Connecting arm, robotic arm, and cleaning device

Abstract

Provided in the present application are a connecting arm, a robotic arm and a cleaning device. The robotic arm comprises articulated arms and mechanical joints corresponding to and connected to the articulated arms. Each connecting arm comprises: an arm body; and two connecting portions, which are respectively located at two ends of the arm body, and each of which is configured to be connected to one mechanical joint that is configured to enable the connecting arm and the corresponding articulated arm to fold or unfold relative to each other, wherein each connecting portion is configured to be received in a receiving space provided in the corresponding articulated arm and move within the receiving space.

Description

Connecting arms, robotic arms, and cleaning equipment Cross-references to related applications

[0001] This application claims priority to Chinese Patent Application No. 202411698592.9, filed on November 25, 2024, entitled "Connecting Arm, Robotic Arm and Cleaning Equipment", the entire contents of which are incorporated herein by reference.

[0002] This application claims priority to Chinese Patent Application No. 202422882386.5, filed on November 25, 2024, entitled "Connecting Arm, Robotic Arm and Cleaning Equipment", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of smart home technology, and in particular to a connecting arm, a robotic arm, and a cleaning device. Background Technology

[0004] With the continuous development of science and technology and the improvement of people's living standards, cleaning equipment, such as intelligent robotic vacuum cleaners, has increasingly entered our daily lives. Current cleaning equipment, in order to better achieve its cleaning function, incorporates robotic arms to grasp or move obstacles, items, and debris. Typically, these robotic arms consist of multiple interconnected arms. To ensure reliable connection and smooth movement between adjacent arms, the overall size of the robotic arm is relatively large, making it inconvenient to store. (Application Content)

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

[0006] An embodiment of the first aspect of this application provides a connecting arm applied to a robotic arm. The robotic arm includes an articulated arm and a mechanical joint corresponding to and connected to the articulated arm. The connecting arm includes an arm body and a connecting portion. Two connecting portions are located at opposite ends of the arm body. The two connecting portions are configured to be connected to a mechanical joint respectively. The mechanical joint is configured to allow the connecting arm and the corresponding articulated arm to be folded or unfolded relative to each other. The connecting portion is configured to be accommodated within a accommodating space provided by the corresponding articulated arm and can move within the accommodating space.

[0007] In one feasible implementation, the arm body is rectangular, and the connecting parts are located at both ends in the length direction of the arm body. The connecting parts protrude from the arm body in the height direction and do not protrude from the arm body in the width direction.

[0008] In one feasible implementation, the connecting part is configured as a pawl, which can engage with or release the output shaft of the mechanical joint.

[0009] In one feasible implementation, the chuck includes a first clamping portion and a second clamping portion, the first ends of the first clamping portion and the second clamping portion are connected, the second ends of the first clamping portion and the second clamping portion can be far apart from or close to each other, and the second ends of the first clamping portion and the second clamping portion are in contact with or close to each other to form a limiting hole that matches the output shaft.

[0010] In one possible implementation, the connecting arm further includes a locking member for locking the second ends of the first clamping portion and the second clamping portion.

[0011] In one feasible implementation, the first clamping part is provided with a connecting hole, and the second clamping part is provided with a through hole at a position opposite to the connecting hole, and the locking member passes through the through hole and connects with the connecting hole.

[0012] In one feasible embodiment, the second clamping part has a recessed structure on the side of the through hole away from the connecting hole, and the locking member located outside the through hole is accommodated in the recessed structure.

[0013] In one feasible implementation, the first ends of the first clamping part and the second clamping part are hinged; or the first ends of the first clamping part and the second clamping part are fixedly connected or integrally formed, and the first clamping part and the second clamping part are configured as elastic elements.

[0014] In one possible implementation, the arm body includes a detachably connected base and a cover plate, the base and cover plate enclosing a mounting cavity configured to accommodate at least the circuit board of the robotic arm.

[0015] In one feasible implementation, the base and / or cover plate are provided with wire passage holes that communicate with the mounting cavity, and the wire passage holes are arranged near the end of the arm body; wherein, there are two wire passage holes, and the two wire passage holes are located on the same side or different sides of the arm body.

[0016] In one feasible implementation, an inductive film is externally connected to the cover plate, the inductive film being configured to be touched or brought near to send an electrical signal.

[0017] In one feasible implementation, an inductive membrane is provided at the top and / or bottom of the arm body, the inductive membrane being configured to be contacted or brought near to send an electrical signal.

[0018] In one feasible implementation, the connecting part includes a first connecting part protruding downward along the height direction of the arm body, and the articulated arm includes a first articulated arm connected to the first connecting part; wherein, when the first articulated arm and the connecting arm are in a folded state, the first articulated arm is located below the connecting arm and is fitted to the connecting arm.

[0019] In one feasible implementation, the connecting part includes a second connecting part that protrudes upward along the height direction of the arm body, and the articulated arm includes a second articulated arm that is connected to the second connecting part; wherein, when the second articulated arm and the connecting arm are in a folded state, the second articulated arm is located above the connecting arm and is fitted to the connecting arm.

[0020] In one feasible implementation, the robotic arm is configured as a foldable structure, wherein the difference between the width of the horizontal projection area of ​​the robotic arm in the folded state and the width of the horizontal projection area of ​​the connecting arm is less than or equal to 10 mm, and the difference between the length of the horizontal projection area of ​​the robotic arm in the folded state and the length of the horizontal projection area of ​​the connecting arm is less than or equal to 20 mm.

[0021] In one feasible implementation, at least the arm body is made of aluminum alloy; and / or the arm body and the connecting part are an integral structure or a separate structure.

[0022] In one feasible implementation, the length of the connecting arm is 190mm to 210mm; the width of the connecting arm is 27mm to 37mm; the height of the connecting arm is 26mm to 36mm; and the thickness of the arm body is 5.7mm to 7.5mm.

[0023] An embodiment of the second aspect of this application provides a robotic arm, including: an articulated arm, a mechanical joint, and a connecting arm of any of the foregoing.

[0024] In one feasible implementation, the robotic arm further includes a connecting seat assembly and a lifting joint. The joint arm includes a first joint arm rotatably connected to the connecting seat assembly. The lifting joint is installed inside the first joint arm and connected to the connecting seat assembly. The lifting joint is configured to drive the first joint arm to fold or unfold relative to the connecting seat assembly. When the first joint arm and the connecting seat assembly are in a folded state, the horizontal projection area of ​​the first joint arm and the connecting seat assembly does not exceed the horizontal projection area of ​​the connecting arm in the width direction, and the difference between the horizontal projection area of ​​the first joint arm and the connecting seat assembly and the horizontal projection area of ​​the connecting arm in the length direction is less than or equal to 10 mm.

[0025] In one feasible implementation, the robotic arm further includes a robotic hand, and the articulated arm includes a second articulated arm connected to the robotic hand. The robotic hand is connected to the end of the second articulated arm away from the connecting arm. When the entire robotic arm is in a folded state, the horizontal projection area of ​​the second articulated arm and the robotic hand does not exceed the horizontal projection area of ​​the connecting arm in the width direction, and the difference between the horizontal projection area of ​​the second articulated arm and the robotic hand and the horizontal projection area of ​​the connecting arm in the length direction is less than or equal to 10 mm.

[0026] An embodiment of the third aspect of this application provides a cleaning device, including: a robotic arm as described in the second aspect.

[0027] 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

[0028] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. Wherein:

[0029] Figure 1 shows a first-view structural schematic diagram of the connecting arm provided in an embodiment of this application;

[0030] Figure 2 shows a structural schematic diagram of the connecting arm provided in an embodiment of this application from a second perspective;

[0031] Figure 3 shows a third-view structural schematic diagram of the connecting arm provided in an embodiment of this application;

[0032] Figure 4 shows a partial structural schematic diagram of the connecting arm provided in an embodiment of this application;

[0033] Figure 5 shows a partial exploded view of the connecting arm and mechanical joint provided in an embodiment of this application;

[0034] Figure 6 shows a first-view structural schematic diagram of the robotic arm provided in the embodiment of this application in a folded state;

[0035] Figure 7 shows a second-view structural schematic diagram of the robotic arm provided in the embodiment of this application in a folded state;

[0036] Figure 8 shows a first-view structural schematic diagram of the robotic arm provided in the embodiment of this application in its deployed state;

[0037] Figure 9 shows a first-view structural schematic diagram of the articulated arm provided in an embodiment of this application;

[0038] Figure 10 shows a partial structural schematic diagram from a second perspective of the robotic arm provided in the embodiment of this application in its deployed state.

[0039] Explanation of reference numerals in the attached figures

[0040] 100 Connecting arm, 110 Arm body, 111 Base, 112 Cover plate, 113 Cable hole, 120 Connecting part, 121 Limiting hole, 122 First clamping part, 123 Second clamping part, 1231 Through hole, 1232 Recessed structure, 124 First connecting part, 125 Second connecting part, 130 Locking part, 140 Circuit board, 150 Connecting wire, 200 Robotic arm, 210 Articulated arm, 211 Accommodating space, 212 First articulated arm, 213 Second articulated arm, 214 Half shell, 215 Lug, 220 Mechanical joint, 221 First mechanical joint, 222 Second mechanical joint, 230 Connecting seat assembly, 231 Base plate, 232 Rotary seat, 233 Rotary joint, 240 Robotic hand, 250 Lifting joint, 251 Motor, 2511 Cylindrical boss, 252 Lead screw, 253 Hinge shaft. Detailed Implementation

[0041] 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.

[0042] 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.

[0043] 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.

[0044] As shown in Figures 1 to 10, embodiments of this application provide a connecting arm 100, a robotic arm 200, and a cleaning device. The connecting arm 100 is applied to the robotic arm 200, which in turn is applied to the cleaning device. The cleaning device can be a robotic vacuum cleaner, a vacuum and mop combo, or other self-propelled cleaning devices that meet the requirements.

[0045] Specifically, the cleaning equipment includes, but is not limited to: the equipment body, cleaning system, drive system, sensing system, control system, energy system, and human-machine interaction system. These systems coordinate with each other to enable the cleaning equipment to move autonomously and perform its cleaning function. The functional components constituting these systems are integrated within the equipment body. The robotic arm 200 can connect to the equipment body to grasp or move obstacles, objects, and debris near the equipment, thereby enhancing its autonomous cleaning function.

[0046] As shown in Figures 1, 2, 5, 6, and 7, the connecting arm 100 provided in this embodiment is applied to a robotic arm 200. The robotic arm 200 includes a joint arm 210 and a mechanical joint 220 corresponding to and connected to the joint arm 210. The connecting arm 100 includes an arm body 110 and a connecting portion 120. The two connecting portions 120 are located at both ends of the arm body 110, and the two connecting portions 120 are configured to be connected to a mechanical joint 220 respectively. The mechanical joint 220 is configured to allow the connecting arm 100 and the corresponding joint arm 210 to be folded or unfolded relative to each other. The connecting portion 120 is configured to be accommodated in the accommodating space 211 provided in the corresponding joint arm 210, and can move within the accommodating space 211.

[0047] The connecting arm 100 provided in this embodiment includes an arm body 110 and two connecting portions 120. Each end of the arm body 110 has a connecting portion 120. The two connecting portions 120 at the ends of the arm body 110 are respectively connected to a mechanical joint 220. Each mechanical joint 220 is also connected to its corresponding joint arm 210. That is, the connecting portions 120, mechanical joints 220, and joint arms 210 are in a one-to-one correspondence. Each connecting portion 120 is connected to one joint arm 210 via a mechanical joint 220. The two connecting portions 120 of the connecting arm 100 are connected to two joint arms 210 via two mechanical joints 220. Therefore, the robotic arm 200 includes at least a connecting arm 100, two joint arms 210, and two mechanical joints 220. Since the mechanical joints 220 allow the connecting arm 100 and its corresponding joint arm 210 to fold or unfold, the range of motion of the robotic arm 200 can be increased, thereby improving the cleaning range of the cleaning equipment and expanding the product's application scope. The connecting portion 120 of the connecting arm 100 is configured to be accommodated in the accommodating space 211 provided by the corresponding articulated arm 210, and can move within the accommodating space 211. That is, the connecting portion 120 can be accommodated in the accommodating space provided by the articulated arm 210 connected to it via the same mechanical joint 220, and can move within the accommodating space. Therefore, the articulated arm 210 provides a receiving space 211 and a movement space for the corresponding connecting part 120, so that the corresponding connecting part 120 and the articulated arm 210 can be set up relatively close to each other without affecting the range of relative movement of the connecting arm 100 and the articulated arm 210. Thus, the corresponding connecting arm 100 and the articulated arm 210 can be accommodated in the receiving space 211 of the corresponding articulated arm 210 after unfolding or folding. While ensuring that the connecting arm 100 and the robotic arm 200 can move smoothly relative to each other, the connecting arm 100 and the articulated arm 210 can be designed compactly, reducing the overall volume of the robotic arm 200 and meeting the design requirements of the robotic arm 200 being compact and small in size. At the same time, it reduces the space occupied by the robotic arm 200 in the folded state, making the robotic arm 200 highly retractable and easy to fold and store.

[0048] As shown in Figures 7 and 9, the receiving space 211 of the articulated arm 210 can be located at the end of the articulated arm 210 to facilitate the connection of the connecting arm 100 with the corresponding articulated arm 210 via the corresponding mechanical joint 220, and to facilitate the relative folding or unfolding of the corresponding articulated arm 210 and the connecting arm 100. Specifically, the receiving space 211 can be a lateral notch located at the end of the articulated arm 210. For example, only a portion of the circumferential direction of the receiving space 211 is covered, while the other portion of the circumferential direction of the receiving space 211 is an opening communicating with the external environment. This increases the area of ​​the receiving space 211 communicating with the external environment, making it easier for the connecting part 120 of the connecting arm 100 to be accommodated within the receiving space 211. It also provides space for the folding and unfolding movements of the connecting arm 100 and the articulated arm 210, reducing the possibility of collisions with structures near the receiving space 211 during the folding or unfolding movements of the connecting arm 100 and the articulated arm 210, and allowing the connecting part 120 to move smoothly within the receiving space 211.

[0049] Specifically, as shown in Figure 9, the articulated arm 210 includes two opposing half-shells 214. The two half-shells 214 are connected to form an installation space to accommodate a circuit board or other components of the articulated arm 210. Lugs 215 are provided at the ends of the two half-shells 214, and the two lugs 215 are spaced apart, forming a receiving space 211. Specifically, as shown in Figure 9, because the lugs 215 are connected to the half-shells 214, the receiving space 211 formed between the two lugs 215 is only partially blocked by the half-shells 214 on the side closest to them. The rest of the receiving space 211 communicates with the external environment through openings, increasing the area of ​​the receiving space 211 that communicates with the external environment. Specifically, the lugs 215 can be circular, arc-shaped, or other shapes.

[0050] As shown in Figures 7 and 9, the mechanical joint 220 is connected to the joint arm 210. The mechanical joint 220 can be understood as including a housing and an output shaft extending outside the housing and capable of rotating relative to the housing. The housing of the mechanical joint 220 is mounted on a portion of the joint arm 210, and the output shaft of the mechanical joint 220 is rotatably connected to the portion of the mechanical joint 220. Specifically, the joint arm 210 includes the two half-shells 214 and two lugs 215 mentioned above. The two lugs 215 can be a first lug and a second lug, respectively, and mounting holes are provided at the relative positions of the first lug and the second lug. The output shaft of the mechanical joint 220 passes through the through holes on the first lug and the second lug in sequence. The outer shell of the mechanical joint 220 is fixed to the first lug with screws. The output shaft of the mechanical joint 220 is rotatably connected to the second lug through a flange bearing. A shim is placed on the side of the second lug away from the first lug. The shim is clamped on the side of the second lug away from the first lug. The locking screw passes through the shim and connects to the threaded hole at the end of the output shaft, which can fix the flange bearing to the second lug. At the same time, it can realize the rotatable connection between the output shaft of the mechanical joint 220 and the second lug. Then, the outer shell of the mechanical joint 220 is installed on the joint arm 210, and the output shaft of the mechanical joint 220 is rotatably connected to the joint arm 210.

[0051] The connecting part 120 is connected to the mechanical joint 220. The connecting part 120 can be detachably connected to the mechanical joint 220 through at least one of a snap-fit ​​structure, a plug-in structure, a tenon-and-mortise structure, or a threaded structure. It is understood that the mechanical joint 220 may include an output shaft. Typically, the connecting part 120 is connected to the output shaft, causing the output shaft to rotate. Through the connecting part 120, the connecting arm 100 and the joint arm 210 are driven to fold or unfold relative to each other.

[0052] Specifically, the output shaft of the mechanical joint 220 can be the output end of the entire mechanical joint 220. For example, if the mechanical joint 220 includes a motor and a reduction mechanism, the output shaft of the reduction mechanism is the output end of the entire mechanical joint 220. That is, the power output by the motor is reduced by the reduction mechanism and then transmitted to the connecting part 120 of the connecting arm 100 via the output shaft. In this case, the output shaft is the output shaft of the reduction mechanism. The reduction mechanism can be a harmonic reducer, a planetary gear reduction structure, etc. For example, the mechanical joint 220 can be composed of a motor and a harmonic reducer, or it can be composed of a motor and a planetary gear reduction structure.

[0053] The number of connecting parts 120 is two, and the two connecting parts 120 are located at both ends of the arm body 110, that is, one connecting part 120 is provided at one end of the arm body 110. The number of articulated arms 210 and mechanical joints 220 can be two. The two articulated arms 210 are connected to the connecting parts 120 at the ends of the connecting arms 100 through the two mechanical joints 220, so that the robotic arm 200 can be a three-arm foldable design, thereby increasing the range of motion of the robotic arm 200.

[0054] It is understood that, as shown in Figures 6, 7 and 8, the robotic arm 200 may also include a connecting seat assembly 230, a lifting joint 250, and a robotic hand 240. The joint arm 210 includes a first joint arm 212 and a second joint arm 213. The mechanical joint 220 includes a first mechanical joint 221 and a second mechanical joint 222. The connecting part 120 includes a first connecting part 124 and a second connecting part 125. The first connecting part 124 is connected to the first joint arm 212 through the first mechanical joint 221. The other end of the first joint arm 212 is hinged to the rotating seat 232. The lifting joint 250 is mounted on the first joint arm 212 and hinged to the rotating seat 232. The second connecting part 125 of the connecting arm 100 is connected to the second joint arm 213 through the second mechanical joint 222. The other end of the second joint arm 213 is connected to the robotic hand 240.

[0055] The connecting seat assembly 230 includes a base plate 231, a rotating seat 232, and a rotating joint 233 mounted on the base plate 231. Since the first joint arm 212 is hinged to the rotating seat 232, the rotating joint 233 drives the rotating seat 232 to rotate, which in turn drives the first joint arm 212, the connecting arm 100, the second joint arm 213, and the robotic arm 240 to rotate synchronously. Because the lifting joint 250 is mounted on the first joint arm 212 and hinged to the rotating seat 232, the lifting joint 250 can drive the first joint arm 212 to rise or fall relative to the rotating seat 232, thereby folding or unfolding the first joint arm 212 relative to the base plate 231. Simultaneously, the first mechanical joint 221 can drive the connecting arm 100 and the first joint arm 212 to fold or unfold relative to each other, and the second mechanical joint 222 can drive the connecting arm 100 and the second joint arm 213 to fold or unfold relative to each other. The rotary joint 233, the lifting joint 250, the first mechanical joint 221, and the second mechanical joint 222 cooperate with each other to adjust the posture of the robotic arm 200, thereby adjusting the working angle of the robotic arm 200 and increasing the range of motion of the robotic arm 200. The base plate 231 can be connected to the equipment body to mount the entire robotic arm 200 onto the equipment body. Another joint arm 210 is connected to the robotic arm 240 to grasp or move obstacles or objects around the cleaning equipment.

[0056] Furthermore, as shown in Figure 10, the lifting joint 250 is mounted on the first articulated arm 212, enabling a compact layout of the lifting joint 250 and the first articulated arm 212. The lifting joint 250 is installed inside the first articulated arm 212, which allows the first articulated arm 212 to provide good protection for the lifting joint 250 and extend its service life.

[0057] Specifically, as shown in Figure 10, the rotary seat 232 is provided with a shaft hole. The end of the first articulated arm 212 is connected to a hinge shaft 253 via a bearing, allowing the first articulated arm 212 to swing relative to the hinge shaft 236. The hinge shaft 253 is installed in the shaft hole, thereby enabling the first articulated arm 212 to be rotatably connected to the rotary seat 232, realizing the hinge connection between the first articulated arm 212 and the rotary seat 232. Specifically, a guide nut is also connected to the rotary seat 232. The output shaft of the motor 251 of the lifting joint 250 is threadedly connected to the guide nut via a lead screw 252, enabling the lifting joint 250 to be rotatably connected to the rotary seat 232. Thus, the rotary seat 232 rotates relative to the base plate 231 under the drive of the rotary joint, which can drive the first articulated arm 212 and the lifting joint 250 to rotate synchronously relative to the base plate 231, thereby enabling the connecting arm 100, the second articulated arm 212, and the robot arm 240 connected to the first articulated arm 212 to rotate synchronously.

[0058] As shown in Figure 10, the housing of the motor 251 of the lifting joint 250 can be hinged to the first joint arm 212. The housing of the motor 251 is connected to a motor base, and cylindrical bosses 2511 are provided at both ends of the motor base. A circular groove is provided on the inner wall of the first joint arm 212. The cylindrical bosses 2511 are accommodated in the circular groove and can rotate relative to the circular groove. Thus, the housing of the motor 251 is hinged to the first joint arm 212. The output shaft of the motor 251 of the lifting joint 250 is threadedly connected to the guide nut on the rotating seat 232 via the lead screw 252. The guide nut is hinged to the rotating seat 232. The first joint arm 212 is hinged to the rotating seat 232 via the hinge shaft 253. Thus, a movable triangle structure is formed. The three vertices of the movable triangle are the hinge point N between the guide nut and the rotating seat 232, the hinge point O between the first joint arm 212 and the rotating seat 232, and the hinge point M between the housing of the motor 251 and the first joint arm 212. This allows the output shaft of the motor 251 of the lifting joint 250 to rotate, driving the lead screw 252 and the guide nut to move relative to each other. This enables the first joint arm 212 to be raised or lowered relative to the rotating seat 232. The structure is simple.

[0059] Specifically, as shown in Figure 10, the hinge point O between the first articulated arm 212 and the rotating seat 232 can be understood as the first mating part. O is set on the rotating seat 232, and the hinge point N between the guide nut and the rotating seat 232 is also set on the rotating seat 232. Therefore, the distance ON between O and N remains unchanged. Similarly, the hinge point M between the housing of the motor 251 and the first articulated arm 212 is set on the first articulated arm 212. Therefore, the distance OM between O and M remains unchanged. When the rotating seat 232 is stationary, the lifting and lowering of the first articulated arm 212 relative to the rotating seat 232 can be achieved simply by adjusting the distance between MN. Since the lead screw 252 and the guide nut are connected by a threaded structure, when the motor drives the lead screw 252 to rotate, the guide nut will move away from or closer to the motor, that is, change the distance MN between the hinge point N of the guide nut and the rotating seat 232 and the hinge point M of the housing of the motor 251 and the first articulated arm 212. Therefore, by driving the lead screw 252 and the guide nut to move relative to each other through the motor 251, the first articulated arm 212 can be raised and lowered relative to the rotating seat 232. The structure is simple and the operation is convenient.

[0060] As shown in Figures 1 and 2, in some possible embodiments provided in this application, the arm body 110 is rectangular, and the connecting portions 120 are located at both ends of the arm body 110 along its length, i.e., the connecting portions 120 protrude from the arm body 110 along its length. The length direction of the arm body 110 is shown by arrow X in Figure 2. This arrangement makes the shape of the arm body 110 more regular, and the connecting portions 120 are located relatively independently and neatly at both ends of the arm body 110, facilitating smooth connection between the connecting portions 120 and the mechanical joint 220, and allowing them to move or be accommodated smoothly within the receiving space 211 of the joint arm 210. It also reduces the possibility of interference between the arm body 110 and the joint arm 210, enabling the connecting arm 100, mechanical joint 220, and joint arm 210 to form a compact component, meeting the design requirements of a compact structure and small size for the robotic arm 200. This also makes the robotic arm 200 highly retractable, meeting the needs of easy movement and storage of cleaning equipment, and expanding its application range.

[0061] As shown in Figures 1 and 3, in the above embodiment, the connecting part 120 protrudes from the arm body 110 along the height direction of the arm body 110, wherein the height direction of the arm body 110 can be as shown by arrow Z in Figure 3. Since the connecting arm 100 and the articulated arm 210 are folded or unfolded along the height direction of the arm body 110, by having the connecting arm 100 protrude from the arm body 110 along the height direction of the arm body 110, it is convenient for the connecting part 120 to connect with the mechanical joint 220 so that the connecting arm 100 and the articulated arm 210 can be driven to fold or unfold relative to each other along the height direction under the action of the mechanical joint 220. At the same time, this arrangement allows the connecting part 120 to be fully accommodated in the accommodating space 211 provided in the articulated arm 210 and to move within the accommodating space 211. That is, the height of the connecting part 120 does not protrude from the articulated arm 210 along the height direction of the arm body 110, making the layout of the connecting arm 100, the mechanical joint 220, and the articulated arm 210 compact, and making the overall height of the robotic arm 200 smaller, which can meet the design requirements of the robotic arm 200 for compact structure, small size, and thinness.

[0062] As shown in Figures 1 and 2, in the above embodiment, the connecting part 120 does not protrude beyond the arm body 110 along the width direction of the arm body 110. As a result, the space occupied by the connecting part 120 can be reduced, so that the overall width of the connecting arm 100 is the width of the arm body 110, which can meet the design requirement of the small size of the robotic arm 200.

[0063] In some possible embodiments provided in the application, the length of the connecting arm 100 is 190mm to 210mm, the width of the connecting arm 100 is 27mm to 37mm, and the height of the connecting arm 100 is 26mm to 36mm. This results in a smaller overall volume and space occupied by the connecting arm 100, meeting the design requirements of a compact structure and small size for the robotic arm 200.

[0064] Specifically, the length direction of the connecting arm 100 can be as shown by arrow X in Figures 2 and 3; the width direction of the connecting arm 100 can be as shown by arrow Y in Figure 2; and the height direction of the connecting arm 100 can be as shown by arrow Z in Figure 3. The length of the connecting arm 100 can be as shown by L in Figure 2, and can be any dimension from 190mm to 210mm, consisting of 190mm, 195mm, 200mm, 205mm, 210mm, or any size between 190mm and 210mm. The width of the connecting arm 100 can be as shown by W in Figure 2, and can be any dimension from 27mm, 30mm, 32mm, 35mm, 37mm, or any size between 27mm and 37mm. The height of the connecting arm 100 can be as shown by H in Figure 3, and can be any dimension from 26mm, 29mm, 30mm, 33mm, 36mm, or any size between 26mm and 36mm.

[0065] As shown in Figure 3, in the above embodiment, the thickness of the arm body 110 is 5.7mm to 7.5mm. The thickness direction of the arm body 110 is the same as the height direction of the connecting arm 100. The thickness of the arm body 110 can be as shown by D in Figure 3. By reasonably setting the thickness of the arm body 110, while ensuring sufficient strength, the size is small, making the connecting arm 100 thinner and lighter, thus meeting the design requirements of a smaller and lighter robotic arm 200. Specifically, the thickness of the arm body 110 can be any of 5.7mm, 6mm, 6.5mm, 7mm, 7.5mm, or any value between 5.7mm and 7.5mm.

[0066] In some possible embodiments provided in this application, at least the arm body 110 is made of aluminum alloy. The high strength and light weight of aluminum alloy ensures the connecting arm 100 has reliable strength, reliably connecting the upper and lower articulated arms 210 together and providing good support for the articulated arms 210, ensuring the robotic arm 200 operates reliably without wobbling. Simultaneously, while ensuring the reliable strength of the connecting arm 100, its design thickness can be minimized, achieving a thinner and lighter design to meet the design requirements of a smaller and lighter robotic arm 200. Furthermore, aluminum alloy is corrosion-resistant, allowing the connecting arm 100 to withstand the dirty working environment of cleaning equipment and have a longer service life. Additionally, aluminum alloy is easy to process, facilitating the machining of the arm body 110. When both the arm body 110 and the connecting part 120 are made of aluminum alloy, the machining of the connecting part 120 is also convenient, helping to reduce manufacturing costs.

[0067] It is understandable that the arm body 110 may be made of aluminum alloy, or both the arm body 110 and the connecting part 120 may be made of aluminum alloy; or a portion of the arm body 110 and the connecting part 120 may be made of aluminum alloy.

[0068] In the above embodiments, the arm body 110 and the connecting part 120 can be separate structures. The connecting part 120 can be connected to the arm body 110 by welding, adhesive, threaded structure, snap-fit ​​structure, plug-in structure, or tenon and mortise structure. In this case, the arm body 110 and the connecting part 120 can be made of the same material or different materials. For example, the arm body 110 and the connecting part 120 can both be made of aluminum alloy, or the arm body 110 can be made of aluminum alloy and the connecting part 120 can be made of other materials.

[0069] Alternatively, the arm body 110 and the connecting part 120 can be a single integrated structure, which facilitates processing, is easy to manufacture, helps save manufacturing costs, simplifies the connection structure, and reduces the volume of the arm body 110 and the connecting part 120. In this case, the arm body 110 and the connecting part 120 can be made of the same material.

[0070] Alternatively, the arm body 110 and a portion of the connecting part 120 can be a single integrated structure, while the other portion of the connecting part 120 is machined separately from the arm body 110. This allows the connecting part 120 to be a separate structure, thus meeting the needs of different structural designs. In this case, the arm body 110 and the connecting part 120 can be made of the same material or different materials. Because the connecting part 120 is a separate structure, it can be made of the same material or different materials.

[0071] As shown in Figures 1, 2, and 3, in some possible embodiments provided in this application, the connecting part 120 is configured as a claw, which can engage with or release the driving part of the mechanical joint 220. Thus, the claw enables rapid connection and separation between the connecting arm 100 and the driving part of the mechanical joint 220, thereby enabling rapid connection and separation between the connecting arm 100 and the joint arm 210. This facilitates the assembly and disassembly of the robotic arm 200, improving its installation and maintenance efficiency. Simultaneously, the claw's simple structure and small size significantly reduce the overall volume and weight of the connecting arm 100, meeting the design requirements for a smaller and thinner robotic arm 200. Furthermore, the claw improves the reliability and stability of the connection between the connecting arm 100 and the mechanical joint 220, ensuring a reliable and stable connection and stable folding or unfolding motion that is less prone to wobbling.

[0072] As shown in Figures 1, 4, and 5, in some possible embodiments provided in this application, the chuck includes a first clamping part 122 and a second clamping part 123. The first ends of the first clamping part 122 and the second clamping part 123 are connected to each other, and the second ends of the first clamping part 122 and the second clamping part 123 can move away from or close to each other. The second ends of the first clamping part 122 and the second clamping part 123 are in contact or close to each other to form a limiting hole 121 that matches the driving part. Thus, it can be locked with the output shaft of the mechanical joint 220 to realize the connection between the chuck and the mechanical joint 220, and then realize the connection between the connecting arm 100 and the joint arm 210.

[0073] Specifically, the output shaft of the mechanical joint 220 is provided with a limiting surface. For example, if the output shaft is a flat shaft or a D-shaped shaft, the limiting hole 121 is a corresponding flat hole or D-shaped hole. When the second ends of the first clamping part 122 and the second clamping part 123 contact or approach the designated position, the limiting hole 121 cooperates with the limiting surface of the output shaft, so that the rotation of the output shaft will drive the connecting arm 100 and the joint arm 210 to move relative to each other. It can be understood that when the second ends of the first clamping part 122 and the second clamping part 123 move away from each other, the limiting hole 121 can be opened, so that the limiting hole 121 releases the limiting effect on the limiting surface on the output shaft, allowing the output shaft to be pulled out from the first clamping part 122 and the second clamping part 123, thereby realizing the disassembly and separation of the mechanical joint 220 and the connecting arm 100. The operation is simple and the disassembly and assembly are convenient.

[0074] As shown in Figures 1, 2, and 5, in some possible embodiments provided in this application, the connecting arm 100 further includes a locking member 130, which is used to lock the second ends of the first clamping portion 122 and the second clamping portion 123. The locking member 130 ensures that the second ends of the first clamping portion 122 and the second clamping portion 123 are reliably and securely locked together after contacting or approaching a designated position, ensuring that the limiting hole 121 reliably fits with the limiting surface on the output shaft, providing a secure limit, and ensuring the reliability and firmness of the connection between the output shaft of the drive unit and the chuck. It is understood that the locking member 130 can release the restriction on the second ends of the first clamping portion 122 and the second clamping portion 123, allowing the second ends of the first clamping portion 122 and the second clamping portion 123 to separate, thereby disassembling and separating the output shaft from the chuck, and realizing the disassembly and separation of the mechanical joint 220 from the connecting arm 100.

[0075] As shown in Figures 1 and 4, in some possible embodiments provided in this application, the chuck includes a first clamping part 122 and a second clamping part 123. The first clamping part 122 is provided with a connecting hole, and the second clamping part 123 has a through hole 1231 at a position opposite to the connecting hole. Thus, by connecting the locking member 130 through the through hole 1231 on the second clamping part 123 to the connecting hole on the first clamping part 122, the second ends of the first clamping part 122 and the second clamping part 123 can be reliably locked after contacting or approaching a designated position, ensuring that the limiting hole 121 reliably fits with the limiting surface on the output shaft and has a good limiting effect. Specifically, the locking member 130 is a locking screw, which is easy to process, has low cost, and small size. Furthermore, by setting the locking member 130 as a locking screw, the second ends of the first clamping part 122 and the second clamping part 123 can be locked or unlocked by turning the locking screw, making operation simple and disassembly convenient.

[0076] As shown in Figures 1 and 4, in some possible embodiments provided in this application, the second clamping part 123 is provided with a recessed structure 1232 on the side of the through hole 1231 away from the connecting hole, and the locking member 130 located outside the through hole 1231 is accommodated in the recessed structure 1232. The recessed structure 1232 provides a receiving position for the locking member 130 located outside the through hole 1231. In other words, the second clamping part 123 utilizes its own structure to provide a receiving position for the locking member 130 outside the through hole 1231, so that the second clamping part 123 and the locking member 130 outside the through hole 1231 achieve a concave-convex fit. That is, the end of the locking member 130 away from the first clamping part 122 will not exceed the end of the second clamping part 123 away from the first clamping part 122. This avoids the problem of the locking member 130 outside the through hole 1231 protruding from the second clamping part 123 in the direction away from the first clamping part 122 and occupying extra space. As a result, the locking member 130 and the second clamping part 123 are compact in structure, and the claw layout is reasonable, compact, and small in size. The connecting arm 100 is also compact and small in size, which can meet the design requirements of the robotic arm 200 for a compact structure and small size.

[0077] In some possible embodiments provided in this application, the first ends of the first clamping portion 122 and the second clamping portion 123 are hinged, allowing the second ends of the first clamping portion 122 and the second clamping portion 123 to move closer to or further away from each other, thereby achieving separation or contact of the second ends of the first clamping portion 122 and the second clamping portion 123. It is understood that in this case, at least part of the gripper and the arm body 110 are separate structures. For example, the first clamping portion 122 is integrally formed with the arm body 110, while the second clamping portion 123 and the arm body 110 are separate structures. The first end of the second clamping portion 123 is hinged to the first end of the first clamping portion 122, allowing the second end of the second clamping portion 123 to move closer to or further away from the second end of the first clamping portion 122. This can be achieved by manually moving the second end of the second clamping portion 123 closer to or further away from the second end of the first clamping portion 122, or by driving the second end of the second clamping portion 123 closer to or further away from the second end of the first clamping portion 122 through an elastic mechanism, a driving mechanism, or the like.

[0078] In some possible embodiments provided in this application, the first ends of the first clamping portion 122 and the second clamping portion 123 are fixedly connected or integrally formed. The first clamping portion 122 and the second clamping portion 123 are configured as elastic members. Thus, under the action of the elastic members, the second ends of the first clamping portion 122 and the second clamping portion 123 can move closer or further apart, thereby achieving separation or contact of the second ends of the first clamping portion 122 and the second clamping portion 123. It is understood that in this case, the claw and the arm body 110 are an integral structure or fixedly connected. The first clamping portion 122 and the second clamping portion 123 can be metal parts or plastic parts, such as aluminum alloy parts.

[0079] Specifically, when the connecting part 120 and the arm body 110 are both made of aluminum alloy and are integrally formed, since the aluminum alloy has a certain elasticity, the second ends of the first clamping part 122 and the second clamping part 123 are slightly separated during processing. Then, by utilizing the elasticity of the aluminum alloy, the second ends of the first clamping part 122 and the second clamping part 123 can be manually moved to bring them into contact. Then, by using the locking member 130 to lock the second ends of the first clamping part 122 and the second clamping part 123, the limiting hole 121 and the limiting surface on the output shaft of the drive part of the mechanical joint 220 can be reliably limited.

[0080] As shown in Figures 4 and 5, in some possible embodiments provided in this application, the arm body 110 includes a detachably connected base 111 and a cover plate 112, which together form a mounting cavity configured to accommodate at least the circuit board 140 of the robotic arm 200. The robotic arm 200 may include the circuit board 140 for electrical connection with the mechanical joint 220, thereby enabling control of the mechanical joint 220.

[0081] In this embodiment, the arm body 110 is configured as an openable or closable cavity structure through the base 111 and the cover plate 112, allowing the circuit board 140 of the robotic arm 200 to be installed inside the cavity. The arm body 110 provides good protection for the circuit board 140, which helps to extend the service life of the circuit board 140. At the same time, the structure of the arm body 110 itself provides installation space for the circuit board 140 of the robotic arm 200 without increasing the volume of the arm body 110. Furthermore, it simplifies the arrangement of the space 211 for the circuit board 140 installed in the cavity for other structures of the robotic arm 200, thereby reducing the volume of other structures of the robotic arm 200 and enabling the robotic arm 200 as a whole to meet the design requirements of compact structure and small size.

[0082] The base 111 and the cover plate 112 are detachably connected, facilitating the disassembly, assembly, and maintenance of the circuit board 140. Specifically, the base 111 and the cover plate 112 can be detachably connected through at least one of the following structures: bolt structure, plug-in structure, snap-fit ​​structure, tenon and mortise structure, and magnetic structure.

[0083] As shown in Figures 4 and 5, in some possible embodiments provided in this application, the base 111 and / or the cover plate 112 are provided with a wire hole 113 communicating with the mounting cavity, so that the connecting wire 150 passes through the wire hole 113 and can electrically connect the mechanical joint 220 located outside the receiving cavity and the circuit board 140 located inside the receiving cavity.

[0084] The wire-passing hole 113 can be located on the base 111, on the cover plate 112, or on both the base 111 and the cover plate 112. The number of wire-passing holes 113 can be one, two, or other numbers.

[0085] In the above embodiment, the wire hole 113 is arranged near the end of the arm body 110. Since the connecting part 120 is located at the end of the arm body 110 and connected to the mechanical joint 220, arranging the wire hole 113 near the end of the arm body 110 allows the connecting wire 150 to connect the mechanical joint 220 to the circuit board 140 through the wire hole 113. This also reduces the length of the connecting wire 150 exposed on the outer surface of the arm body 110, meaning the connecting wire 150 is also housed in the mounting cavity. The arm body 110 serves to house and shield the connecting wire 150. In this way, the connecting wire 150 can be directly connected to the mechanical joint 220 after exiting from the wire hole 113. This avoids the problem of the connecting wire 150 being exposed on the outside of the arm body 110, affecting the cleanliness of the connecting arm 100's appearance and making it easy to be scratched by external objects. This improves the cleanliness and aesthetics of the connecting arm 100's appearance and helps improve the reliability of the electrical connection of the mechanical joint 220, thereby improving the overall reliability of the robotic arm 200.

[0086] The arm body 110 has two wire-passing holes 113, which are located near the two ends of the arm body 110. Since the two connecting parts 120 are located at both ends of the arm body 110 and connect to the two mechanical joints 220, distributing the two wire-passing holes 113 near the ends of the arm body 110 can be understood as placing them near the two ends along the length of the arm body 110. This allows the connecting wire 150 within the receiving cavity to pass through the wire-passing holes 113 and connect to the adjacent mechanical joint 220, minimizing the possibility of the connecting wire 150 being exposed on the exterior surface of the connecting arm 100 and improving the neatness and aesthetics of the connecting arm 100. Simultaneously, this arrangement allows the design of the robotic arm 200 to eliminate the need for a wire-passing safety gap designed to prevent the connecting wire 150 from scratching other structures, thus achieving a compact layout between the connecting arm 100 and the joint arm 210, resulting in a compact overall structure and smaller size for the robotic arm 200.

[0087] In the above embodiments, the two wire passage holes 113 can be located on the same side or different sides of the arm body 110. The positions of the wire passage holes 113 can be reasonably set according to the specific location of the electrical connection of the mechanical joint 220. For example, the two wire passage holes 113 can be located at the top of the arm body 110 at the same time, or the two wire passage holes 113 can be located at the bottom of the arm body 110 at the same time; or the two wire passage holes 113 can be arranged at the top and bottom of the arm body 110 respectively, or the two wire passage holes 113 can be arranged on the left and right sides of the arm body 110 respectively.

[0088] Specifically, as shown in Figures 5, 6, and 7, the articulated arm 210 includes a first articulated arm 212 and a second articulated arm 213, and the mechanical joint 220 includes a first mechanical joint 221 and a second mechanical joint 222. The first connecting portion 124 of the connecting arm 100 is connected to the first articulated arm 212 via the first mechanical joint 221, and the second connecting portion 125 of the connecting arm 100 is connected to the second articulated arm 213 via the second mechanical joint 222. When the mechanical arm 200 is in a folded state, the first articulated arm 212 is located below the connecting arm 100, and the second articulated arm 213 is located above the connecting arm 100.

[0089] The wire hole 113 near the first articulated arm 212 can be located at the top of the arm body 110, and the wire hole 113 near the second articulated arm 213 can be located at the bottom of the arm body 110. This allows the connecting wire 150 to pass through the wire hole 113 at the top of the connecting arm 100 and then be directly and smoothly electrically connected to the first mechanical joint 221 mounted on the first articulated arm 212 via the top of the first mechanical joint 221, reducing the possibility of the connecting wire 150 scraping against the first articulated arm 212 located below the connecting arm 100. Correspondingly, the connecting wire 150 can pass through the wire hole 113 at the bottom of the connecting arm 100 and then be directly and smoothly electrically connected to the second mechanical joint 222 mounted on the second articulated arm 213 via the bottom of the second mechanical joint 222, reducing the possibility of the connecting wire 150 scraping against the second articulated arm 213 located above the connecting arm 100. In some possible embodiments provided in this application, an inductive film is disposed on the outside of the cover plate 112, and the inductive film is configured to be touched or brought near to send an electrical signal.

[0090] The inductive film can include a piezoelectric film, a capacitive film, or other thin films that can transmit electrical signals when touched or brought near. Specifically, a piezoelectric film is a special type of piezoelectric material. Its piezoelectric effect refers to the change in charge distribution within the piezoelectric material proportional to the stress when external mechanical stress is applied, thereby generating a voltage difference to transmit electrical signals. Specifically, when a hand or foreign object touches or approaches the piezoelectric film, it will cause the piezoelectric film to transmit electrical signals. Similarly, when a hand or foreign object touches or approaches the capacitive film, it will cause the capacitive film to transmit electrical signals.

[0091] In this embodiment, the inductor film is designed so that when the connecting arm 100 and the articulated arm 210 are folded or unfolded, if a hand or foreign object near the connecting arm 100 comes into contact with, collides with, or approaches the inductor film on the connecting arm 100, the inductor film will transmit an electrical signal. The circuit board 140 can promptly know whether the connecting arm 100 has come into contact with, collided with, or approached a hand or foreign object based on the electrical signal transmitted by the inductor film. This allows the robotic arm 200 to take corresponding actions based on the electrical signal, such as controlling the mechanical joint 220 to stop working, thereby reducing the possibility that the connecting arm 100 and the articulated arm 210 may pinch a hand or foreign object or continue to collide with a hand or foreign object. This reduces personal injury or financial loss caused during the movement of the robotic arm 200, which is beneficial to improving the safety of the robotic arm 200 and enhancing user satisfaction.

[0092] In the above embodiments, an inductive film can be connected to the outside of the cover plate 112, enabling the inductive film to provide anti-pinch and anti-collision protection. It is understood that the connection between the inductive film and the cover plate 112 can be achieved through at least one of the following structures: bolt structure, snap-fit ​​structure, tenon structure, plug-in structure, adhesive, and magnetic attraction structure.

[0093] In some possible embodiments provided in this application, an inductive membrane is provided at the top and / or bottom of the arm body 110, and the inductive membrane is configured to be contacted or brought near to send an electrical signal.

[0094] In this embodiment, an inductive film can be provided at the top of the arm body 110, or at the bottom of the arm body 110, or simultaneously at both the top and bottom of the arm body 110. The inductive film at the top of the arm body 110 can detect and protect against pinching and collisions between the connecting arm 100 and the second joint arm 213 located above the connecting arm 100 when in the folded state. The inductive film at the bottom of the arm body 110 can detect and protect against pinching and collisions between the connecting arm 100 and the first joint arm 212 located below the connecting arm 100 when in the folded state.

[0095] As shown in Figures 3, 4, and 5, in some possible embodiments provided in this application, the connecting portion 120 includes a first connecting portion 124 protruding downward along the height direction of the arm body 110, and the articulated arm 210 includes a first articulated arm 212 connected to the first connecting portion 124; wherein, when the first articulated arm 212 and the connecting arm 100 are in a folded state, the first articulated arm 212 is located below the connecting arm 100 and is fitted against the connecting arm 100. It is understood that the first mechanical joint 221 is mounted on the first articulated arm 212, and the second mechanical joint 222 is mounted on the second articulated arm 213.

[0096] In this embodiment, since the first joint arm 212 is located below the connecting arm 100 when the robotic arm 200 is in the folded state, the first connecting portion 124 protrudes downward along the height direction of the arm body 110, allowing the first connecting portion 124 to extend towards the first joint arm 212. This facilitates the first connecting portion 124 being fully accommodated within the accommodating space 211 provided in the first joint arm 212. Simultaneously, this allows the first joint arm 212 and the connecting arm 100 in the folded state to fit together more closely, i.e., the first joint arm 212 and the connecting arm 100 are vertically aligned. This minimizes the vertical dimension of the robotic arm 200 in the folded state, meeting the design requirements for a compact, small, and lightweight robotic arm 200, and ensuring that the movement range is not affected by the excessive height of the device body.

[0097] In the above embodiment, the robotic arm includes a connecting seat assembly 230 and a lifting joint 250. The lifting joint 250 is installed inside the first joint arm 212 and connected to the connecting seat assembly 230. The lifting joint 250 is configured to drive the first joint arm 212 to fold or unfold relative to the connecting seat assembly 230. When the first joint arm 212 and the connecting seat assembly 230 are in a folded state and the first joint arm 212 and the connecting arm 100 are in a folded state, the horizontal projection area of ​​the first joint arm 212 and the connecting seat assembly 230 does not exceed the horizontal projection area of ​​the connecting arm 100 in the width direction, and the difference between the horizontal projection area of ​​the first joint arm 212 and the connecting seat assembly 230 and the horizontal projection area of ​​the connecting arm 100 in the length direction is less than or equal to 10 mm.

[0098] In other words, when the entire robotic arm 200 is in a folded state, the width of the total projected area of ​​the first articulated arm 212 and the connecting seat assembly 230 on the horizontal plane is equal to or less than the width of the connecting arm 100, and the difference between the length of the total projected area of ​​the first articulated arm 212 and the connecting seat assembly 230 on the horizontal plane and the length of the connecting arm 100 is less than or equal to 10mm. This can be achieved by either the length of the connecting arm 100 being longer than the total projected area of ​​the first articulated arm 212 and the connecting seat assembly 230 on the horizontal plane, or by the length of the total projected area of ​​the first articulated arm 212 and the connecting seat assembly 230 being longer than the length of the connecting arm 100. This ensures that the length and width of the first articulated arm 212 and the connecting seat assembly 230 are within reasonable ranges, and that the difference between the projections of the first articulated arm 212 and the connecting seat assembly 230 on the horizontal plane and the projection of the connecting arm 100 is not significant. This helps to reduce the overall length and width of the robotic arm 200 in the folded state, meeting the design requirements of a compact structure and small size for the robotic arm 200.

[0099] Specifically, when the robotic arm 200 is in a folded state, the difference between the length of the total projection area of ​​the first joint arm 212 and the connecting seat assembly 230 on the horizontal plane and the length of the projection area of ​​the connecting arm 100 on the horizontal plane can be any size between 0mm, 2mm, 4mm, 6mm, 8mm, 10mm, or 0mm to 10mm.

[0100] In some possible embodiments provided in this application, the connecting portion 120 includes a second connecting portion 125 protruding upward along the height direction of the arm body 110, and the articulated arm 210 includes a second articulated arm 213 connected to the second connecting portion 125; wherein, when the second articulated arm 213 and the connecting arm 100 are in a folded state, the second articulated arm 213 is located above the connecting arm 100 and is fitted to the connecting arm 100.

[0101] In this embodiment, since the second articulated arm 213 is located above the connecting arm 100 when the robotic arm 200 is in the folded state, the second connecting portion 125 protrudes upward along the height direction of the arm body 110, allowing the second connecting portion 125 to extend towards the second articulated arm 213. This facilitates the second connecting portion 125 being fully accommodated within the accommodating space 211 provided in the second articulated arm 213. Simultaneously, this allows the second articulated arm 213 and the connecting arm 100 in the folded state to fit more closely, i.e., the second articulated arm 213 and the connecting arm 100 are fitted together vertically. This minimizes the vertical dimension of the robotic arm 200 in the folded state, meeting the design requirements for a compact, small, and lightweight robotic arm 200, and satisfying the design requirements for a compact and small cleaning device without affecting the range of motion due to excessive height of the device body.

[0102] In the above embodiment, the robotic arm 200 further includes a robotic hand 240, which is connected to the end of the second joint arm 213 away from the connecting arm 100. When the entire robotic arm 200 is in a folded state, the horizontal projection area of ​​the second joint arm 213 and the robotic hand 240 does not exceed the horizontal projection area of ​​the connecting arm 100 in the width direction, and the difference between the horizontal projection area of ​​the second joint arm 213 and the robotic hand 240 and the horizontal projection area of ​​the connecting arm 100 in the length direction is less than or equal to 10 mm.

[0103] In other words, when the robotic arm 200 is in a folded state, the width of the total projected area of ​​the second joint arm 213 and the robotic hand 240 on the horizontal plane is equal to or less than the width of the connecting arm 100, and the difference between the length of the total projected area of ​​the second joint arm 213 and the robotic hand 240 on the horizontal plane and the length of the connecting arm 100 is less than or equal to 10mm. This can be achieved by either the length of the connecting arm 100 being longer than the total projected area of ​​the second joint arm 213 and the robotic hand 240 on the horizontal plane, or by the length of the total projected area of ​​the second joint arm 213 and the robotic hand 240 being longer than the length of the connecting arm 100. This ensures that the length and width of the second joint arm 213 and the robotic hand 240 are within reasonable ranges, and that the difference between the projections of the second joint arm 213 and the robotic hand 240 on the horizontal plane and the projection of the connecting arm 100 is not significant. This helps to reduce the overall length and width of the robotic arm 200 in the folded state, meeting the design requirements of a compact structure and small size for the robotic arm 200.

[0104] Specifically, when the robotic arm 200 is in a folded state, the difference between the length of the total projected area of ​​the second joint arm 213 and the robotic hand 240 in the horizontal plane and the length of the projected area of ​​the connecting arm 100 in the horizontal plane can be any size between 0mm, 2mm, 4mm, 6mm, 8mm, 10mm, or 0mm to 10mm.

[0105] In some possible embodiments provided in this application, the robotic arm 200 is configured as a foldable structure. The difference between the width of the horizontal projection area of ​​the robotic arm 200 in the folded state and the width of the horizontal projection area of ​​the connecting arm 100 is less than or equal to 10 mm, and the difference between the length of the horizontal projection area of ​​the robotic arm 200 in the folded state and the length of the horizontal projection area of ​​the connecting arm 100 is less than or equal to 20 mm. This ensures that the overall length and width of the robotic arm 200 in the folded state are small, meeting the design requirements of a compact structure and small size. It is understood that since the connecting arm 100 is part of the robotic arm 200 structure, the horizontal projection area of ​​the robotic arm 200 in the folded state will be equal to or greater than the horizontal projection area of ​​the connecting arm 100; that is, the width of the horizontal projection area of ​​the robotic arm 200 in the folded state is equal to or greater than the width of the horizontal projection area of ​​the connecting arm 100, and the length of the horizontal projection area of ​​the robotic arm 200 in the folded state is equal to or greater than the length of the horizontal projection area of ​​the connecting arm 100.

[0106] Specifically, the difference between the length of the folded robotic arm 200 projected onto the horizontal plane and the length of the connecting arm 100 projected onto the horizontal plane can be any dimension between 0mm, 4mm, 8mm, 12mm, 16mm, 20mm, or 0mm to 20mm. The difference between the width of the folded robotic arm 200 projected onto the horizontal plane and the width of the connecting arm 100 projected onto the horizontal plane can be any dimension between 0mm, 2mm, 4mm, 6mm, 8mm, 10mm, or 0mm to 10mm.

[0107] As can be understood, as shown in Figures 6 and 7, since the robotic arm 200 also includes a connecting seat assembly 230 connected to the first joint arm 212 and a robotic hand 240 connected to the second joint arm 213, when the robotic arm 200 is in a folded state, the first joint arm 212 and the connecting seat assembly 230 are located below the connecting arm 100, and the second joint arm 213 and the robotic hand 240 are located above the connecting arm 100. Considering the design requirements of the robotic arm 200 for a compact structure, small size, and thinness, the length of the connecting arm 100 can be designed to be equivalent to the sum of the lengths of the first joint arm 212 and the connecting seat assembly 230, and equivalent to the sum of the lengths of the second joint arm 213 and the robotic hand 240. Here, "equivalent" can be understood as "equal," or the difference is less than or equal to a preset value, which can be any dimension between 0 mm and 10 mm. The widths of the connecting arm 100, the first joint arm 212, the second joint arm 213, the connecting seat assembly 230, and the robot arm 240 can be set to be equal, or the width of any one of the first joint arm 212, the second joint arm 213, the connecting seat assembly 230, and the robot arm 240 can be less than the width of the connecting arm 100.

[0108] 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 connecting arm (100) applied to a robotic arm (200), wherein, The robotic arm (200) includes an articulated arm (210) and a mechanical joint (220) corresponding to and connected to the articulated arm (210). The connecting arm (100) includes: The arm body (110) and the connecting part (120) are respectively located at both ends of the arm body (110). The two connecting parts (120) are configured to be connected to one of the mechanical joints (220) respectively. The mechanical joint is configured to allow the connecting arm (100) and the corresponding joint arm (210) to be folded or unfolded. The connecting part (120) is configured to be housed in the receiving space (211) provided in the corresponding articulated arm (210), and can move within the receiving space (211).

2. The connecting arm (100) according to claim 1, wherein, The arm body (110) is rectangular, and the connecting part (120) is located at both ends of the arm body (110) along the length direction. The connecting part (120) protrudes from the arm body (110) along the height direction and does not protrude from the arm body (110) along the width direction.

3. The connecting arm (100) according to claim 1, wherein, The connecting part (120) is configured as a pawl, which is capable of engaging or releasing the output shaft of the mechanical joint (220).

4. The connecting arm (100) according to claim 3, wherein, The chuck includes a first clamping part (122) and a second clamping part (123). The first ends of the first clamping part (122) and the second clamping part (123) are connected. The second ends of the first clamping part (122) and the second clamping part (123) can move away from or close to each other. The second ends of the first clamping part (122) and the second clamping part (123) are in contact or close to each other to form a limiting hole (121) that matches the output shaft.

5. The connecting arm (100) according to claim 4, wherein, The connecting arm (100) further includes a locking member (130) for locking the second ends of the first clamping part (122) and the second clamping part (123).

6. The connecting arm (100) according to claim 5, wherein, The first clamping part (122) is provided with a connecting hole, and the second clamping part (123) is provided with a through hole (1231) at a position opposite to the connecting hole. The locking member (130) passes through the through hole (1231) and connects to the connecting hole.

7. The connecting arm (100) according to claim 6, wherein, The second clamping part (123) has a recessed structure (1232) on the side of the through hole (1231) away from the connecting hole, and the locking member (130) located outside the through hole (1231) is accommodated in the recessed structure (1232).

8. The connecting arm (100) according to claim 4, wherein, The first ends of the first clamping part (122) and the second clamping part (123) are hinged together; or The first ends of the first clamping part (122) and the second clamping part (123) are fixedly connected or integrally formed, and the first clamping part (122) and the second clamping part (123) are configured as elastic members.

9. The connecting arm (100) according to claim 1, wherein, The arm body (110) includes a detachably connected base (111) and a cover plate (112), which together form a mounting cavity configured to accommodate at least the circuit board (140) of the robotic arm (200).

10. The connecting arm (100) according to claim 9, wherein, The base (111) and / or the cover plate (112) are provided with a wire passage hole (113) communicating with the mounting cavity, and the wire passage hole (113) is arranged near the end of the arm body (110); The number of wire holes (113) is two, and the two wire holes (113) are located on the same side or different sides of the arm body (110).

11. The connecting arm (100) according to claim 9, wherein, An inductive film is externally connected to the cover plate (112), the inductive film being configured to be touched or brought near to send an electrical signal.

12. The connecting arm (100) according to claim 1, wherein, An inductive membrane is provided at the top and / or bottom of the arm body (110), the inductive membrane being configured to be touched or brought near to send an electrical signal.

13. The connecting arm (100) according to claim 1, wherein, The connecting portion (120) includes a first connecting portion (124) protruding downward along the height direction of the arm body (110), and the articulated arm (210) includes a first articulated arm (212) connected to the first connecting portion (124); When the first joint arm (212) and the connecting arm (100) are in a folded state, the first joint arm (212) is located below the connecting arm (100) and is fitted to the connecting arm (100).

14. The connecting arm (100) according to claim 1, wherein, The connecting portion (120) includes a second connecting portion (125) protruding upward along the height direction of the arm body (110), and the articulated arm (210) includes a second articulated arm (213) connected to the second connecting portion (125); When the second joint arm (213) and the connecting arm (100) are in a folded state, the second joint arm (213) is located above the connecting arm (100) and is fitted to the connecting arm (100).

15. The connecting arm (100) according to claim 1, wherein, The robotic arm (200) is configured as a foldable structure. The difference between the width of the horizontal projection area of ​​the robotic arm (200) in the folded state and the width of the horizontal projection area of ​​the connecting arm (100) is less than or equal to 10 mm, and the difference between the length of the horizontal projection area of ​​the robotic arm (200) in the folded state and the length of the horizontal projection area of ​​the connecting arm (100) is less than or equal to 20 mm.

16. The connecting arm (100) according to claim 1, wherein, At least the arm body (110) is made of aluminum alloy; and / or The arm body (110) and the connecting part (120) are either an integral structure or a separate structure.

17. The connecting arm (100) according to claim 1, wherein, The length of the connecting arm (100) is 190mm to 210mm; The width of the connecting arm (100) is 27mm to 37mm; The height of the connecting arm (100) is 26mm to 36mm; The thickness of the arm body (110) is 5.7 mm to 7.5 mm.

18. A robotic arm (200), wherein, include: The articulated arm (210), the mechanical joint (220), and the connecting arm (100) as claimed in any one of claims 1 to 17.

19. The robotic arm (200) according to claim 18, wherein, Also includes: The assembly includes a connecting seat assembly (230) and a lifting joint (250). The joint arm (210) includes a first joint arm (212) rotatably connected to the connecting seat assembly (230). The lifting joint (250) is installed inside the first joint arm (212) and connected to the connecting seat assembly (230). The lifting joint (250) is configured to drive the first joint arm (212) to fold or unfold relative to the connecting seat assembly (230). When the first joint arm (212) and the connecting seat assembly (230) are in a folded state and the first joint arm (212) and the connecting arm (100) are in a folded state, the horizontal projection area of ​​the first joint arm (212) and the connecting seat assembly (230) does not exceed the horizontal projection area of ​​the connecting arm (100) in the width direction, and the difference between the horizontal projection area of ​​the first joint arm (212) and the connecting seat assembly (230) and the horizontal projection area of ​​the connecting arm (100) in the length direction is less than or equal to 10 mm.

20. The robotic arm (200) according to claim 18, wherein, Also includes: The robotic arm (240) includes a second joint arm (213) connected to the robotic arm (240). The robotic arm (240) is connected to the end of the second joint arm (213) away from the connecting arm (100). When the entire robotic arm (200) is in a folded state, the horizontal projection area of ​​the second joint arm (213) and the robotic arm (240) does not exceed the horizontal projection area of ​​the connecting arm (100) in the width direction, and the difference between the horizontal projection area of ​​the second joint arm (213) and the robotic arm (240) and the horizontal projection area of ​​the connecting arm (100) in the length direction is less than or equal to 10 mm.

21. A cleaning device, wherein, include: The robotic arm (200) as described in any one of claims 18 to 20.

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