Mechanical joint, mechanical arm, and self-moving cleaning device

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Solution Overview

Problem

Existing self-moving cleaning devices lack the ability to efficiently grasp and move obstacles or garbage due to limitations in mechanical arm design, particularly in determining the zero position of the mechanical hand, which affects operational intelligence and user satisfaction.

Innovation Solution

Incorporating a mechanical joint with a photoelectric sensor and baffle to determine the zero position of the mechanical hand, allowing for precise control and efficient operation of the mechanical arm, enhancing its intelligence and user satisfaction.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If a mechanical joint is added to enable rotation of the operating mechanism relative to the working arm, then the mechanical arm can grasp and move obstacles or garbage, but the ability to accurately determine the zero position of the mechanical hand is lost, affecting operational intelligence

Engineering Contradiction:

Improvegrasping and moving obstacles or garbageVSAvoidzero position determination

Core Design Contradiction:

Adaptability or versatilityVSMeasurement precision

Solution Approach 1:

A baffle is introduced as an intermediary component between the photoelectric sensor and the operating mechanism. The baffle blocks light when the operating mechanism is at the zero position, providing a clear signal to the control system. This intermediary element enables precise zero position detection without interfering with the mechanical arm's grasping and moving functions.

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The patent replaces mechanical position detection methods with an optical detection system consisting of a photoelectric sensor and baffle. This substitution provides more accurate and reliable zero position determination compared to traditional mechanical sensors, while maintaining the mechanical rotation capability of the operating mechanism.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Extent of automation

If photoelectric sensor and baffle are added to determine zero position, then operational intelligence and user satisfaction improve, but device complexity increases

Engineering Contradiction:

Improveoperational intelligenceVSAvoidmechanical joint structure

Core Design Contradiction:

Extent of automationVSDevice complexity

Solution Approach 1:

The zero position detection function is extracted as a separate subsystem with dedicated components (photoelectric sensor and baffle) independent from the main mechanical driving mechanism. This modular approach allows the detection system to be added without fundamentally redesigning the mechanical structure, thereby limiting the increase in overall device complexity.

Inventive Principle:

Principle #2Taking out (Extraction)

Solution Approach 2:

The photoelectric sensor and baffle system serves multiple functions: it detects the zero position, provides feedback to the control system, and enables intelligent operation. This multi-functionality justifies the added complexity by delivering significant improvements in operational intelligence and automation capability.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

The mechanical joint enables accurate determination of the mechanical hand's zero position, improving the operational range and efficiency of the mechanical arm, thereby enhancing the cleaning device's autonomy and user experience.

Implementation Method 1

a photoelectric sensor and a baffle, one of the photoelectric sensor and the baffle being arranged on the operating mechanism, the other being arranged on a frame of the mechanical joint

Methodology Applied

Scientific EffectPhotoelectric detection: Photoelectric Effect

Data Source

PatentEP4643744A1Mechanical joint, mechanical arm, and self-moving cleaning device

Publication Date: 2025.11.05 BEIJING ROCKROBO TECH CO LTD

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AI summary

A mechanical joint (40), a mechanical arm (001), and a self-moving cleaning device (002). The mechanical joint (40) is applied to the mechanical arm (001). The mechanical arm (001) comprises a working arm (80) and an operating mechanism (90). The mechanical joint (40) comprises: a first driving portion (410), the first driving portion (410) being connected to the operating mechanism (90) so as to drive the operating mechanism (90) to rotate relative to the working arm (80); and a photoelectric sensor (420) and a baffle (430). One among the photoelectric sensor (420) and the baffle (430) is disposed on the operating mechanism (90), and the other is disposed on a frame of the mechanical joint (40). The baffle (430) is configured to change a sensing result of the photoelectric sensor (420) when the operating mechanism (90) is at a zero point position.