Manipulator, robotic arm, and cleaning device

Abstract

A manipulator (100), a robotic arm (220), and a cleaning device (200). The manipulator (100) comprises: a fixed base (110), and two clamping arms (120) movably connected to the fixed base (110) and capable of being moved close to or away from each other. A detection module (130), is disposed on the fixed base (110), the detection module (130) being configured to detect environment information on a peripheral side of the clamping arms (120). The detection module (130) comprises photoelectric sensors (141, 142, 143) and an imaging apparatus (150).

Description

robotic arms, robotic hands and cleaning equipment

[0001] This application claims priority to Chinese Patent Application No. 202421843126.0, filed on July 31, 2024, entitled "Robotic Hand, Robotic Arm and Cleaning Equipment", the entire contents of which are incorporated herein by reference. Technical Field

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

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

[0004] However, the robotic arm at the end of the robotic arm is prone to colliding with obstacles such as corners of walls and table legs during the process of grasping objects, which can lead to malfunctions of the robotic arm. Summary of the Invention

[0005] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This section of the application is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0006] An embodiment of the first aspect of this application provides a robotic arm, including: a fixed base and two gripping arms movably connected to the fixed base and capable of moving closer or further apart from each other; a detection module disposed on the fixed base, the detection module being configured to detect environmental information around the gripping arms; wherein the detection module includes a photoelectric sensor and a camera device.

[0007] For example, the ends of the two clamping arms extend to the front of the mounting base and can move closer to or further away from each other in the left-right direction of the mounting base; the detection module includes a photoelectric detection assembly, which includes multiple photoelectric sensors distributed in front, on the left, and on the right of the mounting base.

[0008] For example, the range of motion of the two clamping arms is within the detection range of the photoelectric detection component; the detection range of the photoelectric detection component is equal to the union of the detection ranges of multiple photoelectric sensors.

[0009] For example, the photoelectric sensor includes a light emitting part and a light receiving part mounted on a fixed base; the photoelectric detection assembly also includes a light shield mounted on the fixed base, the light shield including a first light shield located between the light emitting part and the light receiving part of the same photoelectric sensor, and the light shield also including a second light shield located between two adjacent photoelectric sensors.

[0010] For example, the light-shielding component also includes a connecting plate that connects the first light-shielding plate and the second light-shielding plate, and the light-emitting part is housed in the light-shielding groove formed by the first light-shielding plate, the second light-shielding plate and the connecting plate.

[0011] For example, the light emitting part is configured to emit infrared light, and the front, left, and right sides of the mounting base are set as infrared light transmitting parts opposite to the photoelectric detection component.

[0012] For example, the photoelectric detection assembly includes a first photoelectric sensor located in front of the mounting base, a second photoelectric sensor located on the left side of the mounting base, and a third photoelectric sensor located on the right side of the mounting base; wherein the light emitting part and the light receiving part of the same photoelectric sensor are located on the same side of the mounting base, and the light emitting parts and the light receiving parts of the second photoelectric sensor and the third photoelectric sensor are arranged opposite to each other.

[0013] For example, the light receiving part of the first photoelectric sensor is also configured to receive infrared remote control signals.

[0014] For example, the camera device is mounted in front of the mounting base; wherein the detection range of the camera device at least partially overlaps with the detection range of the photoelectric sensor located in front of the mounting base.

[0015] For example, the camera device is located between the light emitting part and the light receiving part of the first photoelectric sensor.

[0016] An embodiment of the second aspect of this application provides a robotic arm, including: a robotic hand according to any one of the first aspects.

[0017] An embodiment of the third aspect of this application provides a cleaning device, including: a body, and the robotic arm described in the second aspect.

[0018] The robotic arm, robotic hand, and cleaning equipment provided in this application embodiment include a robotic arm comprising a fixed base, two gripping arms, and a detection module. The two gripping arms are movably connected to the fixed base and can move closer or further apart, enabling the robotic arm to grasp or release objects. The detection module detects environmental information around the gripping arms, allowing the cleaning equipment system to perceive obstacle information around the gripping arms. This facilitates timely and accurate adjustment of the robotic arm's posture, ensuring accurate object grasping and release while reducing the possibility of collisions between the gripping arms and obstacles such as corners or table legs. The detection module, including photoelectric sensors and a camera, combines the advantages of both, improving detection accuracy and enabling precise detection of obstacles of different colors. This enhances the comprehensiveness and accuracy of obstacle detection, further reducing the possibility of collisions between the gripping arms and obstacles such as corners or table legs, extending the robotic arm's lifespan, and minimizing the manufacturing cost of the detection module to meet the low-cost design requirements of the cleaning equipment, making it suitable for widespread application.

[0019] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0020] The following figures are included as part of the embodiments of this application to help understand the application. The figures illustrate embodiments of the application and their descriptions, serving to explain the principles of the application.

[0021] In the attached image:

[0022] Figure 1 shows a three-dimensional structural schematic diagram of the robotic arm of this application from one perspective;

[0023] Figure 2 shows a schematic diagram of a portion of the robotic arm structure from one perspective;

[0024] Figure 3 shows a structural schematic diagram of the embodiment shown in Figure 2 from another perspective;

[0025] Figure 4 shows a schematic diagram of the detection range of the photoelectric detection component in the embodiment shown in Figure 3;

[0026] Figure 5 shows a structural schematic diagram from one perspective of another part of the structure of the robotic arm of this application;

[0027] Figure 6 shows a structural schematic diagram of the light shield of this application from one perspective;

[0028] Figure 7 shows a structural schematic diagram of the embodiment shown in Figure 6 from another perspective;

[0029] Figure 8 shows a structural schematic diagram of the cleaning device of this application from one perspective.

[0030] Explanation of reference numerals in the attached drawings: 100 robotic arm, 110 fixed base, 111 infrared light-transmitting part, 112 base, 113 cover plate, 120 gripping arm, 130 detection module, 140 photoelectric detection assembly, 141 first photoelectric sensor, 1411 first light emitting part, 1412 first light receiving part, 142 second photoelectric sensor, 1421 second light emitting part, 1422 second light receiving part, 143 third photoelectric sensor, 1431 third light emitting part, 1432 third light receiving part, 144 light shield, 1441 first light shield plate, 1442 second light shield plate, 1443 connecting plate, 1444 light shielding groove, 1445 mounting plate, 150 camera device, 200 cleaning equipment, 210 main body, 220 robotic arm. Detailed Implementation

[0031] The following description provides numerous specific details to offer a more thorough understanding of the technical solutions provided in this application. However, it will be apparent to those skilled in the art that the technical solutions provided in this application can be implemented without one or more of these details.

[0032] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0033] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art.

[0034] As shown in Figures 1 to 8, embodiments of the first aspect of this application provide a robotic arm 100, embodiments of the second aspect of this application provide a robotic arm 220, and embodiments of the third aspect of this application provide a cleaning device 200. The robotic arm 100 is applied to the robotic arm 220, and the robotic arm 220 is applied to the cleaning device 200. The cleaning device 200 can be a sweeping robot, a sweeping and mopping robot, or other cleaning robots that meet the requirements.

[0035] As shown in Figure 8, the cleaning device 200 includes, but is not limited to, a main body 210, a drive system, and a cleaning system. These systems coordinate with each other, enabling the cleaning device 200 to move autonomously to perform its cleaning function. The functional components constituting these systems are integrated within the main body 210. It can be understood that the cleaning device 200 can be a self-moving cleaning device, which is a device that automatically performs cleaning operations in a designated area without user intervention.

[0036] Furthermore, as shown in Figure 8, the robotic arm 220 is applied to the cleaning equipment 200. For example, the robotic arm 220 is connected to the main body 210 of the cleaning equipment 200 so as to use the robotic hand 100 at the end of the robotic arm 220 to grasp or move obstacles, objects and garbage near the cleaning equipment 200, so as to better realize the autonomous cleaning function.

[0037] As shown in Figures 1 and 2, the robotic arm 100 provided in the first aspect embodiment of this application includes: a fixed base 110 and two gripping arms 120 movably connected to the fixed base 110 and capable of moving closer or further apart from each other; a detection module 130 is disposed on the fixed base 110 and is used to detect environmental information around the gripping arms 120; wherein, the detection module 130 includes a photoelectric sensor and a camera device 150.

[0038] The robotic arm 100 provided in this application includes a fixed base 110, two gripping arms 120, and a detection module 130. The two gripping arms 120 are movably connected to the fixed base 110 and can move closer or further apart, enabling the robotic arm 100 to grasp or release objects. The detection module 130 detects environmental information around the gripping arms 120, allowing the cleaning equipment 200 system to perceive the environmental information around the gripping arms 120, i.e., to perceive obstacle information around the gripping arms 120. This allows the system to adjust the posture of the robotic arm 100 in a timely and accurate manner, ensuring that the robotic arm 100 can accurately grasp or release objects, reducing the possibility of collisions between the gripping arms 120 and obstacles such as corners and table legs, reducing the failure rate of the robotic arm 220, extending the service life of the robotic arm 220, improving the overall reliability of the cleaning equipment 200, and increasing user satisfaction.

[0039] The detection module 130 includes a photoelectric sensor and a camera device 150. The advantages of the photoelectric sensor include long detection distance, fewer restrictions on the object being measured, high sensitivity, fast response speed, and low cost, enabling rapid distance measurement of various obstacles at long distances. However, the detection accuracy of the photoelectric sensor is significantly affected by the color of the object being measured. Specifically, the photoelectric sensor has higher accuracy for light-colored objects such as white, but lower accuracy for dark-colored objects such as black. The advantages of the camera device 150 include less impact on detection accuracy due to the color of the object being measured, enabling accurate distance measurement of obstacles of different colors, including dark-colored objects such as black. However, the camera device 150 is more expensive.

[0040] Therefore, by including a photoelectric sensor and a camera device 150 in the detection module 130, the advantages of the photoelectric sensor and the camera device 150 can be combined to improve detection accuracy. It can accurately detect obstacles of different colors, improve the comprehensiveness and accuracy of obstacle detection, further reduce the possibility of the gripping arm 120 colliding with obstacles such as corners and table legs, extend the service life of the robotic arm 220, and minimize the manufacturing cost of the detection module 130 to meet the low-cost design requirements of the cleaning equipment 200, making it suitable for widespread application.

[0041] As shown in Figure 4, in some possible embodiments provided in this application, the ends of the two clamping arms 120 extend to the front of the fixing base 110 and can move closer to or further away from each other in the left-right direction of the fixing base 110. That is, the set of movement trajectories of the two clamping arms 120 can include the front, left, and right sides of the fixing base 110. It is understood that, considering the size of the fixing base 110 and the extreme positions of the two clamping arms 120 when they are open, the movement trajectory of the two clamping arms 120 can include the entire front, part of the left side, and part of the right side of the fixing base 110, or the movement trajectory of the two clamping arms 120 can include the entire front, entire left side, and entire right side of the fixing base 110. The front-back, left-right directions of the fixing base 110 are shown by the arrows in Figures 1 to 5.

[0042] As shown in Figures 2, 3, and 4, the detection module 130 includes a photoelectric detection component 140. The photoelectric detection component 140 includes multiple photoelectric sensors distributed in front of, to the left of, and to the right of the fixed base 110. Thus, by utilizing multiple photoelectric sensors, distance measurement of obstacles in front of, to the left of, and to the right of the fixed base 110 can be achieved. This allows for accurate distance measurement of obstacles around the gripper arm 120 whenever it moves to the front, left, or right of the fixed base 110. Compared to related technologies where photoelectric sensors only detect obstacles in front of the fixed base 110, this increases the detection range, enabling more comprehensive detection of obstacles within the movement range of the gripper arm 120. This significantly reduces the possibility of the gripper arm 120 colliding with obstacles such as corners and table legs, extends the service life of the robotic arm 220, and improves the overall reliability of the cleaning equipment 200.

[0043] Furthermore, the number of photoelectric sensors in the photoelectric detection assembly 140 can be two, three, four, five, or other numbers. Specifically, one, two, three, or other numbers of photoelectric sensors can be installed in any direction—front, left, or right—of the mounting base 110.

[0044] The photoelectric sensors include infrared detectors and time-of-flight detectors. It can be understood that the photoelectric sensors in the photoelectric detection assembly 140 can all be infrared detectors; or all be time-of-flight detectors; or may include both infrared detectors and time-of-flight detectors.

[0045] As shown in Figure 4, in some possible embodiments provided in this application, the movement range of the two clamping arms 120 is within the detection range of the photoelectric detection component 140. Therefore, when the two clamping arms 120 are at the extreme positions on the left and right sides of the fixed base 110, such as when the two clamping arms 120 are at the extreme position of the open position, the clamping arms 120 are still within the detection range of the photoelectric detection component 140. This enables the detection of obstacles around the clamping arms 120, avoiding the situation in related technologies where the photoelectric sensor only detects obstacles in front of the fixed base and cannot detect obstacles around the clamping arms at the extreme position of the open position, which could lead to collisions between the clamping arms and obstacles. In other words, in this embodiment, by using multiple photoelectric sensors, obstacles within the movement range of the two clamping arms 120 can be detected more comprehensively, further reducing the possibility of the clamping arms 120 colliding with obstacles such as corners of walls and table legs.

[0046] The movement range of the two clamping arms 120 is within the detection range of the photoelectric detection component 140. This can be either the movement range of the two clamping arms 120 being less than the detection range of the photoelectric detection component 140, or the movement range of the two clamping arms 120 being equal to the detection range of the photoelectric detection component 140.

[0047] As shown in Figure 4, in the above embodiment, the detection range of the photoelectric detection component 140 is equal to the union of the detection ranges of multiple photoelectric sensors. The detection range of each photoelectric sensor can be understood as the detection angle of the photoelectric sensor along the movement trajectory of the clamping arm 120. It is understood that the detection ranges of multiple photoelectric sensors are continuous. Therefore, the union of the detection ranges of multiple photoelectric sensors is equal to the detection range of the photoelectric detection component 140. By continuously setting the detection ranges of multiple sensors, the occurrence of missed detection of obstacles within the movement range of the clamping arm 120 can be reduced, further improving the comprehensiveness and accuracy of the detection.

[0048] The detection ranges of two adjacent photoelectric sensors can be set adjacently, meaning that the detection ranges of two adjacent photoelectric sensors do not intersect but are continuous; or, the detection ranges of two adjacent photoelectric sensors can intersect, thus ensuring that the detection ranges of two adjacent photoelectric sensors are continuous.

[0049] As shown in Figures 5, 6, and 7, in some possible embodiments provided in this application, the photoelectric sensor includes a light emitting part and a light receiving part mounted on the fixing base 110; the photoelectric detection assembly 140 also includes a light shield 144 mounted on the fixing base 110, the light shield 144 includes a first light shield 1441 located between the light emitting part and the light receiving part of the same photoelectric sensor, and the light shield 144 also includes a second light shield 1442 located between two adjacent photoelectric sensors.

[0050] The light emitting unit can emit light signals, which can be infrared light or other detection light. Correspondingly, the light receiving unit is used to receive the reflected light from the obstacle after the light emitting unit emits the signal light, thereby realizing the distance measurement of the obstacle.

[0051] It is understandable that the light-shielding component 144 can be a one-piece structure, comprising multiple integrally formed plates, or it can be a split structure, consisting of multiple plates enclosed together. Compared to a split structure, a one-piece light-shielding component 144 reduces the gaps between the plates, resulting in a better light-shielding effect.

[0052] As shown in Figures 6 and 7, the first light-shielding plate 1441 of the light-shielding member 144 is located between the light-emitting part and the light-receiving part of the same photoelectric sensor. Therefore, the first light-shielding plate 1441 isolates the light-emitting part and the light-receiving part of the same photoelectric sensor, preventing the signal light emitted by the light-emitting part from being received by its own light-receiving part without reflection. This reduces interference between the light emitted by the light-emitting part and the light-receiving part, ensuring the accuracy and reliability of light emission and reception, and improving ranging accuracy. In other words, the first light-shielding plate 1441 is used to isolate internal interference of the photoelectric sensor; specifically, it isolates interference between the light-emitting part and the light-receiving part of the photoelectric sensor's own structure.

[0053] As shown in Figures 6 and 7, the second light-shielding plate 1442 of the light-shielding member 144 is located between two adjacent photoelectric sensors. Therefore, the second light-shielding plate 1442 isolates the two adjacent photoelectric sensors, preventing the signal light emitted by the light emitting unit from being received by the light receiving unit of other photoelectric sensors without reflection. This reduces mutual interference between the emitted and received light of different photoelectric sensors, improves the accuracy and reliability of light emission and reception of each photoelectric sensor, enhances the ranging accuracy of each photoelectric sensor, and improves the overall detection accuracy of the photoelectric detection assembly 140. In other words, the second light-shielding plate 1442 is used to isolate external interference from the photoelectric sensors, specifically to isolate interference between adjacent photoelectric sensors.

[0054] As shown in Figures 6 and 7, in some possible embodiments provided in this application, the light-shielding member 144 further includes a connecting plate 1443 connecting the first light-shielding plate 1441 and the second light-shielding plate 1442. The light emitting part is housed in the light-shielding groove 1444 formed by the first light-shielding plate 1441, the second light-shielding plate 1442 and the connecting plate 1443. Thus, the light emitting part can be isolated in the light-shielding groove 1444 more comprehensively, so that the signal light emitted by the light emitting part will not be received by its own or other photoelectric sensor's light receiving part without being reflected, thereby improving the accuracy and reliability of light emission and light reception of each photoelectric sensor and improving the distance measurement accuracy of the photoelectric sensor.

[0055] Furthermore, the light-shielding component 144 also includes a mounting plate 1445, which connects the first light-shielding plate 1441 and the second light-shielding plate 1442. This allows the multiple first light-shielding plates 1441, multiple second light-shielding plates 1442, and the mounting plate 1445 to form an integral frame, thereby improving the overall strength of the light-shielding component 144. Simultaneously, the mounting plate 1445 is provided with a mounting portion, which connects to the fixing base 110. This allows the entire light-shielding component 1444 to be mounted on the fixing base 110. The first light-shielding plate 1441 can be arranged between the light-emitting and light-receiving portions of the same photoelectric sensor, and the second light-shielding plate 1442 can be arranged between two adjacent photoelectric sensors. This simplifies operation and facilitates installation. Specifically, as shown in Figures 7 and 8, the first light-shielding plate 1441, the second light-shielding plate 1442, the connecting plate 1443, and the mounting plate 1445 are integrally formed, making the light-shielding component 144 a single, integrated structure.

[0056] Specifically, the light-shielding component 144 is detachably connected to the mounting base 110, facilitating its removal for maintenance or replacement. Removal also exposes the photoelectric detection component 140, allowing for easy maintenance or replacement. Specifically, the light-shielding component 144 and the mounting base 110 can be detachably connected using at least one of the following methods: bolts, snap-fit ​​structures, plug-in structures, tenon and mortise structures, or magnetic structures. For example, if the mounting plate 1445 has mounting holes, bolts can pass through these holes and connect to the mounting base 110, thus securing the light-shielding component to the mounting base 110.

[0057] As shown in Figures 1 and 2, in some possible embodiments provided in this application, the light emitting part is configured to emit infrared light, and the front, left, and right sides of the fixing base 110 are provided with infrared light transmitting parts 111 opposite to the photoelectric detection component 140.

[0058] The infrared light-transmitting part 111 allows the infrared light emitted by the light emitting part to penetrate it smoothly, comprehensively, and freely. This improves the comprehensiveness and effectiveness of the infrared light emitted by the light emitting part and the reflected light received by the light receiving part after reflection from obstacles, thereby enhancing detection accuracy. Simultaneously, the infrared light-transmitting part 111 provides excellent protection for the light emitting and receiving parts, preventing them from being directly exposed to the external environment and easily damaged by collisions with foreign objects, or from being contaminated by impurities, thus improving the lifespan and detection accuracy of the photodetector.

[0059] Furthermore, the infrared light-transmitting part 111 is also equipped with a filtering function. For example, the infrared light-transmitting part 111 can allow infrared light to pass through, but it has a certain filtering and blocking effect on other stray light. For example, the infrared light-transmitting part 111 filters visible light and prevents visible light from passing through. Thus, the interference of stray light on infrared light can be reduced and the ranging accuracy can be improved.

[0060] Further, as shown in Figures 1 and 2, the mounting base 110 includes a base 112, a cover plate 113, and an infrared light-transmitting part 111. The base 112, cover plate 113, and infrared light-transmitting part together form a receiving cavity for accommodating the photoelectric detection component 140, wherein the light-shielding member 144 is also located within the receiving cavity. Specifically, the photoelectric detection component 140 can be mounted on the base 112, and then the light-shielding member 144 is connected to the base 112 and provides good light-shielding for the photoelectric detection component 140. The infrared light-transmitting part 111 is connected to the base 112 and faces the photoelectric detection component 140 around the mounting base 110. Then, the cover plate 113 is connected to the base 112 and the infrared light-transmitting part 111, thereby realizing the assembly of the mounting base 110.

[0061] The infrared light-transmitting part 111 and the base 112 can be connected by at least one of the following: bolts, snap-fit ​​structure, plug-in structure, tenon and mortise structure, and adhesive. The base 112 and the cover plate 113 can be detachably connected by at least one of the following: bolts, snap-fit ​​structure, plug-in structure, and tenon and mortise structure, so as to facilitate the maintenance and replacement of the infrared light-transmitting part 111, the photoelectric detection component 140, and the light-shielding part 144.

[0062] As shown in Figures 2, 3, and 4, in some possible embodiments provided in this application, the photoelectric detection component 140 includes a first photoelectric sensor 141 located in front of the fixed base 110, a second photoelectric sensor 142 located on the left side of the fixed base 110, and a third photoelectric sensor 143 located on the right side of the fixed base 110. Thus, by detecting environmental information in front of the fixed base 110 through the first photoelectric sensor 141, detecting environmental information on the left side of the fixed base 110 through the second photoelectric sensor 142, and detecting environmental information on the right side of the fixed base 110 through the third photoelectric sensor 143, it is possible to detect environmental information in front of, to the left of, and to the right of the fixed base 110, thereby realizing the detection of obstacles within the range of motion of the clamping arm 120 and ensuring the comprehensiveness of the detection.

[0063] In this design, the light emitting and receiving parts of the same photoelectric sensor are located on the same side of the mounting base 110. This improves the comprehensiveness and effectiveness of the light receiving part receiving reflected light from obstacles emitted by the opposing light emitting part, reduces light energy loss, increases light energy utilization, and improves the detection accuracy of the photoelectric sensor. Specifically, the first light emitting part 1411 and the first light receiving part 1412 of the first photoelectric sensor 141 are located in front of the mounting base 110; the second light emitting part 1421 and the second light receiving part 1422 of the second photoelectric sensor 142 are located on the left side of the mounting base 110; and the third light emitting part 1431 and the third light receiving part 1432 of the third photoelectric sensor 143 are located on the right side of the mounting base 110.

[0064] As shown in Figure 3, since the two clamping arms 120 typically have the same range of motion on the left and right sides of the fixed base 110, arranging the light emitting and receiving parts of the second photoelectric sensor 142 and the third photoelectric sensor 143 opposite each other improves the consistency of their detection ranges on the left and right sides of the fixed base 110, simplifying the design process. For example, during the design process, when the detection range of the second photoelectric sensor 142 is greater than or equal to the range of motion of the clamping arm 120 on the left side of the fixed base 110, arranging the third photoelectric sensor 143 opposite to the second photoelectric sensor 142 ensures that the detection range of the third photoelectric sensor 143 is greater than or equal to the range of motion of the clamping arm 120 on the right side of the fixed base 110. This eliminates the need to design and confirm the detection range of the third photoelectric sensor, thus simplifying the design process.

[0065] Further, as shown in Figure 4, the detection range of the first photoelectric sensor 141 is shown in region A, the detection range of the second photoelectric sensor 142 is shown in region B, and the detection range of the third photoelectric sensor 143 is shown in region C. The detection range of the first photoelectric sensor 141 is adjacent to the detection ranges of the second photoelectric sensor 142 and the third photoelectric sensor 143, that is, A and B, A and C have no overlapping areas and are continuously arranged. The union of the detection ranges of the first photoelectric sensor 141, the second photoelectric sensor 142, and the third photoelectric sensor 143 is equal to or greater than the union of the movement ranges of the two robotic arms 220. In other words, the movement range of the two robotic arms 220 is within the area enclosed by A, B, and C.

[0066] In some possible embodiments provided in this application, the light receiving part of the first photoelectric sensor 141 located in front of the fixed base 110 is also configured to receive infrared remote control signals. That is, the first light receiving part 1412 of the first photoelectric sensor 141 cooperates with the component that transmits infrared remote control signals to realize the function of infrared remote control. Thus, the function of the first light receiving part 1412 is diversified, the setting of the light receiving part as the infrared remote control function is simplified, the structure is simplified, and the design requirements of the robot arm 100 for compact structure and small size can be met.

[0067] The infrared remote control signal can be transmitted via an electronic device, such as a mobile device like a mobile phone, tablet, or remote control. Specifically, the electronic device transmits the infrared remote control signal, and the first light receiver 1412 of the first photoelectric sensor 141 receives the infrared remote control signal and transmits the instruction to the control system of the cleaning equipment 200. The control system can adjust the state of the robotic arm 100 according to the instruction, such as controlling the robotic arm 100 to open or close.

[0068] As shown in Figures 1, 2, 3, and 5, in some possible embodiments provided in this application, the detection module 130 includes a camera device 150, which is installed in front of the fixed base 110. By acquiring images, the camera device 150 can obtain environmental information in front of the fixed base 110, thereby determining obstacles in front of the fixed base 110. This reduces the possibility of the robotic arm 220 located in front of the fixed base 110 colliding with obstacles such as corners and table legs, reduces the failure rate of the robotic arm 220, and extends the service life of the robotic arm 220.

[0069] The detection range of the camera device 150 at least partially overlaps with the detection range of the photoelectric sensor located in front of the fixed base 110. Therefore, dark-colored obstacles such as black objects that cannot be accurately identified by the photoelectric sensor located in front of the fixed base 110 can be accurately identified by the camera device 150, thereby ensuring the comprehensiveness and accuracy of obstacle identification in front of the fixed base 110. This can further reduce the possibility of the gripping arm 120 colliding with obstacles such as corners and table legs, and extend the service life of the robotic arm 220.

[0070] Specifically, the detection range of the camera device 150 can be equal to the detection range of the photoelectric sensor in front of the fixed base 110, or the detection range of the camera device 150 can be greater than or less than the detection range of the photoelectric sensor in front of the fixed base 110. That is, the detection range of the camera device 150 can be equal to, greater than, or less than the detection range of the first photoelectric sensor 141.

[0071] As shown in Figures 2 and 3, in some possible embodiments provided in this application, the camera device 150 is located between the light emitting part and the light receiving part of the first photoelectric sensor 141 of the photoelectric detection assembly 140. Thus, the camera device 150 can meet the design requirements of the robot arm 100 to be compact and small in size without interfering with the light emission and light reception of the first photoelectric sensor 141, thereby meeting the design requirements of the cleaning equipment 200 to be compact and small in size, and improving the aesthetics of the robot arm 100.

[0072] Specifically, the camera device 150 can be a monocular camera or a binocular camera.

[0073] As shown in Figure 8, an embodiment of the second aspect of this application provides a robotic arm 220, including a robotic hand 100 as described in any of the first aspects. Since the robotic arm 220 includes the robotic hand 100 as described above, it has all the technical effects of the aforementioned robotic hand 100, which will not be repeated here.

[0074] Furthermore, the robotic arm 220 also includes a connecting seat and a connecting arm. The connecting seat is connected to the main body 210 of the cleaning device 200, and the connecting arm connects the connecting seat and the robotic arm 100. The connecting arm is configured to be able to flip, rotate, move horizontally, or move vertically relative to the connecting seat, or at least one or a combination thereof. Thus, the robotic arm 100 can move flexibly relative to the connecting seat in a variety of ways, so that the robotic arm 100 can flexibly and accurately grasp objects near the cleaning device 200.

[0075] As shown in Figure 8, an embodiment of the third aspect of this application provides a cleaning device 200, including: a main body 210, and a robotic arm 220 provided in any of the foregoing embodiments. The robotic arm 220 is connected to the main body 210. Since the cleaning device 200 includes the robotic arm 220 of any of the foregoing embodiments, it has all the technical effects of the aforementioned robotic arm 220, which will not be described in detail here.

[0076] The robotic arm 220 is connected to the main body 210, so that the robotic arm can move with the main body 210 and move to the waiting position to realize the grasping and moving of objects.

[0077] Furthermore, the main body 210 is provided with a receiving cavity, and the connecting seat of the robotic arm 220 is connected to the receiving cavity. The robotic arm 220 can be stored inside the receiving cavity or extended outside the receiving cavity. Thus, depending on the need for grasping objects, the robotic arm 220 can be extended outside the receiving cavity or stored inside the receiving cavity. Since the receiving cavity is located on the equipment body, the structure of the main body 210 can be fully utilized to realize the storage of the robotic arm 220. The structure is simple and can meet the design requirements of compact structure and small size of cleaning equipment 200. At the same time, when there is no need to grasp objects, storing the robotic arm 220 inside the receiving cavity can reduce the damage to the robotic arm 220 caused by external objects colliding with it, thereby improving the service life of the robotic arm 220.

[0078] This application has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this application to the scope of the described embodiments. Furthermore, those skilled in the art will understand that this application is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of this application, all of which fall within the scope of protection claimed in this application. The scope of protection of this application is defined by the appended claims and their equivalents.

Claims

1. A robotic arm, wherein, include: A fixed base, and two clamping arms movably connected to the fixed base and capable of moving closer to or further away from each other; A detection module is mounted on the fixed base, and the detection module is configured to detect environmental information around the clamping arm; The detection module includes a photoelectric sensor and a camera device.

2. The robotic arm according to claim 1, wherein, The ends of the two clamping arms extend to the front of the fixing base and can move closer to or further away from each other in the left-right direction of the fixing base; The detection module includes a photoelectric detection component, which includes multiple photoelectric sensors distributed in front, on the left, and on the right of the fixed base.

3. The robotic arm according to claim 2, wherein, The range of motion of the two clamping arms is within the detection range of the photoelectric detection component; The detection range of the photoelectric detection component is equal to the union of the detection ranges of the plurality of photoelectric sensors.

4. The robotic arm according to claim 2, wherein, The photoelectric sensor includes a light emitting part and a light receiving part mounted on the fixed base; The photoelectric detection assembly further includes a light-shielding member mounted on the fixed base. The light-shielding member includes a first light-shielding plate located between the light emitting part and the light receiving part of the same photoelectric sensor. The light-shielding member also includes a second light-shielding plate located between two adjacent photoelectric sensors.

5. The robotic arm according to claim 4, wherein, The light-shielding component further includes a connecting plate connecting the first light-shielding plate and the second light-shielding plate, and the light-emitting part is accommodated in the light-shielding groove formed by the first light-shielding plate, the second light-shielding plate and the connecting plate.

6. The robotic arm according to claim 4, wherein, The light emitting part is configured to emit infrared light, and the front, left, and right sides of the fixing base are set as infrared light transmitting parts opposite to the photoelectric detection component.

7. The robotic arm according to claim 4, wherein, The photoelectric detection assembly includes a first photoelectric sensor located in front of the fixed base, a second photoelectric sensor located on the left side of the fixed base, and a third photoelectric sensor located on the right side of the fixed base; In this configuration, the light emitting part and the light receiving part of the same photoelectric sensor are located on the same side of the mounting base, and the light emitting part and the light receiving part of the second photoelectric sensor and the third photoelectric sensor are arranged opposite to each other.

8. The robotic arm according to claim 7, wherein, The light receiving unit of the first photoelectric sensor is also configured to receive infrared remote control signals.

9. The robotic arm according to claim 7, wherein, The camera device is mounted in front of the fixed base; The detection range of the camera device at least partially overlaps with the detection range of the photoelectric sensor located in front of the fixed base.

10. The robotic arm according to claim 9, wherein, The camera device is located between the light emitting part and the light receiving part of the first photoelectric sensor.

11. A robotic arm, wherein, include: The robotic arm as described in any one of claims 1 to 10.

12. A cleaning device, wherein, include: The main body, and the robotic arm as described in claim 11.

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