce module weight. This makes it difficult for users to manually pry the grippers of the robotic arm 25 in the reverse direction, and forcibly prying them in the reverse direction may cause the robotic arm 25 to malfunction and become unusable. When the robotic arm 25 has grasped an object, if the robotic arm 25 or the cleaning equipment experiences an unexpected power outage, the robotic arm 25 will remain in the state of gripping the object, making it inconvenient for the user to remove the gripped object. The robotic arm 25 provided in this disclosure has a driver 2531 connected to two grippers via an elastic element 2534, driving the two grippers to move closer or further apart, enabling manual grasping or releasing of objects by the robotic arm 25.

[0246] Specifically, at least one gripper is movably connected to the transmission mechanism 2532 via an elastic element 2534, allowing the gripper connected to the elastic element 2534 to move relative to the transmission mechanism 2532. Thus, while the robotic arm 25 is holding an object, the gripper connected to the elastic element 2534 is reversed and bent, causing the elastic element 2534 to deform and allowing the gripper connected to the elastic element 2534 to move relative to the transmission mechanism 2532 to remove the object between the two grippers. This avoids the problem of the robotic arm 25 or cleaning equipment being unable to remove the object held by the robotic arm 25 after an unexpected power outage, improving the convenience of removing the object held by the robotic arm 25 after a power outage and enhancing the user experience.

[0247] One possible configuration is as follows: One gripper is movably connected to the transmission mechanism 2532 via an elastic element 2534. By reversing the movement of one gripper connected to the elastic element 2534, the object held by the robotic arm 25 can be removed after power failure. This is simple to operate, convenient to use, and helps reduce production costs. Alternatively, both grippers can be movably connected to the transmission mechanism 2532 via elastic elements 2534. By reversing the movement of both grippers connected to the elastic elements 2534, the object held by the robotic arm 25 can be removed after power failure. This is also simple to operate and convenient to use. Having both grippers movably connected to the transmission mechanism 2532 via elastic elements 2534 increases the relative range of motion of the two grippers while the robotic arm 25 is holding an object. This reduces the problem of irregular objects getting stuck in the grippers during removal from the robotic arm 25, allowing for quick, smooth, and convenient removal of objects held by the robotic arm 25 and expanding its application range.

[0248] The elastic element 2534 is configured to apply a force close to the other gripper to the connected gripper. This can be understood as the elastic element 2534 acting on the gripper to give the gripper an initial clamping force, which ensures that when the robot arm 25 is in the gripping state, the force of the elastic element 2534 brings the two grippers closer to each other, and the grippers have sufficient torque to ensure that the object can be reliably and stably clamped between the two grippers.

[0249] The first gripper 2521 and the second gripper 2522 are fixed to the mounting shaft on the lower housing 2562 by means of a pressure plate 2525 and screws. The mounting shaft can be provided with threaded holes. After the rotating parts of the first gripper 2521 and the second gripper 2522 are respectively sleeved on the corresponding mounting shafts, a pressure plate 2525 simultaneously presses the rotating parts of the first gripper 2521 and the second gripper 2522 together. Then, screws are screwed into the threaded holes on the mounting shaft to limit and fix the first gripper 2521 and the second gripper 2522 in the rotational axis.

[0250] Furthermore, the transmission mechanism 2532 is equipped with a self-locking structure, that is, the transmission mechanism 2532 is configured to have a self-locking function. Thus, after the driver 2531 is powered off, the transmission mechanism 2532 stops working, and the gripper can reliably and stably maintain its current state, thereby improving the stability and accuracy of the robot arm 25 in gripping objects.

[0251] The driver 2531 is equipped with an overcurrent self-locking device. For example, the driver 2531 is a motor, which has an overcurrent self-locking device, meaning the motor has overcurrent protection. During the process of the motor driving the grippers from opening to closing via the transmission mechanism 2532, when it encounters the object to be gripped 30, the two grippers will clamp the object 30, causing the motor to stall. At this time, the motor's overcurrent self-locking device activates. Due to the motor's overcurrent protection function, the motor detects overcurrent and stops rotating. The self-locking structure of the transmission mechanism 2532 is in a self-locking state. Under the self-locking function of the transmission mechanism 2532, the driver 2531 maintains the clamping force on the object 30 through the two grippers, thus achieving reliable and stable clamping operation.

[0252] Specifically, the clamping force exerted by the actuator 2531 on the object being clamped by the gripper can be less than or equal to the initial clamping force exerted by the elastic element 2534 on the gripper, so that the gripper can reliably and stably clamp the object without rotating relative to the transmission mechanism 2532; or, the clamping force exerted by the actuator 2531 on the object being clamped by the gripper can be slightly greater than the initial clamping force exerted by the elastic element 2534 on the gripper, so that the gripper can still maintain a reliable and stable clamping operation on the object even when rotating a small angle relative to the transmission mechanism 2532 in the opening direction.

[0253] When the gripper clamps the object, when the gripper is rotated in the opening direction by an external force, that is, when the gripper rotates away from each other, when the external force is greater than the initial clamping force of the elastic element 2534 on the gripper, the gripper opens and the object is released.

[0254] The overcurrent self-locking device detects the operating current of the motor. When the gripper stops rotating but the motor continues to output, the current value of the motor will rise rapidly. The overcurrent self-locking device can detect the increase in current at the electrode, thereby controlling the motor to stop driving. When the motor stops driving, for example, a self-locking mechanism is formed between the worm gear and the worm, that is, the self-locking structure can be self-locked by the operation of the overcurrent self-locking device. When the overcurrent self-locking device is working and the self-locking structure is self-locked, the angle range of the gripper relative to the transmission mechanism 2532 is 7° to 10°, for example, 7°, 8°, 9°, 10°.

[0255] Specifically, as shown in Figure 44, the transmission mechanism 2532 may include a worm gear 25321 and a worm 25322, with a self-locking function configured between the worm 25322 and the worm gear 25321. After the driver 2531 is de-energized, the transmission mechanism 2532 stops working, and the two grippers can reliably and stably maintain their current state to reliably and stably clamp the object.

[0256] The angle range of the gripper relative to the transmission mechanism 2532 is 7° to 10°. That is, when the gripper is holding an object, the angle range of each gripper rotating away from each other is 7° to 10°. This ensures that the distance between the two grippers is large enough under the action of external force, so as to provide sufficient movement space for the gripped object to be smoothly released from the gripper and improve the smoothness of the gripped object being released from the gripper.

[0257] Specifically, when the angle range of the gripper relative to the transmission mechanism 2532 is 10°, it can be understood that the clamping force exerted by the gripper on the object by the driver 2531 makes the gripper not rotate relative to the transmission mechanism 2532. When the angle range of the gripper relative to the transmission mechanism 2532 is 7°, it can be understood that the clamping force exerted by the two grippers on the object by the driver 2531 makes the gripper rotate relative to the transmission mechanism 2532 by an angle of 10°-7°=3°.

[0258] Specifically, the gripper is rotatably connected to the transmission mechanism 2532, and a limiting structure is provided between the gripper and the transmission mechanism 2532 to limit the rotation angle of the gripper relative to the transmission mechanism 2532. Since the elastic element 2534 is configured to apply a force close to the other gripper to the connected gripper, the limiting structure allows the gripper to rotate within a preset angle range relative to the transmission mechanism 2532. This ensures that when the gripper is in a free state, the gripper connected to the elastic element 2534 has a tendency to move closer to the other gripper, ensuring sufficient torque so that the object can be reliably and stably clamped between the two grippers. When the gripper is pulled in the opposite direction, the object held by the robot arm 25 can be quickly, smoothly, and conveniently removed. The operation is simple and easy to use.

[0259] The preset angle can be 5° to 15°, such as 5°, 7°, 8°, 10°, 12°, 13°, 15°, etc., which will not be listed here; that is, under the action of external force, the angle of rotation of the gripper relative to the transmission mechanism 2532 can be 5° to 15°. Furthermore, according to the specific value of the preset angle, the range of the angle of rotation of the gripper relative to the transmission mechanism 2532 when the overcurrent self-locking device of the driver 2531 is working to self-lock the self-locking structure of the transmission mechanism 2532 can be reasonably set to improve the smoothness of the gripped object disengaging from the gripper.

[0260] The limiting structure restricts the movement of the gripper relative to the transmission mechanism 2532 between a first position and a second position. In the first position, the same gripper is closer to another gripper than in the second position. The gripper is configured to switch from the first position to the second position under the action of an external force, and the gripper is configured to switch from the second position to the first position under the action of the elastic element 2534.

[0261] When the robotic arm 25 holds an object, the grippers are in a first position under the action of the elastic element 2534 and the limiting structure. Compared to the grippers in the second position, the grippers in the first position are closer to the other gripper. At this time, the elastic element 2534 causes the grippers to tend to move closer to the other gripper, ensuring that the grippers have sufficient torque so that the object can be reliably and stably clamped between the two grippers. If, in this state, the robotic arm 25 or the cleaning equipment loses power, causing the actuator 2531 to lose power, and the transmission mechanism 2532 cannot drive the grippers away from each other to remove the clamped object from the robotic arm 25, the user can reverse the grippers to move them away from each other. In this way, the grippers overcome the elastic force of the elastic element 2534 under the action of external force and move from the first position to the second position. Thus, the object held by the robotic arm 25 can be easily removed from between the two grippers, making the operation simple and convenient.

[0262] When the gripper moves from the first position to the second position under the action of external force, overcoming the elastic force of the elastic element 2534, the elastic element 2534 stores energy; therefore, when the external force disappears, the elastic element 2534 releases energy to switch the gripper from the second position to the first position and maintains it in the first position, thereby resetting the gripper to ensure that the gripper has sufficient torque.

[0263] Specifically, when the gripper is in the first position, it can be understood that the gripper is in its initial position relative to the transmission mechanism 2532, and at this time, the gripper is not rotating relative to the transmission mechanism 2532. When the gripper is in the second position, it can be understood that the gripper is in its active position relative to the transmission mechanism 2532, and at this time, the rotation angle of the gripper relative to the transmission mechanism 2532 can be preset.

[0264] Specifically, as shown in Figure 44, the worm gear 25322 is connected to the actuator 2531, and two worm wheels 25321 correspond to two grippers and are distributed on both sides of the worm gear 25322. The corresponding worm wheels 25321 are connected to the grippers. The actuator 2531 can drive the two grippers to move closer or further apart through the worm wheel 25321 and worm gear 25322 mechanism, so as to realize the operation of the robot arm 25 to grasp or release objects.

[0265] Among them, the worm gear 25321 and worm 25322 transmission can ensure that the transmission mechanism 2532 has a large reduction ratio. When the power of the driver 2531 is small, the movement speed of the gripper is low and there is sufficient clamping torque. This improves the stability and accuracy of the robot 25 in gripping objects, while reducing the weight of the robot 25 and making it easier to operate.

[0266] The worm gear 25321 and the gripper are connected via a rotating shaft and an elastic element 2534. Rotation of the worm gear 25321 drives the gripper to rotate synchronously. Two elastic elements 2534 correspond to the gripper, with each end connected to the corresponding gripper and worm gear 25321, allowing each gripper to rotate relative to its corresponding worm gear 25321. When the robotic arm 25 is holding an object, by reversing the movement of the two grippers, the relative range of motion between them can be increased, enabling the object to be removed quickly, smoothly, and conveniently, and expanding the scope of application.

[0267] By setting a limiting structure between the corresponding gripper and the worm gear 25321, the limiting structure can limit the rotation angle of the gripper relative to the corresponding worm gear 25321, so as to ensure that the gripper has sufficient torque, so that the object can be reliably and stably clamped between the two grippers, and ensure that the object held by the robot arm 25 can be easily and quickly removed from the robot arm 25.

[0268] A self-locking function can be configured between the worm gear 25322 and the worm wheel 25321. After the drive 2531 is de-energized, the transmission mechanism 2532 stops working, and the gripper can reliably and stably maintain its current state, thereby improving the stability and accuracy of the robot arm 25 in gripping objects.

[0269] Specifically, as shown in Figures 44 and 45, the limiting structure includes a limiting groove 25351 and a positioning protrusion 25352. One of the limiting groove 25351 and the positioning protrusion 25352 is disposed on the worm gear 25321, and the other is disposed on the gripper. The positioning protrusion 25352 is located within the limiting groove 25351 and can move within the limiting groove 25351 to allow the gripper to switch between a first position and a second position. The limiting groove 25351 and the positioning protrusion 25352 are easy to process and implement.

[0270] The limiting groove 25351 can be set on the worm gear 25321, and the positioning protrusion 25352 can be located on the gripper; or, the limiting groove 25351 can be set on the gripper, and the positioning protrusion 25352 can be located on the worm gear 25321.

[0271] The limiting groove 25351 includes a first sidewall and a second sidewall along the rotation direction of the gripper relative to the worm gear 25321. The first sidewall is close to the other gripper, and the second sidewall is away from the other gripper. Under the action of the elastic member 2534, the gripper causes the positioning protrusion 25352 to abut against the first sidewall of the limiting groove 25351, at which point the gripper is in a first position. When the gripper moves away from the other gripper under the action of an external force, and the positioning protrusion 25352 abuts against the second sidewall of the limiting groove 25351, the gripper is in a second position. That is, under the action of the limiting structure, the gripper moves between the first sidewall and the second sidewall within the limiting groove 25351. The rotation angle of the gripper between the first sidewall and the second sidewall can be a preset angle, such as 5° to 15°.

[0272] In this configuration, under the action of the elastic element 2534, when the transmission mechanism 2532 is fixed, the grippers move towards each other until they abut against the first sidewall of the limiting groove 25351, with an initial clamping force. When the grippers are subjected to an external force moving away from each other, if the external force is greater than (e.g., 8N), the elastic element 2534 will be further compressed and twisted, and the grippers will begin to rotate away from each other, forming an open state. When the external force is greater than or equal to (e.g., 12N), the grippers press against the second sidewall, at which point the grippers reach their maximum open angle (relative to the worm gear 25321).

[0273] The elastic element 2534 can be a torsion spring, which is located at the shaft of the worm gear 25321. One end of the torsion spring is connected to the worm gear 25321, and the other end is connected to the gripper. The shaft connects the worm gear 25321 and the gripper. The torsion spring can be coaxially arranged with the shaft, that is, the torsion spring is located on the outer circumference of the shaft. The first end of the torsion spring is connected to the worm gear 25321, and the second end of the torsion spring is connected to the gripper, so that the torsion spring can stably provide elastic force, allowing the gripper to switch from the second position to the first position and remain in the first position.

[0274] The elastic element 2534 can also be a spring, with its first end connected to the worm gear 25321 and its second end connected to the gripper. The spring provides a stable elastic force, allowing the gripper to switch from the second position to the first position and maintain it in the first position. Alternatively, the elastic element 2534 can be a tension spring, with its first end connected to the worm gear 25321 and its second end connected to the gripper. The tension spring also provides a stable elastic force, allowing the gripper to switch from the second position to the first position and maintain it in the first position. The type of elastic element 2534 can be selected appropriately based on structural requirements and installation location. It is understood that the elastic element 2534 can also be any elastic component other than a torsion spring, spring, or tension spring, as long as it provides elastic force to allow the gripper to switch from the second position to the first position and maintain it in the first position.

[0275] As shown in Figures 44 and 45, the elastic element 2534 is a torsion spring. The worm gear 25321 has a first slot 25361, and the gripper has a second slot 25362. The first torsion arm of the torsion spring is confined within the first slot 25361, and the second torsion arm of the torsion spring is confined within the second slot 25362. The torsion spring is installed through the first slot 25361 and the second slot 25362, resulting in a simple structure and convenient installation. The first torsion arm of the torsion spring can be inserted into the first slot 25361, secured in the first slot 25361, or bonded to the first slot 25361 with adhesive. Similarly, the second torsion arm of the torsion spring can be inserted into the second slot 25362, secured in the second slot 25362, or bonded to the second slot 25362 with adhesive.

[0276] The torsion spring can be a compression torsion spring. Under the action of the limiting structure, the first torsion arm and the second torsion arm of the torsion spring are subjected to force and are respectively limited in the first slot 25361 and the second slot 25362, so as to ensure that the torsion spring can switch the gripper from the second position to the first position and keep it in the first position.

[0277] Specifically, during the switching process between the first and second positions of the gripper, the included angle between the first slot 25361 and the second slot 25362 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. By reasonably setting the positions of the first slot 25361 and the second slot 25362, the torsion spring is in a compressed state under the action of the limiting structure. That is, the first and second torsion arms of the torsion spring are subjected to force, which is respectively limited within the first slot 25361 and the second slot 25362, ensuring that the torsion spring can switch the gripper from the second position to the first position and maintain it in the first position.

[0278] Specifically, the torsion spring is housed within the space defined by the worm gear 25321 and the gripper, making the structure between the worm gear 25321, the torsion spring, and the gripper compact. This meets the design requirements of the manipulator 25 for a compact structure and small size, and in turn meets the design requirements of the manipulator mechanism 20 for a compact structure and small size, as well as the design requirements of the cleaning equipment for a compact structure and small size.

[0279] As shown in Figures 44 and 45, the worm gear 25321 is provided with a first receiving groove 2537, which communicates with a first retaining groove 25361 to accommodate part of the torsion spring. The gripper is provided with a second receiving groove 2523, which communicates with a second retaining groove 25362 to accommodate part of the torsion spring. The first torsion arm of the torsion spring is accommodated in the first retaining groove 25361, the second torsion arm is accommodated in the second retaining groove 25362, and the other part of the torsion arm is accommodated in the receiving space formed by the first receiving groove 2537 and the second receiving groove 2523. This allows the torsion arm to be accommodated relatively compactly in the receiving space defined by the worm gear 25321 and the gripper, and to be movably connected to the worm gear 25321 and the gripper. The structure is simple and can meet the design requirements of the robot arm 25 for a compact structure and small size.

[0280] Specifically, the limiting structure is located between the first slot 25361 and the second slot 25362; the worm wheel 25321 has teeth that mesh with the worm 25322 in the circumferential direction of the portion away from the first slot 25361 and the limiting structure. That is, the teeth that mesh with the worm 25322 are not arranged on the entire circumference of the worm wheel 25321. Instead, the teeth that mesh with the worm 25322, the limiting structure connected to the gripper and the elastic element 2534, and the first slot 25361 are distributed at different positions in the circumferential direction of the worm wheel 25321. This allows the first slot 25361, the limiting structure, and the teeth to be arranged in a combined manner. Compared with the teeth being arranged on the entire circumference of the worm wheel 25321, this arrangement is beneficial to improving the overall strength of the worm wheel 25321 and thus improving its service life.

[0281] The limiting groove 25351 of the limiting structure is formed on the worm gear 25321, and the positioning protrusion 25352 is located on the gripper. A portion of the worm gear 25321 is provided with teeth in the circumferential direction. On the portion of the worm gear 25321 away from the teeth, a first slot 25361 and a limiting groove 25351 are formed on the surface opposite to the gripper to ensure that the first slot 25361 can reliably connect with the elastic member 2534 and the limiting groove 25351 can reliably cooperate with the positioning protrusion 25352 on the gripper.

[0282] Specifically, as shown in Figure 44, the robotic arm 25 also includes a switch 2572 and a position switch 2571. The switch 2572 is used to change the interaction state with the position switch 2571 when the gripper is in the limit position, so that the position switch 2571 sends a position signal.

[0283] The extreme position of the grippers can be understood as the extreme position where the actuator 2531 drives the two grippers away from each other through the transmission mechanism 2532. At the extreme position, the opening angle between the two grippers can be less than or equal to 180°. For example, at the extreme position, the included angle between the two grippers can be 150°, 170°, 180°, or other angles. Of course, the opening angle between the two grippers at the extreme position can also be greater than 180°, and this disclosure does not impose any restrictions on this.

[0284] When the grippers are at their limit positions, if the actuator 2531 drives the two grippers to continue moving away from each other via the transmission mechanism 2532, there is a possibility that the grippers may collide with and be damaged by other components of the robot arm 25. By setting up a switch 2572 and a position switch 2571, when the grippers are at their limit positions, the switch 2572 changes its interaction with the position switch 2571, causing the position switch 2571 to send a position signal. The actuator 2531 stops rotating according to the position signal from the position switch 2571. This avoids the problem of the grippers in their limit positions continuing to move away from each other and colliding with other components of the robot arm 25, thus improving the service life of the grippers and the overall reliability of the robot arm 25.

[0285] Among them, the position switch 2571 can be a photoelectric switch, a mechanical switch, or other testing mechanism that meets the requirements.

[0286] The operating states of the switch element 2572 and the position switch 2571 can include contact and non-contact, obstruction and non-obstruction, etc. For example, when the position switch 2571 is a mechanical switch, the operating states of the switch element 2572 and the position switch 2571 can be contact and non-contact. When the position switch 2571 is not a photoelectric switch, the operating states of the switch element 2572 and the position switch 2571 can be obstruction and non-obstruction.

[0287] Specifically, one of the position switch 2571 and the switch element 2572 is fixed relative to the housing 256, and the other is linked to the gripper at least in the limit position. This ensures that when the gripper is in the limit position, it drives the switch element 2572 to change the operating state of the switch element 2572 and the position switch 2571, so that the position switch 2571 sends a position signal.

[0288] Alternatively, the position switch 2571 may be fixed relative to the housing 256, and the switch element 2572 may be linked at least with the gripper in the extreme position; or the switch element 2572 may be fixed relative to the housing 256, and the position switch 2571 may be linked at least with the gripper in the extreme position.

[0289] In this configuration, one of the position switch 2571 and the switch element 2572 is fixed relative to the housing 256. Specifically, one of the position switch 2571 and the switch element 2572 is connected to and fixed to the housing 256, or one of the position switch 2571 and the switch element 2572 is connected to the driver 2531 and the transmission mechanism 2532, which are fixed relative to the housing 256, thus achieving fixation relative to the housing 256. The other of the position switch 2571 and the switch element 2572 is at least linked to the gripper in its extreme position. This can be achieved by the gripper in its extreme position driving the other of the position switch 2571 and the switch element 2572 to change the operating state of the switch element 2572 and the position switch 2571; or, the movement of the gripper can drive the other of the position switch 2571 and the switch element 2572 to change the operating state of the switch element 2572 and the position switch 2571 when in the extreme position.

[0290] The position switch 2571 is fixed to the housing 256. The switch component 2572 includes a rotating part 25720 rotatably connected to the housing 256, and a first leg 25721 and a second leg 25722 spaced apart around the rotating part 25720. The first leg 25721 is in contact with or near the position switch 2571, and the second leg 25722 faces the gripper. When the gripper rotates to its limit position, it pushes the second leg 25722 to rotate, thereby causing the first leg 25721 to press the position switch 2571. The position switch 2571 can be connected to the housing 256 by bolts, snap-fit, adhesive, or other means. The position switch 2571 is fixed inside the housing 256 to protect it, extend its service life, and improve the overall reliability of the robot arm 25.

[0291] In this configuration, the first leg 25721 of the switch element 2572 faces the position switch 2571, meaning the first leg 25721 is in contact with or near the position switch 2571. In the initial or free state, i.e., when the switch element 2572 is not subjected to external force (i.e., the gripper has not reached its limit position), the first leg 25721 will not trigger the position switch 2571. At this time, the first leg 25721 may be in contact with the position switch 2571, or it may be located near the position switch 2571 and separated from it.

[0292] The second leg 25722 faces the gripper. As the gripper rotates to its limit position, it pushes the second leg 25722 to rotate, thereby causing the first leg 25721 to rotate and press the position switch 2571. Through the linkage between the gripper rotating to the limit position and the second leg 25722, the first leg 25721 and the position switch 2571 are switched from a contact or separation state to a pressed state, thereby changing the working state of the switch 2572 and the position switch 2571, triggering the position switch 2571 to act, and causing the position switch 2571 to send an on signal.

[0293] As shown in Figure 46, a mounting shaft 2574 may be provided on the housing 256, and the rotating part 25720 of the switch 2572 is a collar. The first support 25721 and the second support 25722 are spaced apart on the periphery of the collar, and the collar is sleeved on the mounting shaft 2574.

[0294] Specifically, the gripper is equipped with a pushing structure, which pushes the second leg 25722 to rotate as the gripper rotates to its limit position.

[0295] As shown in Figure 43, the pushing structure includes a groove 2524 disposed on the periphery of the gripping arm near the position switch 2571. A second leg 25722 extends into the groove 2524. During the rotation of the gripping arm to its limit position, the groove wall of the groove 2524 is configured to abut against the second leg 25722, thereby pushing the second leg 25722 to rotate. When the gripper of the robotic arm 25 rotates from the gripping state to the open state, and during its rotation towards the open limit position, the groove wall of the groove 2524 first abuts against the second leg 25722, then pushes the second leg 25722 to rotate, thereby causing the first leg 25721 to rotate. When the gripper opens to its limit position, the second leg 25722 drives the first leg 25721 to rotate, causing the first leg 25721 to press the position switch 2571, and causing the position switch 2571 to send an engagement signal. By opening a groove 2524 on the gripper, the gripper's own structure is improved, and the action part that abuts against the second foot 25722 is set up, which simplifies the structure and helps to reduce manufacturing costs. At the same time, it makes the structure of the switch 2572 and the gripper compact, which can meet the design requirements of the robot 25 to be compact and small in size, and thus meet the design requirements of the robot arm mechanism 20 to be compact and small in size.

[0296] Specifically, as shown in Figure 46, an elastic member 2573 is provided between the switch 2572 and the housing 256. The elastic member 2573 is configured to apply a force to the rotating part 25720 in the opposite direction to the pushing force applied by the gripper. That is, the elastic member 2573 can make the first leg 25721 be located near the position switch 2571 and separated from the position switch 2571, or the first leg 25721 contact the position switch 2571 in the initial state or free state, without triggering the position switch 2571 to act and send an position signal.

[0297] One end of the elastic member 2573 is connected to the switch member 2572, and the other end of the elastic structure is connected to the housing 256, so that in the initial state, the first support 25721 of the switch member 2572 is in contact with the position switch 2571 but will not press the position switch 2571 to send a position signal. The elastic structure can be a spring, torsion spring, tension spring, or other structure, and the torsion spring can be sleeved on the mounting shaft 2574.

[0298] Specifically, a rotation limiting structure is provided between the switch 2572 and the housing 256. The rotation limiting structure is configured to limit the rotation angle of the switch 2572 toward the side opposite to the direction of the steering trigger position. When the switch 2572 is in a free state, under the force of the elastic member 2573, the switch 2572 is located at the position where the position switch 2571 is not triggered. That is, by the cooperation of the rotation limiting structure and the elastic member 2573, the first foot 25721 can be located near the position switch 2571 and separated from the position switch 2571, or the first foot 25721 can be in contact with the position switch 2571 in the initial state or free state without triggering the position switch 2571 to send a position signal.

[0299] As shown in Figure 46, the rotation limiting structure may include a third leg 25723 formed on the switch member 2572 and an abutment protrusion 2564 located on the housing 256. When the switch member 2572 is in a free state, the switch member 2572 rotates toward the side away from the position switch 2571 under the force of the elastic member 2573. At this time, the third leg 25723 cooperates with the abutment protrusion 2564 to limit the rotation angle of the switch member 2572, so that the first leg 25721 is located near the position switch 2571 and separated from the position switch 2571, or the first leg 25721 is in contact with the position switch 2571 in the initial state or free state, and will not trigger the position switch 2571 to send an position signal.

[0300] The embodiments of this disclosure also provide a cleaning system, which includes a base station and the cleaning equipment provided in the above embodiments. The base station is used to park the cleaning equipment, and the cleaning equipment can perform functions such as charging, self-cleaning, docking, sewage discharge, and water replenishment on the base station. For the beneficial effects of the cleaning system provided by this disclosure, please refer to the detailed discussion in the above-described cleaning equipment embodiments, which will not be repeated here.

[0301] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

Claims

1. A robotic arm, comprising: A housing having a receiving space; A drive component, wherein the drive component is disposed within the receiving space; Two grippers, the mounting ends of which are located within the receiving space and connected to the drive assembly, and the gripping ends of which extend outside the housing; the drive assembly is configured to drive the two grippers to move closer to or further away from each other.

2. The robotic arm according to claim 1, wherein, The drive assembly includes a driver, a transmission mechanism, and an elastic element, wherein at least one of the grippers is movably connected to the transmission mechanism via the elastic element, and the elastic element is configured to apply a force close to the other gripper to the connected grippers.

3. The robotic arm according to claim 2, wherein, The gripper is rotatably connected to the transmission mechanism, and a limiting structure is provided between the gripper and the transmission mechanism. The limiting structure is used to limit the rotation angle of the gripper relative to the transmission mechanism.

4. The robotic arm according to claim 3, wherein, The limiting structure is configured to restrict the movement of the gripper relative to the transmission mechanism between a first position and a second position. The gripper is configured to switch from the first position to the second position under the action of an external force, and the gripper is configured to switch from the second position to the first position under the action of the elastic restoring force of the elastic member.

5. The robotic arm according to claim 4, wherein, The transmission mechanism includes a worm and two worm wheels meshing with the worm. The worm is connected to the driver. The two worm wheels correspond to the two grippers and are distributed on both sides of the worm. The corresponding worm wheels and grippers are connected by a rotating shaft. The two ends of the elastic element are connected to the corresponding gripper and the worm gear, and the limiting structure is disposed between the corresponding gripper and the worm gear.

6. The robotic arm according to claim 5, wherein, The limiting structure includes a limiting groove and a positioning protrusion. One of the limiting groove and the positioning protrusion is disposed on the worm gear, and the other is disposed on the gripper. The positioning protrusion is located in the limiting groove and can move within the limiting groove, so that the gripper can switch between the first position and the second position relative to the worm gear.

7. The robotic arm according to claim 5, wherein, The elastic element is a torsion spring, which is located at the rotating shaft. One end of the torsion spring is connected to the worm gear, and the other end of the torsion spring is connected to the gripper.

8. The robotic arm according to claim 7, wherein, The worm gear is provided with a first slot, and the gripper is provided with a second slot; the torsion spring includes a first torsion arm and a second torsion arm located at both ends, the first torsion arm being located in the first slot, and the second torsion arm being located in the second slot.

9. The robotic arm according to claim 8, wherein, During the movement of the gripper between the first position and the second position, the angle between the first slot and the second slot is smaller than the angle between the first torsion arm and the second torsion arm when the torsion spring is in a free state.

10. The robotic arm according to claim 8, wherein, The worm gear is provided with a first receiving groove, which is connected to the first slot. The gripper is provided with a second receiving groove, which is connected to the second slot. The second receiving groove and the second slot are connected to form a receiving space, and the torsion spring is accommodated in the receiving space.

11. The robotic arm according to claim 8, wherein, In the circumferential direction of the worm gear, 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.

12. The robotic arm according to claim 2, wherein, The driver is equipped with an overcurrent self-locking device, and the transmission mechanism is equipped with a self-locking structure; when the overcurrent self-locking device is working to lock the self-locking structure, the gripper can rotate relative to the transmission mechanism within a preset angle range.

13. The robotic arm according to claim 12, wherein, The preset angle range is 7° to 10°.

14. The robotic arm according to claim 1, wherein, The robotic arm also includes: A position switch, wherein the position switch is disposed in the receiving space; A switching element is disposed in the receiving space, and the switching element is configured to change the operating state of the position switch when the gripper is in the extreme position, so that the position switch sends an position signal.

15. The robotic arm according to claim 14, wherein, One of the position switch and the switching element is fixed relative to the housing, and the other is at least linked to the gripper in the extreme position.

16. The robotic arm according to claim 15, wherein, The position switch is fixed to the housing, and the switch element is rotatably connected to the housing; The switch includes a rotating part rotatably connected to the housing and a first leg and a second leg spaced apart around the rotating part. The first leg faces the position switch, and the second leg faces the gripper. As the gripper rotates toward the limit position, it pushes the second leg to rotate, thereby causing the first leg to trigger the position switch.

17. The robotic arm according to claim 16, wherein, The gripper is provided with a pushing structure, which pushes the second leg to rotate as the gripper rotates toward the extreme position.

18. The robotic arm according to claim 17, wherein, The pushing structure includes a sliding groove on the periphery of the gripper near the position switch, the second leg extending into the sliding groove, and the groove wall of the sliding groove being configured to abut against the second leg during the rotation of the gripper to the extreme position, so as to push the second leg to rotate.

19. The robotic arm according to claim 16, wherein, The robotic arm further includes an elastic actuating element disposed between the switching element and the housing, the elastic actuating element being configured to apply a force to the rotating part in the opposite direction to the pushing force applied by the gripper.

20. The robotic arm according to claim 19, wherein, A rotation limiting structure is provided between the switch and the housing. The rotation limiting structure is configured to limit the rotation angle of the switch toward the side opposite to the direction of the steering trigger position. When the switch is in a free state, it is located in a position where the position switch action is not triggered under the force of the elastic member.

21. The robotic arm according to claim 19, wherein, The elastic element is a torsion spring.

22. A robotic arm mechanism, comprising the robotic hand as described in any one of claims 1 to 21.

23. A cleaning device, comprising: Equipment body: The robotic arm mechanism of claim 22, wherein the robotic arm mechanism is disposed on the main body of the device.

24. A cleaning system comprising: The cleaning equipment as claimed in claim 23; A base station, which is used to interface with the cleaning equipment.

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