Mechanical arm and cleaning apparatus

Abstract

A mechanical arm (100) and a cleaning apparatus. The mechanical arm comprises a first mechanical joint (111) and two connection arms (120) connected by means of the first mechanical joint, wherein the first mechanical joint is configured to fold or unfold the two connection arms relative to each other, at least one of the two connection arms is provided with an inductive film (130), and the inductive film is configured to send an electrical signal upon contact.

Description

Robotic arm and cleaning device

[0001] The present application claims priority to the Chinese patent application No. 202422193211.3, filed on September 6, 2024, and entitled "Robotic arm and cleaning device", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of smart home, in particular to a robotic arm and a cleaning device. BACKGROUND

[0003] With the continuous development of science and technology and the continuous improvement of people's living standards, cleaning devices such as intelligent sweeping robots have continuously entered our daily life. In order to better realize the cleaning function, the current cleaning device will add a robotic arm to realize the grabbing or moving of obstacles or garbage. Specifically, when the target object needs to be moved, the robotic arm is unfolded to perform a grabbing action, and when the target object does not need to be moved, the robotic arm is folded for storage. During the unfolding or folding process of the robotic arm, there is a possibility of being clamped to the user's hand or foreign matter, affecting the user's experience. SUMMARY

[0004] A series of simplified concepts are introduced in the utility model content part, which will be further described in detail in the specific embodiment part. This part of the application does not mean to try to define the key features and necessary technical features of the claimed technical solution, nor does it mean to try to determine the protection scope of the claimed technical solution.

[0005] In an embodiment of the first aspect of the present application, a robotic arm is provided, comprising: a first mechanical joint, and two connecting arms connected by the first mechanical joint, the first mechanical joint being configured to fold or unfold the two connecting arms relative to each other; wherein at least one of the two connecting arms is provided with an inductive film, the inductive film being configured to be contacted to send an electrical signal.

[0006] Illustratively, the inductive film is located on the side wall of the connecting arm facing the other connecting arm.

[0007] Illustratively, the inductive film is located on the side wall of the connecting arm facing and away from the other connecting arm.

[0008] Illustratively, the number of connecting arms is at least two, and the number of first mechanical joints is at least one.

[0009] Illustratively, the number of connecting arms is at least three, and the number of first mechanical joints is at least two, and the connecting arm located between the two first mechanical joints is provided with an inductive film on the side wall facing and away from the adjacent other connecting arm.

[0010] Exemplarily, the mechanical arm further comprises a fixed base and a support arm, the fixed base is connected with one connecting arm through the support arm, and the inductive film is located on one of the two connecting arms on the two sides of the first mechanical joint and close to the fixed base.

[0011] Exemplarily, the support arm is connected with one connecting arm through the first mechanical joint, the first mechanical joint is configured to make the connecting arm foldable or unfoldable relative to the support arm, and the inductive film is located on the support arm.

[0012] Exemplarily, the fixed base is connected with the support arm through the first mechanical joint, the first mechanical joint is configured to make the support arm foldable or unfoldable relative to the fixed base, and the inductive film is located on the fixed base.

[0013] Exemplarily, the mechanical arm further comprises a second mechanical joint, the fixed base is further connected with the support arm through the second mechanical joint, and the second mechanical joint is configured to make the support arm rotatable relative to the fixed base.

[0014] Exemplarily, the two connecting arms on the two sides of the first mechanical joint comprise a first arm and a second arm, a first end of the first arm is connected with a first end of the second arm through the first mechanical joint, the first mechanical joint is configured to make a second end of the first arm close to or away from a second end of the second arm, and the inductive film is located on the second arm.

[0015] Exemplarily, the first mechanical joint is a non-self-locking structure.

[0016] Exemplarily, the inductive film is detachably connected with the mechanical arm.

[0017] Exemplarily, the mechanical arm further comprises a connecting piece, the inductive film is provided with a connecting hole, and the connecting piece is connected with the connecting arm through the connecting hole.

[0018] Exemplarily, the connecting piece does not protrude from the outer surface of the inductive film away from the connecting arm.

[0019] Exemplarily, the inductive film is provided with a flange structure along the outer edge in the width direction.

[0020] Exemplarily, the mechanical arm further comprises a control device, the control device is electrically connected with the first mechanical joint and the inductive film, and the control device is configured to control the first mechanical joint to stop working according to the electric signal sent by the inductive film.

[0021] Exemplarily, the mechanical arm further comprises a control device, the control device is electrically connected with the inductive film, and the control device is configured to control the whole mechanical arm to stop working according to the electric signal sent by the inductive film.

[0022] Embodiments of the second aspect of the application provide a cleaning device, comprising a machine body and the mechanical arm of any one of the first aspect, the mechanical arm being installed on the machine body.

[0023] The mechanical arm and the cleaning device provided by the embodiments of the present application, the mechanical arm comprises a first mechanical joint and two connecting arms connected through the first mechanical joint, and the first mechanical joint can fold or unfold the two connecting arms connected thereto. By arranging an inductive film on at least one of the two connecting arms located on both sides of the first mechanical joint, when a human hand or a foreign object near the connecting arm contacts the inductive film on the connecting arm during the unfolding or folding process of the mechanical arm, the inductive film transmits an electric signal, and the mechanical arm can learn in time that the connecting arm contacts the human hand or the foreign object according to the electric signal transmitted by the inductive film, so that the mechanical arm can make corresponding actions, such as stopping moving, to reduce the possibility of the connecting arm clamping the human hand or the foreign object, continuing to collide with the human hand or the foreign object, reduce personal injury or financial loss caused during the movement of the mechanical arm, improve the safety of the use of the mechanical arm, and improve the satisfaction of the user.

[0024] The above description is only a summary of the technical solutions of the present application. In order to more clearly understand the technical means of the present application, the embodiments of the present application can be implemented according to the content of the description, and in order to make the above and other purposes, characteristics and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0025] The following drawings of the present application are hereby incorporated as part of the embodiments of the present application for understanding the present application. The embodiments of the present application and their description shown in the drawings are used to explain the principles of the present application.

[0026] In the drawings:

[0027] Fig. 1 shows a line diagram of a mechanical arm of the present application from one perspective;

[0028] Fig. 2 shows a partial structural diagram of a mechanical arm of an embodiment of the present application;

[0029] Fig. 3 shows a partial structural diagram of a mechanical arm of another embodiment of the present application;

[0030] Fig. 4 shows a structural diagram of an inductive film of the present application.

[0031] Explanation of reference signs

[0032] 100 mechanical arm, 110 mechanical joint, 111 first mechanical joint, 112 second mechanical joint, 113 first mechanical joint a, 114 first mechanical joint b, 120 connecting arm, 121 intermediate connecting arm c, 122 adjacent connecting arm a, 123 adjacent connecting arm b, 130 inductive film, 131 connecting hole, 132 flange structure, 140 fixing seat, 150 mechanical hand, 160 connecting piece, 170 supporting arm. DETAILED DESCRIPTION

[0033] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the technical solutions provided by the present application. It will be apparent, however, to one skilled in the art that the technical solutions provided by the present application can be practiced without one or more of these specific details.

[0034] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. In addition, it should also be understood that the terms "comprise" and / or "include" as used in the specification indicate the presence of the stated features, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0035] Exemplary embodiments according to the present application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in various different forms, and should not be construed as being limited to the embodiments set forth herein. It should be understood that the embodiments are provided so that the disclosure of the present application is complete and comprehensive, and the concepts of the exemplary embodiments are sufficiently conveyed to those of ordinary skill in the art.

[0036] As shown in FIGS. 1-4, embodiments of the first aspect of the present application provide a mechanical arm 100, and embodiments of the second aspect of the present application provide a cleaning device, wherein the mechanical arm 100 is used in the cleaning device, which can be a sweeping robot, a mopping robot, a sweeping and mopping integrated robot, or other cleaning device that meets the requirements.

[0037] Specifically, the cleaning device includes, but is not limited to, a machine body, a cleaning system, a driving system, etc. The above-mentioned various systems cooperate with each other to enable the cleaning device to move autonomously to achieve the cleaning function. The functional elements constituting the above-mentioned systems in the cleaning device are integrally arranged in the machine body. It can be understood that the cleaning device can be a self-moving cleaning device, wherein the self-moving cleaning device is a device that automatically performs cleaning operations in a certain area to be cleaned without user operation.

[0038] Further, the mechanical arm 100 is applied to the cleaning device, such as the mechanical arm 100 being connected to the machine body of the cleaning device, so that the mechanical arm 100 can move with the machine body to reach the target position, and then the obstacles, objects, and garbage near the cleaning device are grasped or moved through the movement of the mechanical arm 100, so as to better achieve the autonomous cleaning function. It can be understood that the above-mentioned objects can also be objects required by the user, such as a remote controller, an apple, etc., which are not listed one by one here.

[0039] As shown in FIG. 1 and FIG. 2, the embodiment of the first aspect of the present application provides a mechanical arm 100, comprising: a first mechanical joint 111, and two connecting arms 120 connected by the first mechanical joint 111, the first mechanical joint 111 being configured to fold or unfold the two connecting arms 120 relative to each other; wherein at least one of the two connecting arms 120 is provided with an inductive film 130, and the inductive film 130 is configured to be contacted to transmit an electrical signal.

[0040] The inductive film 130 can include a piezoelectric film, a capacitive film, or other thin films that can transmit an electrical signal when contacted. Specifically, the piezoelectric film is a special piezoelectric material, and its piezoelectric effect refers to the change in the distribution of electric charges inside the piezoelectric material proportional to the stress when an external mechanical stress acts on the piezoelectric material, thereby generating a voltage difference to transmit an electrical signal. Specifically, when a hand or a foreign object contacts or collides with the piezoelectric film, the piezoelectric film will transmit an electrical signal. It can be understood that when a hand or a foreign object contacts or collides with the capacitive film, the capacitive film will transmit an electrical signal.

[0041] The mechanical arm 100 provided by the embodiment of the present application comprises a first mechanical joint 111 and two connecting arms 120 connected by the first mechanical joint 111, and the first mechanical joint 111 can fold or unfold the two connecting arms 120 connected thereto relative to each other, that is, the first mechanical joint 111 can fold or unfold the two adjacent connecting arms 120 relative to each other, thereby enabling part of the mechanical arm 100 to realize folding or unfolding movement. By providing an inductive film 130 on at least one of the two connecting arms 120 located on both sides of the first mechanical joint 111, when a human hand or a foreign object near the connecting arm 120 contacts or collides with the inductive film 130 on the connecting arm 120 during the unfolding or folding process of the mechanical arm 100, the inductive film 130 will transmit an electrical signal, and the mechanical arm 100 can timely learn that the connecting arm 120 contacts or collides with the human hand or the foreign object according to the electrical signal transmitted by the inductive film 130, so as to facilitate the mechanical arm 100 to make corresponding actions according to the electrical signal, such as the control device of the mechanical arm 100 controlling the mechanical arm 100 to stop moving according to the electrical signal, so as to reduce the possibility of the connecting arm 120 clamping the human hand or the foreign object, continuing to collide with the human hand or the foreign object, reduce personal injury or financial loss caused during the movement of the mechanical arm 100, and be beneficial to improve the safety of the mechanical arm 100 and improve the satisfaction of the user.

[0042] It can be understood that the whole mechanical arm 100 can include a plurality of mechanical joints 110 and a plurality of arms, and the plurality of mechanical joints 110 can be the same kind of mechanical joint 110 or different kinds of mechanical joint 110. The first mechanical joint 111 is one of the plurality of mechanical joints 100. The plurality of arms of the mechanical arm 100 are connected in sequence through the respective mechanical joints 110, and can cause relative movement between the two adjacent arms to realize the movement of the mechanical arm 100, and then realize the unfolding and grabbing operation or the folding and storage operation of the mechanical arm 100. Among them, the connecting arm 120 is two arms located on both sides of the first mechanical joint 111 in the plurality of arms.

[0043] In some possible implementation embodiments provided in the present application, the mechanical arm 100 further includes a control device, and the control device is used to control the working state of each connecting arm 120 in the mechanical arm 100. It can be understood that the control device can control the working state of each connecting arm 120 by controlling the working state of each mechanical joint 110. The control device is electrically connected with the inductive film 130, so that when the hand or the foreign matter contacts the inductive film 130 during the movement of the mechanical arm 100, the inductive film 130 sends an electric signal, and the control device can control the mechanical arm 100 to stop moving according to the electric signal sent by the inductive film 130. Therefore, the possibility of the mechanical arm 100 continuing to move and clamping or colliding with the hand or the foreign matter can be avoided, the personal injury or financial loss caused by the mechanical arm 100 can be avoided, the safety of the mechanical arm 100 can be improved, and the user's satisfaction can be improved.

[0044] In some possible implementation embodiments provided in the present application, the control device is electrically connected with the first mechanical joint 111, and the control device can control the first mechanical joint 111 to stop working according to the electric signal sent by the inductive film 130. Since the inductive film 130 is arranged on at least one of the two connecting arms 120 connected with the first mechanical joint 111, when the inductive film 130 sends a signal, it indicates that the hand or the foreign matter is located near the two connecting arms 120 connected with the first mechanical joint 111, and it is very likely that the inductive film 130 contacts the hand or the foreign matter due to the unfolding or folding movement of the two connecting arms 120 connected with the first mechanical joint 111. Therefore, by controlling the first mechanical joint 111 to stop working according to the electric signal sent by the inductive film 130, the possibility of the first mechanical joint 111 continuing to move and causing the hand to be injured or the foreign matter to be damaged can be greatly reduced, the safety of the mechanical arm 100 can be improved, and the user's satisfaction can be improved.

[0045] In some possible implementation examples provided by the present application, the control device controls the entire mechanical arm 100 to stop working according to the electrical signal sent by the inductive film 130. Specifically, the mechanical arm 100 includes a plurality of mechanical joints 110 and a plurality of arms, the plurality of mechanical joints 110 further include joints other than the first mechanical joint 111, such as the second mechanical joint 112 mentioned later, and / or the plurality of mechanical joints 110 further include other mechanical joints 110 not mentioned in the embodiments of the present application, the control device is electrically connected with each mechanical joint 110, and the control device can control each mechanical joint 110 to stop working according to the electrical signal sent by the inductive film 130 to control the entire mechanical arm 100 to stop working. Since both ends of the arm located in the middle of the mechanical arm 100 need to be connected with the mechanical joint 110, the movement of one of the mechanical joints 110 will drive the synchronous movement of the arm and the other arm connected with the arm through another mechanical joint 110. That is, the movement of other mechanical joints 110 in the mechanical arm 100 will also have the possibility of driving the movement of the two connecting arms 120 connected with the first mechanical joint 111. Since the inductive film 130 is arranged on at least one of the two connecting arms 120 connected with the first mechanical joint 111, when the inductive film 130 sends an electrical signal, it indicates that the human hand or foreign matter is located near the two connecting arms 120 connected with the first mechanical joint 111, and it is also possible that the inductive film 130 is in contact with the human hand or foreign matter due to the movement of other mechanical joints 110 driving the movement of the two connecting arms 120 connected with the first mechanical joint 111. Therefore, by controlling each mechanical joint 110 to stop working according to the electrical signal sent by the inductive film 130, that is, by controlling the control device to control the entire mechanical arm 100 to stop moving, the possibility of other mechanical joints 110 continuing to move and causing the human hand to be injured or the foreign matter to be damaged can be reduced, which is beneficial to improve the safety of the mechanical arm 100 and improve the user's satisfaction.

[0046] In the above embodiment, the number of arms in the mechanical arm 100 is at least two, such as two, three, four, five or other number of arms, to meet the needs of different movement ranges and movement functions of the mechanical arm 100 and expand the use range of the product. Among them, the connecting arm 120 is two arms located on both sides of the first mechanical joint 111 in the plurality of arms.

[0047] In the above embodiments, the number of the first mechanical joints 111 can be at least one. For example, when the plurality of arms of the mechanical arm 100 includes two connecting arms 120, the mechanical joint 110 can include one first mechanical joint 111; when the plurality of arms of the mechanical arm 100 includes three connecting arms 120, the mechanical joint 110 can include two first mechanical joints 111 or one first mechanical joint 111; when the plurality of arms of the mechanical arm 100 includes four connecting arms 120, the mechanical joint 110 can include three first mechanical joints 111, two first mechanical joints 111, or one first mechanical joint 111. It can be understood that in the above various cases, the mechanical joint 110 can further include other mechanical joints 110, which can be the second mechanical joint 112 mentioned below or other mechanical joints 110 having other functions other than the first mechanical joint 111 and the second mechanical joint 112. That is, the two connecting arms 120 connected with the first mechanical joint 111 can be connected only through the first mechanical joint 111, or can be connected through the first mechanical joint 111 and other mechanical joints 110.

[0048] As shown in FIG. 2, in the above embodiments, the two connecting arms 120 located on both sides of the first mechanical joint 111 can be provided with the inductive film 130 at the same time, or one of the two connecting arms 120 located on both sides of the first mechanical joint 111 can be provided with the inductive film 130, and the other connecting arm 120 can not be provided with the inductive film 130. It can be understood that the simultaneous provision of the inductive film 130 on the two connecting arms 120 makes the coverage area of the inductive film 130 larger, thereby being able to increase the anti-pinch and anti-collision protection range near the mechanical arm 100, and being beneficial to further improve the safety and satisfaction of the use of the mechanical arm 100. The provision of the inductive film 130 on one connecting arm 120 can reduce the material of the inductive film 130, and be beneficial to reduce the manufacturing cost. Therefore, the inductive film 130 can be reasonably selected to be provided on one or both of the two connecting arms 120 located on both sides of the first mechanical joint 111 according to the needs of various factors such as the anti-pinch and anti-collision protection range and the manufacturing cost.

[0049] As shown in FIGS. 1 and 2, in some possible implemented embodiments provided in the present application, for the two connecting arms 120 connected through the first mechanical joint 111, the inductive film 130 can be located on the side wall of the connecting arm 120 facing the other connecting arm 120.

[0050] In the two connecting arms 120 located on both sides of the first mechanical joint 111, during the folding process of the two connecting arms 120, the side wall of one connecting arm 120 towards the other connecting arm 120 will approach each other. If a human hand or foreign matter is in the space between the side walls of the two connecting arms 120 facing each other, that is, the human hand or foreign matter is located between the side walls of the two connecting arms 120 facing each other, if the two connecting arms 120 continue to fold through the first mechanical joint 111, the human hand or foreign matter will be more likely to be clamped. Therefore, the inductive film 130 is arranged on the side wall of the connecting arm 120 towards the other connecting arm 120 connected through the same first mechanical joint 111. In this way, when the human hand or foreign matter hits the inductive film 130, the inductive film 130 will send an electric signal, and the mechanical arm 100 will make corresponding actions according to the electric signal sent by the inductive film 130, such as stopping the movement of the first mechanical joint 111 of the mechanical arm 100, or stopping the movement of the entire mechanical arm 100. Therefore, the possibility of clamping the human hand or foreign matter by the connecting arm 120 can be reduced, which plays a good anti-clamping protection role and is conducive to improving the safety of the mechanical arm 100 and enhancing the user's satisfaction.

[0051] It can be understood that in this case, the inductive film 130 can be arranged on any one of the connecting arms 120 on both sides of the first mechanical joint 111, so that the inductive film 130 is located on the side wall of the connecting arm 120 towards the other connecting arm 120, or the inductive film 130 can be arranged on both connecting arms 120 on both sides of the first mechanical joint 111, so that the inductive film 130 is located on the side wall of any one of the connecting arms 120 towards the other connecting arm 120.

[0052] As shown in FIGS. 1 and 2, in some possible implemented embodiments provided by the present application, for the two connecting arms 120 connected through the first mechanical joint 111, the inductive film 130 is located on the side wall of the connecting arm 120 towards and away from the other connecting arm 120.

[0053] That is, the connecting arms 120 located on both sides of the first mechanical joint 111 can be arranged with the inductive film 130 on the opposite two side walls of the connecting arm 120, and the two side walls where the inductive film 130 is located are the two side walls of the mechanical arm 100 towards and away from the other connecting arm 120.

[0054] In this way, the inductive film 130 located on the side wall of the connecting arm 120 towards the other connecting arm 120 can play a good anti-clamping detection role of the human hand or foreign matter during the folding process of the two connecting arms 120. The inductive film 130 located on the side wall of the connecting arm 120 away from the other connecting arm 120 can play a good anti-collision detection role of the human hand or foreign matter during the unfolding process of the two connecting arms 120.

[0055] Specifically, since the human hand or foreign object is located on the outside of the two connecting arms 120 connected by the same first mechanical joint 111, when the first mechanical joint 111 drives the two connecting arms 120 to unfold, there is a possibility of collision with the human hand or foreign object located on the outside of the two connecting arms 120, and if the human hand cannot avoid in time or the foreign object cannot move, there is a possibility of injuring the user's personal safety or damaging the foreign object. Therefore, by arranging the inductive film 130 on the side wall of the connecting arm 120 away from the other connecting arm 120 connected by the same first mechanical joint 111, when the human hand or foreign object collides with the inductive film 130, the inductive film 130 will send an electric signal, and the mechanical arm 100 will make corresponding actions according to the electric signal sent by the inductive film 130, such as the control device of the mechanical arm 100 controlling the first mechanical joint 111 connected with the corresponding connecting arm 120 to stop moving, or controlling the entire mechanical arm 100 to stop moving, thereby reducing the possibility of the connecting arm 120 continuing to unfold and colliding with the human hand or damaging the foreign object, playing a good anti-collision protection role, and being beneficial to improve the safety of the mechanical arm 100 and improve the user's satisfaction.

[0056] Therefore, by arranging the inductive film 130 on the side wall of the connecting arm 120 towards and away from the other connecting arm 120, a good anti-pinch protection role can be played during the folding of the two connecting arms 120, and a good anti-collision protection role can be played during the unfolding of the two connecting arms 120, further improving the safety of the mechanical arm 100 and improving the user's satisfaction.

[0057] It can be understood that in this case, the inductive film 130 can be arranged on any one of the connecting arms 120 on both sides of the first mechanical joint 111, so that the inductive film 130 is located on the side wall of the connecting arm 120 towards and away from the other connecting arm 120, that is, the inductive film 130 is arranged on the opposite sides of the connecting arm 120. Alternatively, the inductive film 130 is arranged on both connecting arms 120 on both sides of the first mechanical joint 111, so that the inductive film 130 is located on the side wall of any one of the connecting arms 120 towards and away from the other connecting arm 120.

[0058] As shown in FIG. 3, in some possible implemented embodiments provided by the present application, the number of connecting arms 120 is at least three, the number of first mechanical joints 111 is at least two, and the inductive film 130 is arranged on the side wall of the connecting arm 120 towards and away from the adjacent other connecting arm 120 between the two first mechanical joints 111.

[0059] Due to the connecting arm 120 located between the two first mechanical joints 111, it is necessary to fold and unfold the adjacent two connecting arms 120 through the action of different first mechanical joints 111, and thus, by arranging the inductive film 130 on the side wall of the connecting arm 120 facing and away from the adjacent other connecting arm 120, the connecting arm 120 can play a good anti-pinch and anti-collision protection role during the folding process with the adjacent connecting arm 120 under the action of any one first mechanical joint 111.

[0060] Specifically, as shown in FIG. 3, taking the connecting arm 120 located between the two first mechanical joints 111 as the intermediate connecting arm c121, and the two first mechanical joints 111 on both sides of the connecting arm 120 as the first mechanical joint a113 and the first mechanical joint b114, for example, the other connecting arm 120 connected with the first mechanical joint a113 is the adjacent connecting arm a122, and the other connecting arm 120 connected with the first mechanical joint b114 is the adjacent connecting arm b123. When the first mechanical joint a113 acts to fold the intermediate connecting arm c121 and the adjacent connecting arm a122, the inductive film 130 on the side wall of the intermediate connecting arm c121 facing the adjacent connecting arm a122 can provide anti-pinch protection for the intermediate connecting arm c121 and the adjacent connecting arm a122, and at the same time, since the inductive film 130 on the side wall of the intermediate connecting arm c121 facing the adjacent connecting arm a122 is arranged away from the adjacent connecting arm b123, when the first mechanical joint b114 acts to unfold the intermediate connecting arm c121 and the adjacent connecting arm b123, the inductive film 130 on the side wall of the intermediate connecting arm c121 facing the adjacent connecting arm a122 can provide anti-collision protection for the intermediate connecting arm c121 and the adjacent connecting arm b123. By the same token, when the first mechanical joint a113 acts to unfold the intermediate connecting arm c121 and the adjacent connecting arm a122, the inductive film 130 on the side wall of the intermediate connecting arm c121 away from the adjacent connecting arm a122 can provide anti-collision protection for the intermediate connecting arm c121 and the adjacent connecting arm a122, and at the same time, since the inductive film 130 on the side wall of the intermediate connecting arm c121 away from the adjacent connecting arm a122 is arranged towards the adjacent connecting arm b123, when the first mechanical joint b114 acts to fold the intermediate connecting arm c121 and the adjacent connecting arm b123, the inductive film 130 on the side wall of the intermediate connecting arm c121 away from the adjacent connecting arm a122 can provide anti-pinch protection for the intermediate connecting arm c121 and the adjacent connecting arm b123. Thus, the comprehensiveness of the anti-pinch and anti-collision protection of the mechanical arm 100 is greatly improved, which is conducive to improving the safety of the use of the mechanical arm 100 and enhancing the satisfaction of the user.

[0061] As shown in FIG. 1, in some possible implementation embodiments provided in the present application, the mechanical arm 100 further comprises a fixing base 140 and a support arm 170, the fixing base 140 is connected with one connecting arm 120 through the support arm 170, and it can be understood that the whole mechanical arm 100 can be fixed in place through the fixing base 140. As the mechanical arm 100 is applied to a cleaning device, the fixing base 140 can be connected with a machine body of the cleaning device to fix the whole mechanical arm 100 on the machine body.

[0062] In the above embodiment, the inductive film 130 is arranged on one of the two connecting arms 120 on the two sides of the first mechanical joint 111 and close to the fixing base 140. Since the layout of the electric connecting wires of the mechanical arm 100 is usually arranged from the fixing base 140 to the end of the mechanical arm 100, and the inductive film 130 needs to be electrically connected with the control device of the mechanical arm 100, arranging the inductive film 130 on one of the two connecting arms 120 on the two sides of the first mechanical joint 111 and close to the fixing base 140 can shorten the distance between the inductive film 130 and the fixing base 140, facilitate the arrangement of the electric connecting wires, save the cost of wiring, and improve the convenience of wiring.

[0063] It can be understood that, as shown in FIG. 1, the mechanical arm 100 can further comprise a mechanical hand 150, the mechanical hand 150 and the fixing base 140 are located at two ends of the mechanical arm 100, and a plurality of arms of the mechanical arm 100 are sequentially connected, and two ends of the whole composed of the plurality of arms are respectively connected with the fixing base 140 and the mechanical hand 150. That is, the mechanical hand 150 can be understood as the end of the mechanical arm 100, and the wiring mode of the mechanical arm 100 is usually sequentially arranged from the fixing base 140 to the mechanical hand 150 through the arms. Therefore, arranging the inductive film 130 on the connecting arm 120 close to the fixing base 140 can reduce the length of the electric connecting wires and facilitate the arrangement.

[0064] Specifically, as shown in FIG. 1, when the number of the first mechanical joints 111 is one, the support arm 170 is connected with the connecting arm 120, and the inductive film 130 can be located on the connecting arm 120 connected with the support arm 170. When the number of the first mechanical joints 111 is two, the support arm 170 is connected with one of the connecting arms 120 at the end as shown in FIG. 3, and the support arm 170 is connected with the adjacent connecting arm b123 in FIG. 3 as an example. For the first mechanical joint b114 close to the fixed base 170, the inductive film is arranged on the adjacent connecting arm b123 connected with the support arm 170 among the intermediate connecting arm c121 and the adjacent connecting arm b123 at both ends of the first mechanical joint b114, that is, the inductive film is arranged on the adjacent connecting arm b123 close to the fixed base 140. For the first mechanical joint a113 away from the fixed base 170, the inductive film is arranged on the intermediate connecting arm c121 close to the fixed base among the intermediate connecting arm c121 and the adjacent connecting arm a122 at both ends of the first mechanical joint a113. In this way, the arrangement of the electric connection line is facilitated, the wiring cost is saved, and the convenience of wiring is improved.

[0065] As shown in FIG. 1, in some possible implemented embodiments provided in the present application, the support arm 170 is connected with one of the connecting arms 120 through the first mechanical joint 111, the first mechanical joint 111 is configured to fold or unfold the connecting arm 120 relative to the support arm 170, and the inductive film 130 is located on the support arm 170.

[0066] That is, the support arm 170 can also be understood as the connecting arm 120, and the support arm 170 is connected with the adjacent connecting arm 120 through the first mechanical joint 111. Since the support arm 170 is close to the fixed base 140, the inductive film 130 is arranged on the support arm 170, which can reduce the length of the material of the electric connection line and facilitate the arrangement.

[0067] As shown in FIG. 1, in some possible implementation embodiments provided in the present application, the fixed seat 140 is connected with the support arm 170 through the first mechanical joint 111, and the first mechanical joint 111 is configured to enable the support arm 170 to be folded or unfolded relative to the fixed seat 140. That is, the support arm 170 close to the fixed seat 140 can be folded or unfolded relative to the fixed seat 140 under the action of the first mechanical joint 111, and the folding or unfolding operation of the support arm 170 and the fixed seat 140 can also have the possibility of clamping or colliding with a human hand or a foreign object. Therefore, in the present embodiment, the inductive film 130 is arranged on the fixed seat 140, so that when a human hand or a foreign object collides with the inductive film 130, the inductive film 130 sends an electric signal, and the mechanical arm 100 makes a corresponding action according to the electric signal sent by the inductive film 130, such as controlling the first mechanical joint 111 connected with the fixed seat 140 and the support arm 170 to stop moving to control part of the mechanical arm 100 to stop moving, or controlling the control device to control each mechanical joint 110 to stop moving, that is, the control device controls the entire mechanical arm 100 to stop moving, thereby reducing the possibility of the support arm 170 and the fixed seat 140 continuing to fold or continuing to unfold and clamping a human hand or damaging a foreign object, playing a good anti-clamping protection role, and being beneficial to improving the safety of the mechanical arm 100 and improving the satisfaction of the user.

[0068] Further, the inductive film 130 is arranged on the fixed seat 140, so that the distance between the inductive film 130 and the fixed seat 140 is very short, greatly reducing the length of the electric connection line between the inductive film 130 and the fixed seat 140, and being beneficial to saving the wiring cost and improving the convenience of wiring.

[0069] Further, the inductive film 130 and the fixed seat 140 are detachably connected, facilitating the disassembly of the inductive film 130 and the fixed seat 140, and at the same time, facilitating the disassembly of the inductive film 130 from the fixed seat 140 for maintenance or replacement, and being beneficial to improving the maintenance efficiency and the replacement efficiency. Compared with the inductive film 130 integrated on the fixed seat 140, if the inductive film 130 fails and needs to be replaced, the entire fixed seat 140 needs to be replaced, which is beneficial to reducing the replacement cost.

[0070] Specifically, the inductive film 130 is detachably connected with the fixed seat 140 through at least one of a bolt structure, a clamping structure, a plug-in structure, a mortise and tenon structure, and a magnetic attraction structure.

[0071] In some possible implementation embodiments provided in the present application, the inductive film 130 is provided with a flange structure 132 along the outer edge in the width direction.

[0072] Specifically, as shown in FIG. 4, the length direction of the inductive film 130 is shown as an arrow X in FIG. 4, and the width direction of the inductive film 130 is shown as an arrow Y in FIG. 4. Wherein, the length direction and the width direction of the inductive film 130 are consistent with the length direction and the width direction of the connected connecting arm. Wherein, the two ends of the connecting arm 120 along the length direction are connected with the mechanical joint 110, and the width direction of the connecting arm 120 is perpendicular to the length direction. Specifically, taking the connecting arm 120 located at the upper side in FIG. 2 as an example, the length direction of the connecting arm 120 can be shown as an arrow X in FIG. 2, and the width direction of the connecting arm 120 can be shown as an arrow Y in FIG. 2.

[0073] In this embodiment, the setting of the turn-up structure 132 can increase the coverage of the inductive film 130 on the side wall of the connecting arm 120 facing or away from the other connecting arm 120 connected through the first mechanical joint 111, so that the inductive film 130 can more comprehensively and completely cover the side wall, and the turn-up structure 132 can extend to the side wall adjacent to the side wall where the inductive film 130 is located, further ensuring the better coverage effect of the inductive film 130 on the side wall of the connecting arm 120 facing or away from the adjacent connecting arm 120 connected through the same first mechanical joint 111, and ensuring good anti-pinch and anti-collision protection effect.

[0074] Further, the setting of the turn-up structure 132 can cooperate with part of the side wall of the connecting arm 120 to play a good pre-positioning role, which is beneficial to improve the installation efficiency and assembly precision of the inductive film 130 and the connecting arm 120.

[0075] It can be understood that the turn-up structure 132 can be located at one side edge of the inductive film 130 along the width direction of the connecting arm 120, or the turn-up structure 132 can be located at both side edges of the inductive film 130 along the width direction of the connecting arm 120.

[0076] In some possible implementation embodiments provided in the present application, the inductive film 130 can cover the side wall where it is located. Specifically, the inductive film 130 can cover the entire side wall where it is located, or can cover part of the side wall where it is located. It can be understood that the larger the coverage area of the inductive film 130 on the side wall, the better the anti-pinch and anti-collision protection effect, but the cost will also be relatively high. Therefore, the coverage of the inductive film 130 on the side wall can be reasonably designed according to the anti-pinch and anti-collision requirements, cost and other factors. Specifically, the coverage of the inductive film 130 on the side wall can be 100%, 98%, 95%, 90%, 85%, 80%, or other numerical values.

[0077] As shown in FIG. 1, in some possible implementation embodiments provided by the present application, the mechanical arm 100 further comprises a second mechanical joint 112, and the fixed seat 140 is connected with the support arm 170 through the second mechanical joint 112, and the second mechanical joint 112 is configured to enable the support arm 170 to rotate relative to the fixed seat 140.

[0078] That is, the fixed seat 140 and the support arm 170 adjacent to the fixed seat 140 are connected through the first mechanical joint 111 and the second mechanical joint 112 at the same time, so that the support arm 170 can be unfolded or folded relative to the fixed seat 140, and the support arm 170 can rotate relative to the fixed seat 140, thereby increasing the movement range of the mechanical arm 100, enabling the mechanical hand 150 at the end of the mechanical arm 100 to have a larger movement range, improving the range of grasping objects and the accuracy of grasping operation.

[0079] In some possible implementation embodiments provided by the present application, the two connecting arms 120 located on both sides of the first mechanical joint 111 comprise a first arm and a second arm, and the first end of the first arm is connected with the first end of the second arm through the first mechanical joint 111, and the first mechanical joint 111 is configured to enable the second end of the first arm to approach or move away from the second end of the second arm.

[0080] That is, among the two connecting arms 120 located on both sides of the first mechanical joint 111, the first arm is a moving arm, and the second arm is a static arm, and in the process of the first mechanical joint 111 moving to enable the first arm and the second arm to move relative to each other, the second arm is static, and the second end of the first arm approaches or moves away from the second end of the second arm. By arranging the inductive film 130 on the second arm, that is, arranging the inductive film 130 on the second arm which moves while being static in the movement of the first mechanical joint 111, the reliability and stability of the connection between the inductive film 130 and the second arm can be improved, and the sensing accuracy of the inductive film 130 and the anti-pinch and anti-collision protection effect of the mechanical arm 100 are improved.

[0081] In some possible implementation embodiments provided by the present application, the first mechanical joint 111 is arranged as a non-self-locking structure, so that when the hand of the user or foreign matter touches the inductive film 130 to cause the inductive film 130 to send an electric signal and thus cause the mechanical arm 100 to stop moving partially or entirely, if the hand of the user or foreign matter is still clamped or stuck, since the first mechanical joint 111 is a non-self-locking structure, the two connecting arms 120 on both sides of the first mechanical joint 111 can be pushed in the reverse direction by external force to enable the two connecting arms 120 to unfold or fold, or the fixed seat 140 and the connecting arm 120 on both sides of the first mechanical joint 111 can be pushed in the reverse direction by external force to enable the fixed seat 140 and the connecting arm 120 to unfold or fold, so as to release the clamped hand or foreign matter, thereby taking the hand or foreign matter out of the mechanical arm 100, improving the safety of use of the mechanical arm 100, and improving the satisfaction of the user.

[0082] As shown in FIG. 1, FIG. 2 and FIG. 3, in some possible implementation embodiments provided by the present application, the inductive film 130 is detachably connected with the connecting arm 120. In this way, the inductive film 130 and the connecting arm 120 are convenient to disassemble and assemble, and meanwhile, the inductive film 130 can be conveniently detached from the connecting arm 120 for maintenance or replacement, which is beneficial to improve the maintenance efficiency and replacement efficiency, and compared with the inductive film 130 integrated on the connecting arm 120, if the inductive film 130 fails and the entire connecting arm 120 needs to be replaced, the replacement cost can be reduced.

[0083] Specifically, the inductive film 130 is detachably connected with the connecting arm 120 by at least one of a bolt structure, a clamping structure, a plug-in structure, a mortise and tenon structure, and a magnetic attraction structure.

[0084] As shown in FIG. 2, in some possible implementation embodiments provided by the present application, the mechanical arm 100 further comprises a connecting piece 160, the inductive film 130 is provided with a connecting hole 131, and the connecting piece 160 is arranged in the connecting hole 131 and connected with the connecting arm 120. In this way, the detachable connection between the inductive film 130 and the connecting arm 120 can be achieved, which is convenient to disassemble and assemble, easy to implement, and can ensure the reliability and stability of the connection between the inductive film 130 and the connecting arm 120.

[0085] Specifically, the connecting piece 160 can be a bolt, which is a standard part and is easy to produce and has low cost. It can be understood that the connecting piece 160 can also be a clamping pin, a latch or the like.

[0086] In the above embodiment, the connecting piece 160 does not protrude from the outer surface of the inductive film 130 away from the connecting arm 120, so that the connecting piece 160 does not interfere with the mutual folding movement of the two adjacent connecting arms 120, so that the two adjacent connecting arms 120 have a smaller volume after being folded, which can meet the design requirements of compact structure and small volume of the mechanical arm 100. At the same time, the connecting piece 160 does not protrude from the outer surface of the inductive film 130 away from the connecting arm 120, which can avoid the possibility that the connecting piece 160 protrudes from the outer surface of the inductive film 130 away from the connecting arm 120 and is scratched by hands or foreign matters, improve the safety of the mechanical arm 100, and improve the appearance of the mechanical arm 100.

[0087] As shown in FIG. 4, in some possible implementation embodiments provided by the present application, the thickness of the inductive film 130 is less than or equal to 2 mm, such as 0.05 mm, 1 mm, 1.5 mm, 2 mm or other sizes, so that the thickness of the inductive film 130 is small and does not greatly increase the size of the connecting arm 120, so that the mechanical arm 100 does not need to change the original structure, and can meet the design requirements and be easy to implement.

[0088] The present application has been described by the above embodiments, but it should be understood that the above embodiments are only for the purpose of example and illustration, and are not intended to limit the present application to the scope of the described embodiments. Furthermore, those skilled in the art can understand that the present application is not limited to the above embodiments, and more various modifications and changes can be made according to the teachings of the present application, and these modifications and changes all fall within the scope of the present application claimed. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A robot arm (100), wherein, Comprising: a first mechanical joint (111) and two connecting arms (120) connected by the first mechanical joint (110), the first mechanical joint (110) being configured to fold or unfold the two connecting arms (120) relative to each other; wherein at least one of the two connecting arms (120) is provided with an inductive film (130), the inductive film (130) being configured to be contacted to send an electrical signal.

2. The mechanical arm (100) according to claim 1, wherein the inductive film (130) is located on the side wall of the connecting arm (120) facing the other connecting arm (120).

3. The mechanical arm (100) according to claim 1, wherein the inductive film (130) is located on the side wall of the connecting arm (120) facing and away from the other connecting arm (120).

4. The mechanical arm (100) according to claim 1, wherein the number of connecting arms (120) is at least two, and the number of first mechanical joints (111) is at least one.

5. The mechanical arm (100) according to claim 4, wherein the number of connecting arms (120) is at least three, and the number of first mechanical joints (111) is at least two, and the inductive film (130) is provided on the side wall of the connecting arm (120) located between the two first mechanical joints (111) facing and away from the adjacent other connecting arm (120).

6. The robot arm (100) according to claim 1 or 5, wherein The mechanical arm (100) further comprises: a fixed seat (140) and a support arm (170), the fixed seat (140) being connected to one of the connecting arms (120) through the support arm (170), and the inductive film (130) being located on one of the connecting arms (120) close to the fixed seat (140) between the two connecting arms (120) on both sides of the first mechanical joint (111).

7. The robot arm (100) according to claim 6, wherein The support arm (170) is connected to one of the connecting arms (120) through the first mechanical joint (111), and the first mechanical joint (111) is configured to fold or unfold the connecting arm (120) relative to the support arm (170), and the inductive film (130) is located on the support arm (170).

8. The mechanical arm (100) according to claim 6, wherein the fixed seat (140) is connected to the support arm (170) through the first mechanical joint (111), and the first mechanical joint (111) is configured to fold or unfold the support arm (170) relative to the fixed seat (140), and the inductive film (130) is located on the fixed seat (140).

9. The robot arm (100) according to claim 6, wherein Further comprising: a second mechanical joint (112), and the fixed seat (140) is further connected to the support arm (170) through the second mechanical joint (112), and the second mechanical joint (112) is configured to rotate the support arm (170) relative to the fixed seat (140).

10. The mechanical arm (100) according to claim 1, wherein Two connection arms (120) located on both sides of the first mechanical joint (111) include a first arm and a second arm, a first end of the first arm is connected with a first end of the second arm through the first mechanical joint (111), the first mechanical joint (111) is configured to make a second end of the first arm close to or away from a second end of the second arm, and the inductive film (130) is located on the second arm.

11. The mechanical arm (100) according to claim 1, wherein, The first mechanical joint (111) is a non-self-locking structure.

12. The mechanical arm (100) according to claim 1, wherein, The inductive film (130) is detachably connected with the mechanical arm (100).

13. The robotic arm (100) of claim 1, wherein, Further comprising: A connecting piece (160), the inductive film (130) is provided with a connecting hole (131), and the connecting piece (160) is connected with the connection arm (120) through the connecting hole (131).

14. The mechanical arm (100) according to claim 13, wherein, The connecting piece (160) does not protrude from the outer surface of the inductive film (130) away from the connection arm (120).

15. The mechanical arm (100) according to claim 1, wherein, The inductive film (130) is provided with a flange structure (132) at the outer edge in the width direction.

16. The robotic arm (100) of claim 1, wherein, Further comprising: A control device, the control device is electrically connected with the first mechanical joint (111) and the inductive film (130), and the control device is configured to control the first mechanical joint (111) to stop working according to the electric signal sent by the inductive film (130).

17. The robotic arm (100) of claim 1, wherein, Further comprising: A control device, the control device is electrically connected with the inductive film (130), and the control device is configured to control the whole mechanical arm (100) to stop working according to the electric signal sent by the inductive film (130).

18. A cleaning apparatus wherein, Including: A machine body, and the mechanical arm (100) according to any one of claims 1 to 17, the mechanical arm (100) is installed on the machine body.

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