CN219027560U

CN219027560U - Mechanical joint, mechanical arm and self-moving cleaning equipment

Info

Publication number: CN219027560U
Application number: CN202223602072.2U
Authority: CN
Inventors: 李行; 李长城; 余强; 邹绿武
Original assignee: Beijing Rockrobo Technology Co Ltd
Current assignee: Beijing Rockrobo Technology Co Ltd
Priority date: 2022-12-30
Filing date: 2022-12-30
Publication date: 2023-05-16
Anticipated expiration: 2032-12-30

Abstract

The utility model discloses a mechanical joint, a mechanical arm and self-moving cleaning equipment. Wherein, mechanical joint for connect support arm and the base of arm, mechanical joint includes: the rotary seat comprises a base, a first driving part, a rotary joint, a first transmission assembly and a connecting structure, wherein the first driving part is arranged on the base through the connecting structure, the first transmission assembly is used for transmitting and connecting the first driving part and the rotary joint, the rotary joint is connected with the rotary seat, and the first driving part is used for driving the rotary joint to rotate through the first transmission assembly so that the rotary seat rotates relative to the base.

Description

Mechanical joint, mechanical arm and self-moving cleaning equipment

Technical Field

The utility model relates to the technical field of mechanical arms, in particular to a mechanical joint, a mechanical arm and self-moving cleaning equipment.

Background

Along with the continuous development of science and technology and the continuous improvement of living standard of people, self-moving cleaning equipment such as intelligent sweeping robots are continuously driven into our daily lives. In order to better realize the cleaning function, the existing self-moving cleaning equipment is additionally provided with a mechanical arm to realize the grabbing or moving of obstacles or garbage.

The mechanical arm is generally required to be provided with a rotary mechanical joint to realize the rotation of the support arm relative to the base, however, the traditional arrangement mode ensures that the whole height of the mechanical arm is higher and the volume is larger.

Disclosure of Invention

In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. This section of the utility model is not intended to limit the critical and essential features of the claimed subject matter, nor is it intended to be used as an attempt to determine the scope of the claimed subject matter.

An embodiment of a first aspect of the present utility model provides a mechanical joint for connecting a support arm and a base of a mechanical arm, the mechanical joint comprising: the rotary seat comprises a base, a first driving part, a rotary joint, a first transmission assembly and a connecting structure, wherein the first driving part is arranged on the base through the connecting structure, the first transmission assembly is used for connecting the first driving part and the rotary joint in a transmission manner, and the first driving part is used for driving the rotary joint to rotate through the first transmission assembly so that the rotary seat rotates relative to the base.

Further, the first transmission assembly comprises a first synchronous wheel and a second synchronous wheel which are in transmission connection through a first transmission belt, the first synchronous wheel is connected with a first driving part, the first driving part is arranged on the base, the second synchronous wheel is connected with a rotating seat, and the rotating seat is movably connected with the base through a rotating joint.

Further, the rotary joint includes a rolling assembly between the rotary base and the base, the rolling assembly including balls or roller pins.

Further, the rotating seat comprises a first rotating shaft inserted into the base and a table top positioned at the upper part of the first rotating shaft, the rolling assembly is sleeved outside the first rotating shaft, the second synchronous wheel is connected with the table top, and the rolling assembly comprises a first rolling assembly and a second rolling assembly which are distributed at two opposite ends of the base; the opposite surfaces of the base are respectively in rolling contact with the first rolling assembly and the second rolling assembly.

Further, the table top is positioned outside the base, and one end of the second rolling assembly away from the first rolling assembly is in rolling contact with one side of the table top facing the base.

Further, the rotary joint further includes: the first gasket is in rolling contact with one end of the first rolling assembly, which is far away from the second rolling assembly; and the pre-tightening assembly is used for adjusting the distance between the first rolling assembly and the second rolling assembly through the first gasket.

Further, the pretension assembly includes: the first adjusting piece and the first pre-tightening gasket are positioned on one side, away from the first rolling assembly, of the first gasket, the first adjusting piece penetrates through the first pre-tightening gasket to be connected with the first rotating shaft in a rotating mode, and the first adjusting piece can rotate to drive the first pre-tightening gasket to move up and down relative to the rotating seat so as to adjust the distance between the first rolling assembly and the second rolling assembly.

Further, the rotary joint further includes: the sliding sleeve is sleeved on the outer side of the first rotating shaft, is positioned between the first rolling assembly and the second rolling assembly and is accommodated in the mounting groove arranged on one side of the base, which faces the first rolling assembly.

Further, the mechanical joint further includes: the detection shaft is rotatably arranged on the base, the second synchronous pulley assembly is used for being in transmission connection with an output shaft of the detection shaft and the first driving part, and the first rotation angle detection device is used for detecting rotation angles of the detection shaft.

Further, the mechanical joint further includes: the fixing frame is connected with the base and erected on the periphery of the detection shaft, the second synchronous pulley assembly comprises a third synchronous pulley and a fourth synchronous pulley which are connected through a second transmission belt, the third synchronous pulley is connected with an output shaft of the first driving part, the fourth synchronous pulley is connected with the detection shaft, the first rotation angle detection device comprises a magnetic induction piece and a magnetic piece, the magnetic induction piece is arranged on the fixing frame, and the magnetic piece is arranged on the detection shaft.

Further, the mechanical joint further includes: and the tensioning device is arranged on the base and used for adjusting the tension of the first transmission belt.

Further, the tensioning device comprises a guide part, a tensioning shaft and a second adjusting piece; the guide part is arranged on the base, a guide groove is formed in the inner bottom of the guide part, the tensioning shaft is inserted into the guide part, the end part of the tensioning shaft is located in the guide groove and can slide along the guide groove towards the direction close to or far away from the first transmission belt, a tensioning bearing connected with the first transmission belt is arranged on the outer portion of the guide part, the second adjusting piece is inserted into the guide part and is abutted to the tensioning shaft, and the position of the tensioning shaft in the guide groove can be adjusted by adjusting the connecting position of the second adjusting piece and the guide part.

An embodiment of the second aspect of the present utility model provides a mechanical arm, including: the mechanical joint of any one of the first aspects.

An embodiment of a third aspect of the present utility model provides a self-moving cleaning apparatus comprising: the robot arm of the second aspect.

The foregoing description is only an overview of the present utility model, and is intended to be implemented in accordance with the teachings of the present utility model in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present utility model more readily apparent.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the utility model. Also, like reference numerals are used to designate like parts throughout the figures. Wherein:

fig. 1 is a schematic structural view of a self-moving cleaning apparatus according to an embodiment of the present utility model in a state where a mechanical arm is unfolded;

fig. 2 is a schematic structural view of a mechanical arm of the self-moving cleaning apparatus in a folded state according to an embodiment of the present utility model;

FIG. 3 is a schematic view of a self-moving cleaning apparatus according to another embodiment of the present utility model;

fig. 4 is a schematic view illustrating a view angle structure of a mechanical arm in an unfolded state according to an embodiment of the present utility model;

fig. 5 is a schematic view illustrating another view angle structure of the mechanical arm in an unfolded state according to the embodiment of the present utility model;

fig. 6 is a schematic view illustrating a structure of a mechanical arm in a folded state according to an embodiment of the present utility model;

fig. 7 is a schematic view illustrating another view angle structure of the mechanical arm in a folded state according to the embodiment of the present utility model;

FIG. 8 shows a simplified mechanical diagram of a robotic arm in an extended state, as provided by an embodiment of the present utility model;

fig. 9 is a schematic view illustrating still another view angle structure of the mechanical arm in a folded state according to the embodiment of the present utility model;

FIG. 10 shows a schematic diagram of the embodiment of FIG. 9 from a perspective;

FIG. 11 shows a cross-sectional view of A-A of the embodiment shown in FIG. 10;

FIG. 12 is a cross-sectional view of a first mechanical joint according to an embodiment of the present utility model with a base and swivel mount assembled;

fig. 13 is a schematic structural diagram of a second mechanical joint provided by an embodiment of the present utility model, assembled with a rotating base and a supporting arm;

FIG. 14 is a schematic view showing a part of the structure of a second mechanical joint according to an embodiment of the present utility model from one view;

FIG. 15 shows a cross-sectional view of B-B of the embodiment shown in FIG. 14;

fig. 16 is a schematic structural view showing still another view angle in an unfolded state of the mechanical arm according to the embodiment of the present utility model;

FIG. 17 shows a cross-sectional view of C-C of the embodiment shown in FIG. 16;

FIG. 18 shows an enlarged partial schematic view at A of the embodiment of FIG. 17;

FIG. 19 illustrates a cross-sectional view of a third mechanical joint provided by an embodiment of the present utility model;

FIG. 20 is a schematic view showing a structure of a third mechanical joint according to an embodiment of the present utility model from one view;

FIG. 21 shows a cross-sectional view of a third mechanical joint provided in an embodiment of the present utility model with a support arm and a link arm assembled;

fig. 22 is a schematic view of a part of a third mechanical joint provided in an embodiment of the present utility model, where the third mechanical joint is assembled with a support arm and a connection arm;

fig. 23 is a schematic structural diagram showing a view angle of a fourth mechanical joint, a working arm and a manipulator according to an embodiment of the present utility model;

FIG. 24 shows a partial cross-sectional view of the embodiment of FIG. 23 from one perspective D-D;

fig. 25 is a schematic structural view showing still another view angle in an unfolded state of the mechanical arm according to the embodiment of the present utility model;

FIG. 26 shows an enlarged partial schematic view at B of the embodiment shown in FIG. 25;

FIG. 27 is a schematic view showing a structure of a manipulator according to an embodiment of the present utility model from one view;

FIG. 28 is a schematic view of a manipulator according to another embodiment of the present utility model;

FIG. 29 is a schematic view of a manipulator according to an embodiment of the present utility model;

FIG. 30 is a schematic view showing a structure of a manipulator according to still another embodiment of the present utility model;

FIG. 31 shows an enlarged partial schematic view of one view of the embodiment of FIG. 29;

FIG. 32 shows an enlarged partial schematic view of another view of the embodiment of FIG. 29;

FIG. 33 shows an enlarged partial schematic view of the embodiment of FIG. 30 from another perspective;

FIG. 34 shows an exploded view of the embodiment of FIG. 33;

FIG. 35 shows a schematic block diagram of a self-moving cleaning apparatus provided by an embodiment of the present utility model;

FIG. 36 is a schematic view showing a structure of a manipulator according to another embodiment of the present utility model from one view;

FIG. 37 shows a partial schematic view of the embodiment of FIG. 36;

FIG. 38 is a schematic view showing another view of a manipulator according to another embodiment of the present utility model;

FIG. 39 is a schematic view showing a structure of a manipulator according to another embodiment of the present utility model from another view angle;

FIG. 40 is a schematic view showing a structure of a manipulator according to another embodiment of the present utility model;

FIG. 41 is a schematic view showing a structure of a manipulator according to still another embodiment of the present utility model;

fig. 42 shows a partial schematic structure of the embodiment shown in fig. 41.

Description of the reference numerals

A 001 mechanical arm;

the device comprises a first mechanical joint, a first driving part, a rotary joint 120, a 121 rolling assembly, a 1211 first rolling assembly, a 1212 second rolling assembly, a 122 first gasket, a 123 pre-tightening assembly, a 1231 first adjusting piece, a 1232 first pre-tightening gasket, a 124 sliding sleeve, a 130 first synchronous pulley assembly, a 131 first transmission belt, a 132 first synchronous pulley, a 133 second synchronous pulley, a 140 first rotation angle detection device, a 141 magnetic induction piece, a 142 magnetic piece, a 150 second synchronous pulley assembly, a 151 second synchronous belt, a 160 tensioning device, a 161 guide part, a 162 tensioning bearing, a 163 adjusting hole, a 170 detection shaft and a 180 fixing frame;

the device comprises a first mechanical joint, a first guide nut, a second drive part, a first screw, a step structure 231, a pull-proof groove 232, a motor seat 240, a thrust bearing 250, an elastic element 260, a pull-proof element 280, a limit switch 290, a 291 switch body 292 and a trigger element 292, wherein the first guide nut is arranged on the first mechanical joint;

30 third mechanical joint, 310 motor, 311 first output shaft, 312 motor base plate, 313 stator, 314 rotor, 315 motor cover, 316 hall plate, 317 motor installation cavity, 320 planetary reduction mechanism, 321 primary gear set, 3211 first sun gear, 3212 first planet gear, 3213 first planet carrier, 322 secondary gear set, 3221 second sun gear, 3222 second planet gear, 3223 second planet carrier, 324 reduction installation cavity, 325 ring gear, 326 output end cover, 3261 limit structure, 327 second output shaft, 3271 connecting hole, 3272 first limit surface, 330 first bearing, 340 flange bearing, 350 first connecting piece, 351 second head, 352 second lever part, 360 second pretightening gasket, 370 hoop, 380 second connecting piece;

40 fourth mechanical joint, 410 fourth driving part, 411 fourth shell, 412 fourth output shaft, 420 photoelectric sensor, 430 baffle, 440 bearing device;

50 bases; 55 rotating seats, 551 table boards, 552 first rotating shafts;

60 support arm, 620 first connection, 630 second connection;

70, 710 a first bend, 720 a second bend;

80 working arm, 810 mounting hole, 820 mounting groove;

90 manipulators, 910 fifth driving parts, 920 second screws, 921 thrust washers, 930 second guide nuts, 931 cylindrical bosses, 940 clamping parts, 941 avoiding space, 950 link mechanisms, 951 first rods, 9511 sliding grooves, 9512 first hinge points, 9513 second hinge points, 952 second rods, 9521 third hinge points, 9522 fourth hinge points, 953 bending structures, 960 bases, 961 first cover plates, 962 second cover plates, 970 sixth driving parts, 980 transmission mechanisms, 981 connecting rods, 982 second rotating shafts, 983 second screws, 984 second guide nuts, 985 connecting blocks, 986 sliding rods, 990 first camera devices, 991 camera brackets, 992 cameras, 901 connecting shafts, 911 limiting holes;

90 'manipulator, 910' main drive part, 912 'secondary gear set, 920' second screw, 930 'second guide nut, 931' cylindrical boss, 940 'clamping part, 951' first rod, 9511 'first hinge point, 9512' second hinge point, 952 'second rod, 9521' third hinge point, 9522 'fourth hinge point, 9523' chute, 953 'first link mechanism, 954' second link mechanism, 955 'main gear set, 960' base, 961 'first cover plate, 962' second cover plate, 963 'receiving slot, 970' secondary drive part, 980 'elastic reset piece, 990' first camera device, 991 'camera bracket, 992' camera, 993 'back-out bend, 901' connecting shaft;

002 self-moving cleaning equipment, 010 equipment body, 011 accommodation cavity, 020 driving wheel, 030 driven wheel, 040 cleaning system, 050 second camera device, 060 control system, 070 processing system.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present utility model. It will be apparent, however, to one skilled in the art that the present utility model may be practiced without one or more of these specific details.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present utility model. As used herein, the singular is intended to include the plural unless the context clearly indicates otherwise. Furthermore, it will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

Exemplary embodiments according to the present utility model will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. It should be appreciated that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art.

As shown in fig. 1 to 35, an embodiment of the first aspect of the present utility model provides a mechanical joint (hereinafter referred to as a first mechanical joint 10), an embodiment of the second aspect of the present utility model provides a mechanical arm 001, and an embodiment of the third aspect of the present utility model provides a self-moving cleaning apparatus 002. The self-moving cleaning device 002 can be a sweeping robot, a sweeping and mopping integrated machine, or other self-moving cleaning devices 002 meeting the requirements.

Specifically, the self-moving cleaning apparatus 002 includes, but is not limited to: the device comprises a device body 010, a cleaning system, a driving system, a sensing system, a control module, an energy system, a man-machine interaction system and the like. The above systems are coordinated with each other so that the self-moving cleaning device 002 can move autonomously to realize the cleaning function. The functional elements and the like constituting the above-described systems in the cleaning apparatus are integrally provided in the apparatus body 010.

Further, the mechanical joint is applied to the mechanical arm 001, the mechanical arm 001 includes a base 50 and a rotating seat 55, and the mechanical joint (such as the first mechanical joint 10) is used for rotating the rotating seat 55 relative to the base 50, so that other operating mechanisms connected with the rotating seat 55 can meet the operating requirements of different positions, and the application range of the product is enlarged. The mechanical arm 001 is connected with the self-moving cleaning device 002, for example, the mechanical arm 001 is connected with the device body 010 of the self-moving cleaning device 002, so as to grasp or move obstacles, articles and garbage near the self-moving cleaning device 002, so as to better realize the autonomous cleaning function.

As shown in fig. 4, 5, 6 and 8, in some possible embodiments provided by the present utility model, the mechanical arm 001 includes: the base 50, the swivel base 55, the support arm 60, the connection arm 70, the working arm 80 and the manipulator 90 are connected in the accommodation chamber 011, that is, the whole manipulator 001 is mounted in the accommodation chamber 011 through the mounting structure provided in the base 50 and the accommodation chamber 011 so as to be fixed on the apparatus body 010. Specifically, the mounting structure may be a mounting seat, a mounting hole, a clamping groove or other structures, that is, the base 50 may be fixed in the accommodating cavity 011 by a screw, a clamping groove hook or other structures meeting the requirement.

Further, the swivel base 55 is connected to the base 50 by the first mechanical joint 10 so that the swivel base 55 is rotatable relative to the base 50, and the support arm 60 is connected to the swivel base 55 by the second mechanical joint 20 so that the support arm 60 is foldable or expandable relative to the swivel base 55, such as the support arm 60 is liftable or lowerable relative to the swivel base 55. The first end of the link arm 70 is connected to the support arm 60 by a third mechanical joint 30 so that the link arm 70 can be folded or unfolded with respect to the support arm 60, e.g., the link arm 70 can be raised or lowered with respect to the support arm 60, and the second end of the link arm 70 is connected to the working arm 80 by another third mechanical joint 30 so that the working arm 80 can be folded or unfolded with respect to the link arm 70, i.e., the working arm 80 can be raised or lowered with respect to the link arm 70, and the working arm 80 is connected to the manipulator 90 by a fourth mechanical joint 40 so that the manipulator 90 can be rotated with respect to the working arm 80.

That is, the mechanical arm 001 provided by the embodiment of the utility model is designed to be foldable with five degrees of freedom and three arm sections. This can increase the movement range of the robot arm 001, further increase the cleaning range of the self-moving cleaning device 002, and expand the range of use of the product. Meanwhile, the mechanical arm 001 with the folding design is arranged, so that the accommodating cavity of the mechanical arm 001, namely the volume of the folded mechanical arm 001 is smaller, and the storage is convenient.

The first mechanical joint 10 may be understood as a lumbar rotation joint, the second mechanical joint 20 may be understood as a lumbar lifting joint, the two third mechanical joints 30 may be respectively a shoulder joint and an elbow joint capable of lifting, and the fourth mechanical joint 40 may be a wrist joint capable of rotating.

Specifically, embodiments of the first aspect of the present utility model provide a mechanical joint corresponding to the first mechanical joint 10 above. A rotation base 55 and a base 50 for connecting the robot arm 001 to rotate the rotation base 55 with respect to the base 50. The mechanical joint (i.e., the first mechanical joint 10) includes: the first driving part 110, the rotary joint 120, the first transmission assembly 130 and the connecting structure, wherein the first driving part 110 is arranged on the base 50 through the connecting structure, the first transmission assembly 130 is used for connecting the first driving part 110 and the rotary joint 120 in a transmission manner, the rotary joint 120 is movably connected with the rotary seat 55, and the first driving part 110 is used for driving the rotary joint 120 to rotate through the first transmission assembly 130 so as to enable the rotary seat 55 to rotate relative to the base 50.

As shown in fig. 9, 10, 11 and 12, in the first mechanical joint 10 provided by the present utility model, the first transmission assembly 130 may be a belt transmission assembly, a rack and pinion transmission assembly, or other transmission assemblies meeting requirements, and the first transmission assembly 130 is used for changing the transmission direction of the output force of the first driving portion 110, so that the first driving portion 110 and the rotary joint 120 are connected by using the first transmission assembly 130 in a transmission manner, so that the first transmission assembly 130 changes the direction of the power of the first driving portion 110 and then transmits the power to the rotary joint 120, and drives the rotary seat 55 to rotate relative to the base 50 through the rotary joint 120. Compared with the traditional mode of directly driving the rotating seat to rotate by using the first driving part in the related art, the whole height of the mechanical arm 001 can be reduced, the whole volume of the mechanical arm 001 is reduced, and the design requirements of compact structure and small volume of the mechanical arm 001 can be met.

The first driving portion 110 is mounted on the base 50 through a connection structure, which may be a screw, an adhesive, or the like, or the connection structure may be a fastening structure, a mortise-tenon structure, or the like, and the specific form of the connection structure is not specifically limited, so long as the first driving portion 110 can be mounted on the base 50, so as to ensure the reliability and stability of the operation of the first driving portion 110.

As shown in fig. 9 and 12, in some possible embodiments of the present utility model, the first transmission assembly 130 includes a first synchronizing wheel 132 and a second synchronizing wheel 133 that are in transmission connection through a first transmission belt 131, the first synchronizing wheel 132 is connected to the first driving part 110, the second synchronizing wheel 133 is connected to the rotating base 55, and the rotating base 55 is movably connected to the base 50 through the rotating joint 120.

The first driving part 110 may be a motor, the first driving part 110 is mounted on the base 50, and the first synchronizing wheel 132 is connected to an output shaft of the motor. Accordingly, the first driving portion 110 operates to drive the first synchronizing wheel 132 to rotate, and the first driving belt 131 drives the second synchronizing wheel 133 to rotate, so that the rotating seat 55 is movably connected with the base 50 through the rotating joint 120, and the rotating seat 55 can be driven to rotate relative to the base 50. Because the first synchronizing wheel 132 and the second synchronizing wheel 133 are arranged in parallel, that is, the two synchronizing wheels of the first transmission assembly 130 are arranged in parallel, the first driving part 110 and the rotating seat 55 are further arranged in parallel relatively, and compared with the prior art that the first driving part is utilized to directly drive the rotating seat 55 to sequentially axially arrange the first driving part and the rotating seat 55, the axial distance of the whole mechanical arm 001 can be reduced, the design requirements of compact structure and small volume of the mechanical arm 001 can be met, and the application range of products is enlarged.

As shown in fig. 12, in some possible embodiments of the present utility model, the rotary joint 120 includes a rolling assembly 121 disposed between the rotary seat 55 and the base 50, where the rolling assembly 121 includes balls or rolling pins, that is, the rotary seat 55 is in rolling connection with the base 50, and the rolling assembly 121 is configured so that the rotary joint 120 can bear axial load during rotation, thereby facilitating improvement of product reliability. Specifically, the rolling assembly 121 is a thrust bearing device.

As shown in fig. 12, in some possible embodiments of the present utility model, the rotating base 55 includes a first rotating shaft 552 inserted into the base 50 and a table top 610 located at an upper portion of the first rotating shaft 552, the rolling assembly 121 is sleeved outside the first rotating shaft 552 of the rotating base 55, the second synchronizing wheel 133 is connected with the table top 551, and the rolling assembly 121 includes a first rolling assembly 1211 and a second rolling assembly 1212 distributed at opposite ends of the base 50; wherein opposite sides of the base 50 are in rolling contact with the first rolling assembly 1211 and the second rolling assembly 1212, respectively.

In this embodiment, the first rolling assembly 1211 and the second rolling assembly 1212 cooperate to form a bearing device, and thus, the first driving portion 110 operates to drive the first synchronizing wheel 132 to rotate, and the first driving belt 131 can drive the second synchronizing wheel 133 to rotate, so that the base 50 and the first shaft 552 of the rotating base 55 are in rolling connection with each other through the first rolling assembly 1211 and the second rolling assembly 1212, and thus, the rotating base 55 can rotate relative to the base 50.

Specifically, the first rolling assembly 1211 and the second rolling assembly 1212 may be balls or rolling pins, and the two rolling assemblies 121 cooperate to form a bearing device, and specifically, the two rolling pins or ball assemblies cooperate to form a thrust bearing. Wherein opposite sides of the base 50 are in rolling contact with the first rolling assembly 1211 and the second rolling assembly 1212, respectively, i.e., the first rolling assembly 1211 and the second rolling assembly 1212 are in direct contact with the base 50.

Because the conventional bearing itself includes the balls or the rolling pins and the gaskets at the upper and lower parts, the first mechanical joint 10 provided in the embodiment of the present utility model, through the rolling contact between the opposite sides of the base 50 and the first rolling assembly 1211 and the second rolling assembly 1212, simplifies the arrangement of the gaskets between the first rolling assembly 1211 and the base 50 and the gaskets between the second rolling assembly 1212 and the base 50, so as to reduce the axial height of the mechanical joint, and can meet the design requirements of compact structure and small volume of the mechanical joint, and further meet the design requirements of compact structure and small volume of the mechanical arm 001.

In the above embodiment, as shown in fig. 10 and 12, the table 551 of the rotating base 55 is located outside the base 50, for example, the table 551 of the rotating base 55 is located above the base 50, one end of the second rolling assembly 1212 away from the first rolling assembly 1211 is in rolling contact with the side of the table 551 facing the base 50, that is, the second rolling assembly 1212 is located above the first rolling assembly 1211, and the upper and lower end surfaces of the second rolling assembly 1212 are respectively in rolling contact with the table 551 of the rotating base 55 and the base 50, that is, the second rolling assembly 1212 directly uses the table 551 and the base 50 of the rotating base 55 as the upper and lower gaskets. Such a configuration, compared with the driven bearing, simplifies the arrangement of the upper and lower gaskets of the second rolling assembly 1212, and thus can reduce the axial height of the rotary joint 120, reduce the axial height of the mechanical joint, and further can meet the design requirements of compact structure and small volume of the mechanical joint.

As shown in fig. 12, in some possible embodiments provided by the present utility model, the rotary joint 120 further includes: a first gasket 122 and a pretensioning assembly 123, wherein an end of the first rolling assembly 1211 remote from the second rolling assembly 1212 is in rolling contact with the first gasket 122; the pretension assembly 123 is used to adjust the distance between the first rolling assembly 1211 and the second rolling assembly 1212 via the first spacer 122.

In this embodiment, the upper and lower end surfaces of the first rolling assembly 1211 are in rolling contact with the base 50 and the first spacer 122, respectively, and the pretensioning assembly 123 can adjust the distance between the first rolling assembly 1211 and the second rolling assembly 1212 through the first spacer 122, and thus can tighten the first rolling assembly 1211 and the second rolling assembly 1212, thereby greatly improving the rigidity of the first mechanical joint 10 in a limited space.

In the above embodiment, as shown in fig. 10, the pretensioning assembly 123 includes: the first adjusting piece 1231 and the first pre-tightening gasket 1232, the first pre-tightening gasket 1232 is located at one side of the first gasket 122 away from the first rolling assembly 1211, the first adjusting piece 1231 is movably connected with the first rotating shaft 552 of the rotating seat 55 in a penetrating manner, and the first adjusting piece 1231 can rotate to drive the first pre-tightening gasket 1232 to move up and down relative to the first rotating shaft 552 of the rotating seat 55 so as to adjust the distance between the first rolling assembly 1211 and the second rolling assembly 1212.

If the first adjusting member 1231 includes a first rod portion and a first head portion, if the first adjusting member 1231 is a bolt, a threaded hole is provided at the bottom of the first rotating shaft 552 of the rotating seat 55, the first rod portion is threaded through the first pre-tightening gasket 1232 and the threaded hole of the first rotating shaft 552, the first head portion is clamped at a side of the first pre-tightening gasket 1232 away from the first gasket 122, the first gasket 122 is located between the first pre-tightening gasket 1232 and the first rolling assembly 1211, and therefore, the first pre-tightening gasket 1232 can move up and down along the first rotating shaft 552 along with the first adjusting member 1231 by rotating the first adjusting member 1231, and therefore, the first rolling assembly 1211 can be pushed to move towards a direction close to or far away from the second rolling assembly 1212 by the first gasket 122, and then the distance between the first rolling assembly 1211 and the second rolling assembly 1212 can be adjusted, and the first rolling assembly 1211 and the second rolling assembly 1212 can be tensioned.

In some possible embodiments provided by the present utility model, as shown in fig. 12, the rotary joint 120 further includes: the sliding sleeve 124, in particular, the sliding sleeve 124 may be a copper sleeve, or other structure as desired. The sliding sleeve 124 is sleeved on the outer side of the first rotating shaft 552 of the rotating seat 55, is positioned between the first rolling assembly 1211 and the second rolling assembly 1212, and is accommodated in a first mounting groove formed in the side of the base 50 facing the first rolling assembly 1211. The sliding sleeve 124 can bear radial force, so as to be beneficial to improving the reliability of the rotary joint 120.

That is, the first mechanical joint 10 is restrained by three bearings, specifically, the thrust needle bearing of the first rolling assembly 1211, the thrust needle bearing of the second rolling assembly 1212, and the sliding bearing of the sliding sleeve 124, thereby realizing that the rotary joint 120 can bear both axial force and radial force, and greatly improving the reliability of the rotary joint 120.

In some possible embodiments of the present utility model, as shown in fig. 9 and 12, the first mechanical joint 10 further includes: the detection shaft 170, the first rotation angle detection device 140 and the second synchronous pulley assembly 150 are rotatably disposed on the base 50, for example, the detection shaft 170 may be disposed parallel to the output shaft of the first driving portion 110, the second synchronous pulley assembly 150 is used for drivingly connecting the detection shaft 170 and the output shaft of the first driving portion 110, and the first rotation angle detection device 140 is used for detecting the rotation angle of the detection shaft 170.

Since the second synchronous pulley assembly 150 is in transmission connection with the detection shaft 170 and the output shaft of the first driving portion 110, the rotation angle of the output shaft of the first driving portion 110 can be known by detecting the rotation angle of the detection shaft 170 through the first rotation angle detection device 140, and further, the measurement of the rotation angle of the output shaft of the first driving portion 110 is realized. Meanwhile, since the detection shaft 170 and the output shaft of the first driving part 110 are relatively parallel, and the first rotation angle detection device 140 is arranged on the detection shaft 170, compared with the prior art that the rotation angle detection is directly performed on the output shaft of the first driving part by arranging the first rotation angle detection device on the upper part of the first driving part, the axial height of the first driving part 110 is reduced, the axial height of the first mechanical joint 10 is further reduced, the axial height of the whole mechanical arm 001 is reduced, and the design requirements of compact mechanical joint structure and small volume can be met.

That is, in order to solve the problem that the overall height of the driving part is high due to the first rotation angle detecting device being disposed on the first driving part in the conventional mechanical joint, the first rotation angle detecting device is moved from the vertical upper part of the output shaft of the first driving part to the detection shaft 170 disposed parallel to the horizontal direction of the first driving part, and the detection shaft 170 and the output shaft of the first driving part 110 are in transmission connection through the second synchronous pulley assembly 150, so that the measurement of the rotation angle of the output shaft of the first driving part 110 can be realized, and at the same time, the overall height of the first mechanical joint 10 is reduced.

In the above embodiment, as shown in fig. 9 and 12, the first mechanical joint 10 further includes a fixing frame 180, where the fixing frame 180 is connected to the base 50 and is mounted on the circumferential side of the detection shaft 170, and the second synchronous pulley assembly 150 includes a third synchronous pulley and a fourth synchronous pulley that are drivingly connected through a second transmission belt 151, and the third synchronous pulley is connected to the output shaft of the first driving part 110, that is, the third synchronous pulley is coaxially disposed with the first synchronous pulley 132. The fourth synchronizing wheel is connected to the detecting shaft 170, and it is understood that the fourth synchronizing wheel may be located inside the fixing frame 180, and the first rotation angle detecting device 140 includes a magnetic induction element 141 and a magnetic element 142, where the magnetic induction element 141 is disposed on the fixing frame 180, and the magnetic element 142 is disposed on the detecting shaft 170. Therefore, the output shaft of the first driving portion 110 rotates to drive the third synchronizing wheel to rotate, and the second driving belt 151 drives the fourth synchronizing wheel to rotate, so that the detection shaft 170 and the magnetic piece 142 on the detection shaft 170 can be driven to rotate, and the magnetic induction piece 141 can realize the rotation angle measurement of the detection shaft 170 according to the sensed position change of the magnetic piece 142, so that the structure is simple and easy to realize.

Specifically, the detection shaft 170 and the rotating seat 55 may be distributed on two opposite sides of the first driving portion 110, so that the space and the structure of the base 50 may be reasonably utilized, and the design requirement of compact structure and small volume of the mechanical arm 001 is met.

Specifically, the magnetic member 142 is a magnet, the magnetic induction member 141 is a hall sensor, and the magnetic member 142 is fixed to the detection shaft 170 by means of an adhesive, a clamping groove, or the like.

In some possible embodiments of the present utility model, as shown in fig. 9, the first mechanical joint 10 further includes: the tensioning device 160, the tensioning device 160 is used for adjusting the tension of the first driving belt 131 in the first driving assembly 130, so as to improve the driving efficiency and the driving precision of the first driving assembly 130, and improve the accuracy of the rotation of the rotating seat 55 relative to the base 50.

In the above embodiment, the tensioning device 160 includes the guide 161, the tensioning shaft, and the second regulating member. The guiding portion 161 may be disposed on the base 50 to reasonably utilize the structure of the base 50. The inner bottom of the guiding part 161 is provided with a guiding groove, the tensioning shaft is inserted into the guiding part 161, for example, the tensioning shaft is inserted into the guiding part 161 from the upper side, the end part of the tensioning shaft is positioned in the guiding groove and can slide along the guiding groove towards the direction close to or far away from the first driving belt 131, and the part of the tensioning shaft positioned outside the guiding part 161 is provided with a tensioning bearing 162 connected with the first driving belt 131. The second adjusting piece is inserted into the adjusting hole 163 of the guide part 161 and abuts against the tensioning shaft, and the position of the tensioning shaft in the guide groove can be adjusted by adjusting the connection position of the second adjusting piece and the guide part 161, so that the tensioning operation of the first driving belt 131 can be performed.

Wherein, the second regulating part can be the bolt, and the side of guide part 161 is provided with the regulation hole 163, and the regulation hole 163 is the screw hole, and the second regulating part is connected with the screw hole to can with being located the tensioning axle butt of guide part 161, through screwing the second regulating part, can be close to the tensioning axle or keep away from the direction removal of first drive belt 131, because first drive belt 131 and tensioning axle pass through tensioning bearing 162 rotation connection, and then can realize the tensioning operation to first drive belt 131, simple structure, convenient operation.

As shown in fig. 13, 14 and 15, in some possible embodiments provided by the present utility model, the second mechanical joint 20 includes a second driving part 220, a first screw 230 and a first guide nut 210, the first guide nut 210 is screwed with the first screw 230 and hinged on the rotating base 55, the second driving part 220 is disposed on the supporting arm 60, a first end of the first screw 230 is connected with the second driving part 220, and a second end of the first screw 230 passes through the first guide nut 210 and is disposed toward the rotating base 55; the second driving portion 220 is configured to drive the first screw 230 to rotate, so that the first screw 230 and the first guide nut 210 move relatively to drive the supporting arm 60 to lift or drop relative to the rotating seat 55.

The second driving portion 220 may be a motor, and an output shaft of the motor is connected to the first screw 230, for example, the output shaft of the second driving portion 220 is connected to the first screw 230 through an adhesive, it is understood that the output shaft of the second driving portion 220 may also be connected to the first screw 230 through a key or other manners. The first screw 230 is driven to rotate by the rotation of the output shaft of the second driving part 220, so that the first guide nut 210 and the first screw 230 can relatively move, and the second driving part 220 is arranged on the supporting arm 60, so that the first screw 230 can move towards the direction approaching to the rotating seat 55 or away from the rotating seat 55 relative to the first guide nut 210, and the supporting arm 60 can be lifted or lowered relative to the rotating seat 55 because the first guide nut 210 is hinged on the rotating seat 55.

That is, in the second mechanical joint 20 provided by the embodiment of the utility model, the second driving portion 220 is disposed on the supporting arm 60, the first guide nut 210 is hinged on the rotating seat 55 and is in threaded connection with the first screw rod 230, and the second driving portion 220 drives the first screw rod 230 to rotate relative to the first guide nut 210, so that the first screw rod 230 can move relative to the first guide nut 210, and further the supporting arm 60 can be lifted or dropped relative to the rotating seat 55, i.e. the supporting arm 60 can be in a folded state or an unfolded state relative to the rotating seat 55, so as to meet different functional requirements of the mechanical arm 001.

It will be appreciated that when the support arm 60 is in a folded state relative to the swivel base 55, such as when the support arm 60 is in a horizontal position, i.e. the support arm 60 is in a zero position, the mechanical arm 001 may be in a storage position and not operated, so as to reduce the space occupied by the mechanical arm 001; when the support arm 60 is in a deployed state with respect to the swivel base 55, such as when the support arm 60 is deployed to a vertical position with respect to the swivel base 55, the robot arm 001 may perform work in the deployed state. The second driving portion 220, the first screw 230 and the first guide nut 210 cooperate to raise or lower the supporting arm 60 relative to the rotating seat 55, which has simple structure and convenient operation, and can meet the design requirements of compact structure and small volume of the mechanical arm 001.

Further, the support arm 60 is hinged to the rotating seat 55, and the first guide nut 210 is hinged to the rotating seat 55, so that the second driving portion 220 drives the first screw 230 to move relative to the first guide nut 210 to drive the support arm 60 to lift or drop relative to the rotating seat 55, and the first guide nut 210 and the rotating seat 55 do not interfere with each other, i.e. the first guide nut 210 can rotate relative to the rotating seat 55, so as to ensure that the first screw 230 moves within a certain range relative to the first guide nut 210 and is adapted to the rotation range of the support arm 60 relative to the rotating seat 55.

It is understood that the rotation angle of the first guide nut 210 relative to the rotation seat 55 needs to be greater than or equal to the rotation range of the support arm 60 relative to the rotation seat 55 to meet the use requirement of the mechanical arm 001, for example, the rotation range of the first guide nut 210 relative to the rotation seat 55 may be 90 ° to 360 °, or other ranges meeting the requirement.

Specifically, the first guide nut 210 is provided with first cylinder boss towards one side of roating seat 55, and first guide nut 210 articulates with roating seat 55 through first cylinder boss, and such setting for first guide nut 210 can reach 360 for the rotation scope of roating seat 55, and then can satisfy support arm 60 and send out the demand for the great lifting scope of roating seat 55, has enlarged the application range of product, and first cylinder boss simple structure, be convenient for processing and assembly, the cost is lower.

In some possible embodiments of the present utility model, as shown in fig. 13, the second mechanical joint 20 further includes: the motor base 240, wherein, the motor base 240 is articulated with the support arm 60, namely, the motor base 240 is rotatable relative to the support arm 60, the second driving part 220 is installed on the motor base 240, the first screw rod 230 is inserted in the motor base 240 and connected with the second driving part 220, and by such arrangement, the second driving part 220 connected with the first screw rod 230 can not interfere with the support arm 60 in the lifting or falling process of the support arm 60 relative to the rotating base 55, and further, the first screw rod 230 can be ensured to smoothly move relative to the first guide nut 210, the phenomenon of blocking can not occur, and further, the reliability and smoothness of the operation of the second mechanical joint 20 can be improved.

Specifically, the motor cabinet 240 is provided with the second cylinder boss towards one side of support arm 60, and motor cabinet 240 articulates with support arm 60 through the second cylinder boss, and such setting for the rotation scope of motor cabinet 240 for support arm 60 can reach 360, and then can satisfy the great demand of support arm 60 for the lifting angle of roating seat 55, and second cylinder boss simple structure, be convenient for processing and assembly, the cost is lower.

That is, in the second mechanical joint 20 provided by the embodiment of the present utility model, the support arm 60 is hinged to the rotating seat 55, the first guide nut 210 is hinged to the rotating seat 55, and the motor base 240 is hinged to the support arm 60, so that a movable triangle structure is formed, the first screw 230 is connected to the second driving portion 220 and passes through the first guide nut 210, so that the second driving portion 220 drives the first screw 230 to rotate, and the first screw 230 can move relative to the first guide nut 210, so as to realize lifting or dropping of the support arm 60 relative to the rotating seat 55.

In some possible embodiments of the present utility model, as shown in fig. 13, 14 and 15, the second mechanical joint 20 further includes a thrust bearing 250, where the thrust bearing 250 is sleeved on the outer side of the first screw 230, the first screw 230 is provided with a first step structure 231, and the thrust bearing 250 is located between the first step structure 231 and the motor base 240 so as to rotationally connect the first screw 230 and the motor base 240. By the arrangement, the axial thrust of the first screw 230 is supported by the motor base 240, so that the service life of the first screw 230 is prolonged, and the reliability of the mechanical joint is improved.

In some possible embodiments of the present utility model, as shown in fig. 13, the second mechanical joint 20 further includes: the elastic member 260, the elastic member 260 connects the rotating base 55 and the supporting arm 60, and the elastic member 260 is used for applying a pushing force close to the rotating base 55 to the supporting arm 60.

The elastic member 260 is disposed, so that the support arm 60 has a pretightening force for turning towards the rotating seat 55, as shown in fig. 13, and the elastic member 260 makes the support arm 60 have a pretightening force downward (clockwise in fig. 13), thereby eliminating a gap of a triangle structure formed by the hinge connection of the support arm 60 and the rotating seat 55, the hinge connection of the first guide nut 210 and the rotating seat 55, and the hinge connection of the motor seat 240 and the support arm 60, reducing the shaking property of the support arm 60 during the lifting or falling process relative to the rotating seat 55, and improving the stability and reliability of the operation of the second mechanical joint 20.

Specifically, the elastic member 260 may be a torsion spring, it is understood that the elastic member 260 may be other structures that meet the requirement, one end of the torsion spring is connected to the rotating seat 55, and the other end of the torsion spring is connected to the supporting arm 60, for example, two ends of the torsion spring are hooked on the rotating seat 55 and the supporting arm 60 respectively.

In some possible embodiments of the present utility model, as shown in fig. 12, the second mechanical joint 20 further includes: the pull preventing piece 280, the first screw 230 is provided with a pull preventing groove 232 located inside the motor base 240, and the pull preventing piece 280 is connected with the motor base 240 and extends into the pull preventing groove 232. The anti-pulling member 280 protects the second driving part 220 well, which is beneficial to prolonging the service life of the second driving part 220.

Further, a gap is provided between the pull preventing member 280 and the pull preventing slot 232, that is, gaps are provided between the pull preventing member 280 and two side walls and the bottom wall of the pull preventing slot 232, so that the first screw 230 cannot contact with the pull preventing member 280 under the normal working condition, that is, the pull preventing member 280 cannot obstruct the normal rotation of the first screw 230, and further, the working reliability of the second mechanical joint 20 is ensured.

Wherein, the distance between the pull preventing member 280 and the groove wall of the pull preventing groove 232 on the side close to the second driving part 220 is smaller than the axial displacement of the output shaft of the second driving part 220. In this arrangement, when the first screw 230 is pulled, for example, when the support arm 60 is used in an abnormal use situation, for example, when the support arm 60 is manually lifted, the output shaft of the second driving portion 220 is pulled out in the play stroke of the support arm, and the pull preventing member 280 contacts with the groove wall of the pull preventing groove 232 on the side close to the second driving portion 220, so that the pull force is applied to the pull preventing member 280, and the output shaft of the second driving portion 220 is not subjected to axial force at this time, thereby protecting the second driving portion 220, being beneficial to prolonging the service life of the second driving portion 220, reducing the failure rate of the second mechanical joint 20, and improving the service life of the second mechanical joint 20.

In the above embodiment, the pull preventing member 280 is a pull preventing bolt, and the pull preventing groove 232 is an annular groove. The anti-pull bolt is a standard component, so that the cost is low, and the anti-pull bolt is convenient to connect with the motor base 240 and assemble. The anti-pulling groove 232 is an annular groove, which is convenient for processing and is beneficial to reducing processing cost.

In some possible embodiments of the present utility model, as shown in fig. 13, the second mechanical joint 20 further includes: the limit switch 290, the limit switch 290 is arranged on the support arm 60, and the second driving part 220 rotates or stops rotating according to the triggering state of the limit switch 290; wherein, when the supporting arm 60 rotates to the first preset position, the limit switch 290 is triggered.

The first preset position may be a zero position state of the support arm 60, for example, when the support arm 60 is in a horizontal position, if the support arm 60 continues to rotate in a direction approaching to the rotating seat 55, for example, continues to rotate downward, there are conditions that the hinge stability of the support arm 60 and the rotating seat 55, the hinge stability of the first guide nut 210 and the rotating seat 55, and the connection stability of the first screw 230 and the second driving portion 220 are damaged, so that the second mechanical joint 20 is easy to fail. Therefore, when the support arm 60 rotates to the first preset position, the limit switch 290 disposed on the support arm 60 is triggered, and the second driving portion 220 controls the second driving portion 220 to stop rotating according to the signal triggered by the limit switch 290, so as to avoid the second mechanical joint 20 from being failed due to the continuous operation of the second driving portion 220, thereby protecting the mechanical joint well, prolonging the service life of the mechanical joint, and improving the reliability of the mechanical arm 001.

It can be appreciated that when the support arm 60 is not rotated to the first preset position, i.e. the support arm 60 is in an inclined or vertical state, the limit switch 290 is not triggered, and the second driving portion 220 does not receive the trigger signal of the limit switch 290, so that the second driving portion 220 can be controlled to continue to rotate according to other control programs.

In the above embodiment, as shown in fig. 13, the limit switch 290 includes: the switch body 291 and the trigger piece 292, the switch body 291 is arranged at one side of the supporting arm 60, one end of the trigger piece 292 is connected with the switch body 291, and the other end extends in a direction away from the switch body 291, namely, the other end of the trigger piece 292 extends outwards from the surface of the supporting arm 60 where the switch body 291 is positioned; when the support arm 60 rotates to the first preset position, for example, the support arm 60 rotates to a zero state of the horizontal position relative to the rotating seat 55, the other end of the trigger 292 is adapted to abut against the foreign object and contact with the switch body 291, so as to trigger the limit switch 290.

It is to be understood that the foreign object may be other structures than the second mechanical joint 20 itself, for example, the foreign object may be other structures of the mechanical arm 001, or the foreign object may be a structure disposed in the accommodation cavity 011 of the apparatus body 010 of the self-moving cleaning apparatus 002. Specifically, the foreign object may be a housing of the first driving portion, when the support arm 60 rotates to the first preset position, that is, the support arm 60 is in a zero state placed horizontally, it is to be understood that the switch body 291 is disposed on one side of the bottom when the support arm 60 is in the first position, so that one end of the trigger member 292 away from the switch body 291 can be abutted against the foreign object and contact with the switch body 291 to trigger the limit switch 290, and further the second driving portion 220 can stop working according to a trigger signal of the limit switch 290, so as to avoid the damage to the second mechanical joint 20 caused by the continued downward movement of the support arm 60, and play a role in protecting the mechanical arm 001.

In some possible embodiments provided by the present utility model, the second mechanical joint 20 further comprises: the second rotation angle detection device is disposed on the second driving portion 220 and is used for detecting the rotation angle of the output shaft of the second driving portion 220, and the second driving portion 220 rotates or stops rotating according to the detection result of the second rotation angle detection device, so that the support arm 60 can be flexibly controlled to rotate to any angle of the requirement relative to the rotating seat 55, different working condition requirements of the mechanical arm 001 are met, and the application range of products is enlarged.

Specifically, a mechanical self-locking structure may be disposed on the second mechanical joint 20, and when the support arm 60 rotates to a vertical state relative to the rotating base 55, the mechanical self-locking structure acts to lock the support arm 60 at the position relative to the rotating base 55, and at the same time, the second driving part 220 may be powered off to remove the power consumed by the second mechanical joint 20 when the mechanical arm 001 is loaded.

As shown in fig. 16, 17, 18, 19, 20, 21, and 22, in some possible embodiments provided by the present utility model, the third mechanical joint 30 includes: the third driving part is connected with the first arm and comprises a motor 310 and a planetary reduction mechanism 320, the motor 310 comprises a first output shaft 311, the input end of the planetary reduction mechanism 320 is connected with the first output shaft 311, and the output end of the planetary reduction mechanism 320 is connected with the second arm so as to drive the second arm to rotate relative to the first arm; the first arm is a connecting arm 70, two ends of the connecting arm 70 are connected with the output end of the planetary reduction mechanism 320, and the second arm is a supporting arm 60 or a working arm 80.

That is, the third driving part of the third mechanical joint 30 adopts a brushless servo speed reduction motor, the reduction gearbox is a planetary speed reduction mechanism 320, and the planetary speed reduction mechanism 320 is used for connecting the motor 310 and the second arm, so as to reduce the power of the motor 310 and then transmit the power to the second arm to drive the second arm to rotate relative to the first arm, that is, the third mechanical joint 30 provided by the embodiment of the utility model is a rotating mechanical joint. The third mechanical joint 30 is connected to two ends of the connecting arm 70, so as to realize the rotational connection between the connecting arm 70 and the supporting arm 60, and between the connecting arm 70 and the working arm. Specifically, both ends of the connection arm 70 are connected to the support arm 60 and the working arm 80 through the third mechanical joint 30, respectively, that is, when one third mechanical joint 30 connects the connection arm 70 and the support arm 60, the connection arm 70 corresponds to the first arm, and the support arm 60 corresponds to the second arm; when the other third mechanical joint 30 connects the connection arm 70 and the working arm 80, the connection arm 70 corresponds to the first arm, and the working arm 80 corresponds to the second arm.

In the above embodiment, as shown in fig. 19, the motor 310 further includes a motor substrate 312, a stator 313, and a rotor 314, the rotor 314 is located outside the stator 313, the first output shaft 311 is disposed through the motor substrate 312, and the stator 313 is connected to the motor substrate 312 and located on a circumferential side of the first output shaft 311; the planetary reduction mechanism 320 includes a primary gear set 321, and the primary gear set 321 is connected to the first output shaft 311 and disposed adjacent to the motor base plate 312.

That is, the motor 310 is an outer rotor 314 motor 310, and a first output shaft 311 of the motor 310 penetrates through a motor base plate 312 and is connected with a primary gear set 321 of the planetary reduction mechanism 320, so as to transmit power to the planetary reduction mechanism 320. The stator 313 of the motor 310 is connected with the motor substrate 312 and located at the circumferential side of the first output shaft 311, that is, the stator 313 is disposed coaxially with the first output shaft 311, and is disposed adjacent to the motor substrate 312 through the primary gear set 321, so that the motor substrate 312 can serve as an input end cover of the planetary reduction mechanism 320, that is, the motor substrate 312 is integrated with the motor substrate 312 and an input end cover of the gear box. Compared with the planetary reduction motor in the related art, the arrangement of the input end cover of the planetary reduction mechanism gearbox is simplified, the structure is simple, the cost is low, and the design requirements of compact structure and small volume of the third mechanical joint 30 can be met. Meanwhile, the concentricity of the motor 310 and the gear box of the planetary reduction mechanism 320 can be improved, the abrasion of the gear box is reduced, the reliability of the third mechanical joint 30 is improved, meanwhile, the noise of the third mechanical joint 30 is reduced, the influence on a user is reduced, and the satisfaction degree of the user in use is improved.

In the above embodiment, the side of the motor substrate 312 away from the primary gear set 321 is provided with an annular boss, and the first output shaft 311 is disposed through the annular boss and is rotationally connected with the annular boss. Specifically, the first output shaft 311 passes through the annular boss, and a bearing is sleeved on the first output shaft 311 and is located between the first output shaft 311 and the annular boss, so as to realize rotational connection of the first output shaft 311 and the annular boss.

The first output shaft 311 is coaxially disposed with the annular boss, and the stator 313 is distributed on a circumferential side of the annular boss, so that the stator 313 can be distributed on the circumferential side of the first output shaft 311 and coaxially disposed with the first output shaft 311, and the structure is simple and easy to implement.

Further, the motor 310 further includes a hall plate 316, that is, the motor 310 of the third mechanical joint 30 according to the embodiment of the present utility model is a hall motor, where the hall plate 316 is connected to the motor substrate 312, and the hall plate 316 is located between the stator 313 and the motor substrate 312 along the axial direction of the first output shaft 311. The position of the rotor 314 can be better detected through the arrangement of the Hall plate 316, so that the motor 310 is stable in use, high in torque and free of abnormal noise during starting, working noise of a mechanical joint is further reduced, and influence on a user is reduced.

In some possible embodiments provided by the present utility model, as shown in fig. 19, the motor 310 further includes: the motor housing 315, the motor housing 315 is connected to the motor base plate 312 and encloses a motor mounting cavity 317, the stator 313 and the rotor 314 are located in the motor mounting cavity 317, and it is understood that the hall plate 316 is also located in the motor mounting cavity 317. Thus, the motor cover 315 and the motor substrate 312 protect the stator 313 and the rotor 314, thereby improving the service life of the motor 310 and the reliability of the mechanical joint.

In some possible embodiments provided by the present utility model, as shown in fig. 19, the planetary reduction mechanism 320 further includes: the secondary gear group 322, the annular gear 325 and the output end cover 326, the output end cover 326 is connected with the first arm, and two ends of the annular gear 325 are respectively connected with the motor base plate 312 and the output end cover 326 and are surrounded into a speed reduction mounting cavity 324. The primary gear set 321 is located in the speed reduction mounting cavity 324, and includes a first sun gear 3211, a first planet gear 3212 and a first planet carrier 3213, the first sun gear 3211 is fixed on the first output shaft 311, the secondary gear set 323 is located adjacent to the output end cover 326, and includes a second sun gear 3221, a second planet gear 3222 and a second planet carrier 3223 located in the speed reduction mounting cavity 324, the first planet gear 3212 and the second planet gear 3222 are all meshed with the ring gear 325, the second sun gear 3221 is fixed on the first planet carrier 3213, the second planet carrier 3223 includes a second output shaft 327 penetrating through the output end cover 326, and the second output shaft 327 is connected with the second arm as an output end.

In this embodiment, the planetary reduction mechanism 320 is a two-stage planetary reduction mechanism. The power of the motor 310 is transmitted to the first planetary gear 3212 through the first sun gear 3211 and the first planetary gear 3212 meshed with the first output shaft 311 through the first gear set 321, the first planetary gear 3212 meshed with the inner gear ring 325 drives the first planetary gear frame 3213 to rotate, the second sun gear 3221 and the second planetary gear 3222 meshed with the second gear set 322 transmit to the second planetary gear 3222, and the second planetary gear 3222 meshed with the second gear set 323 drives the second planetary gear frame 3223 to rotate, so that the second output shaft 327 positioned outside the speed reduction mounting cavity 324 of the second planetary gear frame 3223 rotates, and the second output shaft 327 serving as an output end of the planetary speed reduction mechanism 320 is connected with the second arm to drive the second arm to rotate relative to the first arm.

In the above embodiment, the ring gear 325 and the output end cover 326 are integrally formed, so that the rigidity of the ring gear 325 is improved, the torque transmission strength is improved, and the stability and reliability of the action of the third mechanical joint 30 are further improved, and meanwhile, the integral structure of the ring gear 325 and the output end cover 326 is beneficial to mass production, simplifies the assembly steps, and is beneficial to saving the cost.

In some possible embodiments of the present utility model, the first arm is a connecting arm 70, two ends of the connecting arm 70 are connected to the output end of the planetary reduction mechanism 320, and the second arm is a supporting arm 60 or a working arm 80. As shown in fig. 14, a positioning structure is disposed on the first arm, a limiting structure 3261 is disposed on a side of the output end cover 326 away from the motor substrate 312, and the limiting structure 3261 cooperates with the positioning structure to limit rotation of the output end cover 326 relative to the first arm. That is, the limit mechanism and the positioning mechanism are matched for rotationally positioning and bearing torque, so that the reliability and stability of the operation of the third mechanical joint 30 are improved.

Further, one of the positioning mechanism and the limiting structure 3261 can be a protruding structure, and the other one is a groove structure, and through matching of the protruding structure and the groove structure, rotational positioning and torque bearing can be achieved. Specifically, the positioning structure may be a groove structure provided on the first arm, and the limiting structure 3261 may be a protrusion structure provided on the output end cap 326. It will be appreciated that a groove structure may be provided on the output end cap 326 and a protrusion structure may be provided on the first arm, as well as the function of limiting.

In some possible embodiments of the present utility model, as shown in fig. 21, the third mechanical joint 30 further includes: a first bearing 330, a flange bearing 340, a first connector 350, and a second pre-load pad 360. The first bearing 330 is sleeved on the outer portion of the second output shaft 327, and the output end cover 326 is rotationally connected with the second output shaft 327 through the first bearing 330.

The first arm includes a first connecting portion 620 and a second connecting portion 630 that are oppositely disposed, a positioning structure is disposed on the first connecting portion 620, that is, the first connecting portion 620 is disposed adjacent to the output end cover 326 and is limited by the positioning structure and the limiting structure 3261, the second connecting portion 630 is located at a side of the first connecting portion 620 away from the output end cover 326, the flange bearing 340 is connected with the second connecting portion 630, that is, the flange bearing 340 is mounted on the second connecting portion 630, that is, if the flange bearing 340 is clamped into the second connecting portion 630 from a side of the second connecting portion 630 away from the first connecting portion 620, and the second output shaft 327 is rotationally connected with the second connecting portion 630 through the flange bearing 340. The end of the second output shaft 327 outside the speed reduction mounting chamber 324 is provided with a connection hole 3271, and the first connection member 350 can be connected to the connection hole 3271. Along the axial direction of the second output shaft 327, the second pre-tightening gasket 360 is sandwiched between the first connecting member 350 and the second output shaft 327, and a side of the second pre-tightening gasket 360 facing the second output shaft 327 can be abutted with the flange bearing 340, that is, the flange bearing 340 and the second output shaft 327 are located on the same side of the second pre-tightening gasket 360.

When the second pre-tightening washer 360 is interposed between the first link 350 and the second output shaft 327, the second pre-tightening washer 360 can serve as a shutter to limit the movement of the flange bearing 340 relative to the second connection portion 630 in the direction away from the second connection portion 630 in the axial direction of the second output shaft 327, and therefore, the flange bearing 340 can be reliably fixed to the second connection portion 630, and at the same time, the second output shaft 327 can be fixed to the second connection portion 630, whereby the movement of the second output shaft 327 in the axial direction can be restricted.

That is, the third mechanical joint 30 provided in the embodiment of the present utility model adopts a simple beam type connection, the first connection portion 620 of the first arm near the motor 310 side is matched with the limit structure 3261 of the output end cover 326 through the positioning structure, so as to limit the circumferential rotation of the motor 310, the first connection portion 620 is rotationally connected with the second output shaft 327 along the first bearing 330 of the gear motor 310, the second connection portion 630 is rotationally connected with the second output shaft 327 through the flange bearing 340, and is connected with the connection hole 3271 of the second output shaft 327 far away from the end of the motor substrate 312 through the first connection member 350, the second pre-tightening gasket 360 is clamped between the first connection member 350 and the second output shaft 327, and the second pre-tightening gasket 360 can abut against the flange bearing 340 towards one side of the second output shaft 327, so as to be matched with the self structure of the flange bearing 340, so as to mount the flange bearing 340 on the second connection portion 630, and simultaneously limit the movement of the second output shaft 327 in the axial direction, so as to limit the axial movement of the motor 310. The arrangement is simple in structure, the size of the third mechanical joint 30 is reduced, the design requirements of the mechanical arm 001 on compact structure and small size can be met, and the application range of the mechanical joint is enlarged.

Specifically, the outer edge of the flange bearing 340 is engaged with the mounting hole of the second connection portion 630, and abuts against the flange bearing 340 through the second pre-tightening gasket 360, so that the flange bearing 340 can be limited to the second connection portion 630 along the axial direction of the second output shaft 327.

In the above embodiment, as shown in fig. 21, the first connecting member 350 includes the head portion 351 and the rod portion 352, for example, the first connecting member 350 is a bolt, the first connecting hole 3271 is a screw hole, the rod portion 352 is connected to the connecting hole 3271, the second pre-tightening gasket 360 is located between the head portion 351 and the end portion of the second output shaft 327 in the axial direction of the second output shaft 327, and further, the second pre-tightening gasket 360 can be clamped between the end portion of the second output shaft 327 and the head portion 351 of the first connecting member 350 by the connection length of the adjusting rod portion 352 and the connecting hole 3271.

In a plane parallel to the radial direction of the second output shaft 327, the projection of the second pre-tightening gasket 360 coincides with the projection of the second output shaft 327, and the projection of the second pre-tightening gasket 360 coincides with the projection of the flange bearing 340, so that the same side of the second pre-tightening gasket 360 can be simultaneously abutted with the flange bearing 340 and the end of the second output shaft 327, and further the flange bearing 340 can be limited on the second connecting portion 630 along the axial direction of the second output shaft 327, and the movement of the second output shaft 327 in the axial direction can be limited, and further the axial movement of the motor 310 can be limited.

In some possible embodiments provided by the present utility model, as shown in fig. 18, 19, 20, 21 and 22, the third mechanical joint 30 further includes: a hoop 370 and a second connector 380. The second output shaft 327 is provided with a first limit surface 3272 and a second limit surface on the peripheral side of the end outside the speed reduction mounting cavity 324, the first limit surface 3272 is used for contacting with the anchor ear 370, the second limit surface is used for contacting with the second arm, the second arm is located between the first connection portion 620 and the second connection portion 630, and the anchor ear 370 is connected with the second arm through the second connection member 380. Thus, the second output shaft 327 can be reliably connected with the second arm, so that the second output shaft 327 rotates to drive the second arm to rotate, thereby realizing the rotation of the second arm relative to the first arm and realizing the lifting operation of the second arm relative to the first arm.

The first limiting surface 3272 and the second limiting surface are beneficial to increasing the contact area between the second output shaft 327 and the hoop 370 as well as between the second output shaft 327 and the second arm, and play a certain limiting role, and then the second connecting piece 380 is used for connecting the hoop 370 and the operating mechanism, so that the connection between the second arm and the second output shaft 327 can be reliably realized.

Specifically, the second connection member 380 may be a bolt, and the anchor ear 370 and the operating mechanism may be connected by the bolt.

In the above embodiment, the first limiting surface 3272 and the second limiting surface are opposite to each other, and are both planar structures, i.e. the second output shaft 327 is a double flat shaft. Wherein, the planar structure of relative setting is convenient for process and location, and can improve second output shaft 327 and staple bolt 370, second output shaft 327 and operating device's area of contact to play good positioning action, and then be favorable to improving reliability and the stability that second output shaft 327 and operating device are connected.

Further, the third mechanical joint 30 further includes a third rotation angle detection device, where the third rotation angle detection device is disposed on the second output shaft 327 of the third driving portion and is used to detect the rotation angle of the second output shaft 327, and the third driving portion further rotates or stops rotating according to the detection result of the third rotation angle detection device, so that the second arm can be flexibly controlled to rotate to any angle of the requirement relative to the first arm, so as to meet the requirements of different working conditions of the mechanical arm 001, and expand the application range of the product. Specifically, the third rotation angle detection means may be a hall sensor assembly.

As shown in fig. 23, 24, 25 and 26, in some possible embodiments of the present utility model, the fourth mechanical joint 40 includes a fourth driving part 410, a photoelectric sensor 420 and a baffle 430, where the fourth driving part 410 is disposed on the working arm 80 and connected to the manipulator 90 to drive the manipulator 90 to rotate, one of the photoelectric sensor 420 and the baffle 430 is disposed on the manipulator 90, the other is disposed on the working arm 80, and the baffle 430 is used to change the sensing result of the photoelectric sensor 420 when the manipulator 90 is at the zero position, that is, the photoelectric sensor 420 and the baffle 430 are disposed to determine the zero position of the manipulator 90.

In the fourth mechanical joint 40 provided in the embodiment of the present utility model, by adding the photoelectric sensor 420 and the baffle 430, when the manipulator 90 is at the zero position, the baffle 430 is used to change the sensing result of the photoelectric sensor 420, so that the manipulator 90 is determined to be at the zero position according to the change of the sensing result of the photoelectric sensor 420, and further the control system can execute the corresponding operation according to the manipulator 90 at the zero position, so as to improve the intelligence of the manipulator 001 and improve the satisfaction degree of the user. The zero position may be a position where the manipulator 90 is in a storage state with respect to the working arm 80, or an initial position of relative rotation, for example, when the rotation angle of the manipulator 90 with respect to the working arm is 0 °, it may be referred to that the manipulator 90 is in the zero position.

Wherein, the photoelectric sensor 420 may be disposed on the manipulator 90, the baffle 430 may be disposed on the frame of the fourth mechanical joint 40, or the photoelectric sensor 420 may be disposed on the frame of the fourth mechanical joint 40, and the baffle 430 may be disposed on the manipulator 90, so as to meet the requirements of different structures of the photoelectric sensor 420 and the baffle 430. The frame of the mechanical joint may be the working arm 80, the housing 411 of the fourth driving unit 410, or the like.

In the above embodiment, the fourth driving part 410 is connected to the photosensor 420, and the fourth driving part 410 is used to rotate or stop rotating according to the sensing result of the photosensor 420. Therefore, the working state of the fourth driving part 410 can be reasonably controlled according to the sensing result of the photoelectric sensor 420, and the position of the manipulator 90 is reasonably controlled, so that the manipulator 90 is positioned at different positions to meet different working condition demands of the manipulator 90, and the application range of products is enlarged.

Specifically, when the sensing result of the photoelectric sensor 420 changes, it is possible that the manipulator 90 is at the zero position, that is, the manipulator 90 is at the storage position, so the fourth driving portion 410 stops rotating according to the sensing result of the photoelectric sensor 420, so that the manipulator 90 stops rotating and is maintained at the zero position, the storage is facilitated, and the situation that the fourth driving portion 410 continues to operate to enable the manipulator 90 to continue rotating and waste energy and not utilize storage is avoided.

It is to be understood that, when the sensing result of the photoelectric sensor 420 is unchanged, it is possible that the manipulator 90 is in a rotating state or a zero state, and the fourth driving portion 410 keeps the current rotation or stops the rotation state according to the sensing result of the photoelectric sensor 420, that is, the manipulator 90 is kept in the current state.

In some possible embodiments provided by the present utility model, as shown in fig. 24 and 26, the fourth driving part 410 includes a fourth housing 411 and a fourth output shaft 412, for example, the fourth driving part is a motor, the fourth housing 411 of the fourth driving part is connected to the working arm 80, that is, the fourth housing 411 of the fourth driving part 410 is mounted on the working arm 80, and the photoelectric sensor 420 is disposed on the working arm 80 or the housing 411, that is, the photoelectric sensor 420 is disposed on the fixing mechanism. The robot 90 includes a connection shaft 901 connected to the fourth output shaft 412, and the shutter 430 is provided on the connection shaft 901, i.e., the shutter 430 rotates with the rotation of the connection shaft 901.

Wherein, when the manipulator 90 is at the zero position, the baffle 430 is used for preventing the photoelectric sensor 420 from receiving the optical signal, thereby the sensing result of the photoelectric sensor 420 is changed. Simple structure, easy realization and suitability for popularization and application.

In some possible embodiments provided by the present utility model, as shown in fig. 24, the fourth mechanical joint 40 further includes: the bearing device 440, the one end that the work arm 80 was faced to the manipulator 90 is provided with the mounting hole 810 to and with the mounting hole 810 intercommunication be located the mounting groove 820 of the one side that the manipulator 90 was kept away from to the mounting hole 810, the fourth drive portion 410 is located the mounting groove 820, the connecting axle 901 wears to locate the mounting hole 810, the bearing device 440 is located the mounting hole 810, link through the bearing device 440 between work arm 80 and the connecting axle 901.

Because the fourth driving portion 410 is located inside the mounting groove 820, the size of the working arm 80 is not increased due to the arrangement of the fourth driving portion 410, which can meet the design requirement of the fourth mechanical joint 40 that the structure is compact and the volume is small, and expand the application range.

The bearing device 440 is disposed in the mounting hole 810 of the working arm 80, and the working arm 80 and the connecting shaft 901 are connected through the bearing device 440, so that the connecting shaft 901 can be supported by the bearing device 440, and the connecting shaft 901 is connected with the fourth output shaft 412 of the fourth driving portion 410, so that the fourth driving portion 410 can drive the working arm 80 to rotate. Further, the bearing device 440 is a ball bearing or a slide bearing.

In the above embodiment, as shown in fig. 24, the end of the connecting shaft 901 is provided with the limiting hole 911, and the fourth output shaft 412 is inserted into the limiting hole 911 to connect with the connecting shaft 901. The setting of spacing hole 911 has played good spacing effect, can carry out spacingly for the rotation of fourth output shaft 412 to connecting axle 901 for fourth output shaft 412 rotates and can drive connecting axle 901 and rotate, and then drives manipulator 90 and rotate.

Specifically, the limiting hole 911 is a D-shaped hole, the D-shaped hole enables the connecting shaft 901 and the fourth output shaft 412 to be planar limiting, a key-like effect is achieved, and further the fourth output shaft 412 can rotate to drive the connecting shaft 901 to rotate, and the D-shaped hole is convenient to process and assemble.

In some possible embodiments provided by the present utility model, the fourth mechanical joint 40 further comprises: and a fourth rotation angle detecting device, which is disposed on the fourth driving part 410 and is used for detecting the rotation angle of the fourth output shaft 412, and the fourth driving part 410 also rotates or stops rotating according to the detection result of the rotation angle detecting device. Therefore, the working state of the fourth driving part 410 can be reasonably controlled according to the rotation angle of the fourth output shaft 412 detected by the rotation angle detection device, so that the manipulator 90 can be rotated to a proper position, and the requirements of different working conditions of the manipulator 90 can be met. Specifically, the fourth rotation angle detection device is a hall sensor.

As shown in fig. 27 to 34, in some possible embodiments provided by the present utility model, the robot 90 includes: base 960, fifth drive portion 910, second screw 920, second guide nut 930, two clamping portions 940, two link mechanisms 950; the base 960 is connected with the fourth mechanical joint 40, the fifth driving part 910 is connected with the base 960, the second screw 920 is in threaded connection with the second guide nut 930 and is connected with the fifth driving part 910, the second guide nut 930 is provided with a cylindrical boss 931, the first end of each link mechanism 950 is movably connected with the cylindrical boss 931, and the second end of each link mechanism 950 is hinged with the corresponding clamping part 940; the fifth driving portion 910 drives the second screw 920 to rotate, so that the second guide nut 930 moves relative to the second screw 920 to drive the two link mechanisms 950 to rotate, and further drive the two clamping portions 940 to approach or separate from each other.

As shown in fig. 27, 28 and 29, in the manipulator 90 provided by the embodiment of the present utility model, by disposing the cylindrical boss 931 on the second guide nut 950 and movably connecting the cylindrical boss 931 with the first ends of the two link mechanisms 950, in this way, in the process of driving the second screw 920 by the fifth driving portion 910 to rotate, the second guide nut 930 drives the first end of each link mechanism 950 to synchronously move with respect to the second screw 920, so that the two link mechanisms 950 are driven to rotate to approach or separate from each other, and further, the two clamping portions 940 connected to the second ends of the two link mechanisms 950 are driven to approach or separate from each other, so as to implement the grabbing or releasing operation of the manipulator 90. Therefore, by using the second guide nut 930 and the second screw 920 which are in threaded connection, and matching with the fifth driving portion 910 and the two link mechanisms 950, the two clamping portions 940 can be moved closer to or away from each other, so as to achieve the grabbing or releasing operation of the manipulator 90, which is simple in structure and low in cost.

The cylindrical boss 931 is disposed on the second guide nut 930, that is, the cylindrical boss 931 and the second guide nut 930 may be in an integrally formed structure, so that the setting of the connection structure between the second guide nut 930 and the link mechanism 950 is simplified, the design requirement of the manipulator 90 with compact structure and smaller volume can be met, the application range of the manipulator 90 is enlarged, and the manipulator 90 can meet the design requirement of the self-moving cleaning device with compact structure and smaller volume.

In some possible embodiments of the present utility model, the cylindrical bosses 931 are distributed on one side or both sides of the second guide nut 930 along the first direction, and the direction in which the two clamping portions 940 approach or separate from each other is perpendicular to the first direction.

The direction in which the two clamping portions 940 approach or separate from each other may be a second direction, and the first direction may be perpendicular to the second direction, for example, the first direction may be a vertical direction, and the second direction may be a horizontal direction, wherein the first direction and the second direction may be as shown in fig. 30 and 28.

In this embodiment, when the cylindrical bosses 931 are distributed on one side of the second guide nut 930 along the first direction, the first ends of the two link mechanisms 950 are movably connected with the cylindrical bosses 931 at the same time, and when the cylindrical bosses 931 are distributed on both sides of the second guide nut 930 along the first direction, the first ends of the two link mechanisms 950 are respectively movably connected with the corresponding cylindrical bosses 931, i.e., the two link mechanisms 950 are respectively movably connected with the corresponding cylindrical bosses 931 from both sides of the second guide nut 930. Due to the fact that the cylindrical bosses 931 are distributed on one side or two sides of the second guide nut 930 along the first direction, the two connecting rod mechanisms 950 and the second guide nut 930 are stacked together in the first direction, and compared with a manipulator in the related art, the two connecting rod mechanisms 950 are movably connected with the second guide nut 930 along the second direction, the design requirement of compact structure is achieved, the overall size of the manipulator 90 along the second direction can be reduced under the condition that the structural size of each component is unchanged, the design requirement of compact structure and small size of the manipulator 90 can be met under the condition that the manipulator 90 is ensured to have enough strength, the application range of the manipulator 90 is enlarged, and the manipulator is suitable for popularization and application.

The second guide nut 930 is provided with a cylindrical boss 931 at one side or opposite sides of the first direction, and is hinged to the link mechanism 950 through the cylindrical boss 931, so that the link mechanism 950 can be ensured to have a sufficient range of motion and to be flexibly and smoothly rotated with respect to the nut. Meanwhile, the cylindrical boss 931 is convenient to process and easy to implement.

In some possible embodiments provided by the present utility model, as shown in fig. 28, 29 and 30, the linkage 950 includes a first rod 951, a first end of the first rod 951 is provided with a sliding groove 9511, a cylindrical boss 931 is located in the sliding groove 9511 and can move in the sliding groove 9511 along with movement of a second guide nut 930, a second end of the first rod 951 is hinged with the clamping portion 940 through a first hinge point 9512 to drive the clamping portion 940 to move, and a portion of the first rod 951 between the first end and the second end is hinged with the base 960 through a second hinge point 9513. Therefore, when the fifth driving portion 910 drives the second screw 920 to rotate, the second guide nut 930 moves relative to the second screw 920, and the first ends of the two first rods 951 can be driven to move by the cooperation of the cylindrical boss 931 and the sliding slot 9511, so that the two link mechanisms 950 correspondingly connected to the second ends of the first rods 951 can be driven to be closed or opened in a scissor manner by the two first rods 951, thereby realizing the clamping and unloading functions of the clamping portion 940.

The geometric centers of the first hinge point 9512, the second hinge point 9513, and the chute 9511 may not be collinear, or the geometric centers of the first hinge point 9512, the second hinge point 9513, and the chute 9511 may be collinear.

In the above-described embodiment, as shown in fig. 28 and 29, the link mechanism 950 further includes: a second lever 952, a first end of the second lever 952 being hinged to the clamping portion 940 via a third hinge point 9521, and a second end of the second lever 952 being hinged to the base 960 via a fourth hinge point 9522; the graph formed by the first hinge point 9512, the second hinge point 9513, the third hinge point 9521 and the fourth hinge point 9522 is a parallelogram. That is, the link mechanism 950 is a parallel four-link mechanism, and the parallel four-link mechanism has simple structure and good dynamic balance, thereby being beneficial to improving the stability and reliability of the operation of the manipulator 90.

Specifically, the fifth driving part 910 is a motor, the fifth driving part 910 is mounted on the base 960, and the base 960 and the fifth driving part 910 remain relatively stationary. The fifth output shaft of the fifth driving portion 910 is connected to the second screw 920, and the fifth driving portion 910 drives the second screw 920 to rotate, so that the second guide nut 930 screwed to the second screw 920 can move along the second screw 920, for example, if the fifth output shaft of the fifth driving portion 910 drives the second screw 920 to rotate forward, the second guide nut 930 can move forward along the second screw 920, whereas the fifth output shaft of the fifth driving portion 910 drives the second screw 920 to rotate backward, and the second guide nut 930 can move backward along the second screw 920.

Since the cylindrical boss 931 of the second guide nut 930 can move along the sliding groove 9511 of the first rod 951 of the linkage 950, the second guide nut 930 can apply force to the linkage 950 through the first rod 951 during the movement of the second screw 920, and since the first rod 951 is hinged to the clamping portion 940 through the first hinge point 9512, the first rod 951 is hinged to the base 960 through the second hinge point 9513; the second lever 952 is hinged to the clamping portion 940 via a third hinge point 9521, and the second lever 952 is hinged to the base 960 via a fourth hinge point 9522, and the link mechanism 950 is a parallel four-bar linkage. Therefore, the second guide nut 930 moves back and forth along the second screw 920, and the first lever 951 can drive the two link mechanisms 950 to be closed or opened in a scissor type, thereby realizing the clamping and unloading functions of the clamping portion 940.

In the above-described embodiment, as shown in fig. 29 and 31, the first lever 951 is provided with the bending structure 953, the bending structure 953 is located between the second hinge point 9513 and the slide groove 9511, and the bending structures 953 of the two link mechanisms 950 are bent in a direction away from each other. In this arrangement, in the first direction, the distance between the sliding grooves 9511 of the two first rods 951 is greater than the distance between the second hinge points 9513 of the two first rods 951, so after the two first rods 951 and the second guide nuts 930 are stacked together, the distance between the second hinge points 9513 of the two first rods 951 is smaller in the first direction, so that the manipulator 90 is compact in structure, the overall size of the manipulator 90 in the first direction is reduced, and the design requirements of the manipulator 90 with compact structure and smaller size can be met.

Specifically, as shown in fig. 31, two cylindrical bosses 931 are distributed on two sides of the second guide nut 930 in the first direction, the bending structure 953 of the first rod 951 above the second guide nut 930 is upward, and the bending structure 953 of the first rod 951 below the second guide nut 930 is downward, so when the two first rods 951 are hinged to the cylindrical bosses 931 of the second guide nut 930 through the sliding groove 9511, the two first rods 951 are stacked with the second guide nut 930 from the upper and lower directions, thereby reducing the height difference of the portions of the two first rods 951 away from the bending structure 953 in the first direction, making the height difference of the second hinge points 9513 of the two first rods 951 in the first direction smaller or parallel, making the structure of the manipulator 90 compact, and being beneficial to balancing and clamping the two clamping parts 940.

In some possible embodiments of the present utility model, as shown in fig. 31 and 32, the manipulator 90 further includes a thrust washer 921, a sliding hole is provided on the base 960 for inserting an end of the second screw 920 away from the fifth driving part 910, a step part located outside the sliding hole is provided on a circumferential side of the second screw 920, and the thrust washer 921 is located between an end surface of the sliding hole and the step part.

When the manipulator 90 moves to make the two clamping portions 940 approach each other to clamp an object, or when the manipulator 90 moves to make the two clamping portions 940 approach each other to the limit position, the axial force of the second screw 920 can be loaded on the thrust washer 921, at this time, the fifth driving portion 910 does not bear the axial force, so that a good protection effect is achieved on the fifth driving portion 910, the problem that the two clamping portions 940 approach each other to the limit position continuously to damage the second screw 920 is avoided, the service life of the fifth driving portion 910 is prolonged, and the reliability of the manipulator 90 is improved.

In some possible embodiments provided by the present utility model, as shown in fig. 30, the base 960 includes: a first cover plate 961 and a second cover plate 962 distributed along the first direction, a portion of the first cover plate 961 and a portion of the second cover plate 962 are connected to each other and enclose a chamber for accommodating the fifth driving portion 910, a gap is provided between another portion of the first cover plate 961 and the second cover plate 962, and the second guide nut 930 and a portion of the link mechanism 950 are located in the gap.

That is, the fifth driving part 910 is installed inside the chamber defined by the first cover plate 961 and the second cover plate 962, so that the first cover plate 961 and the second cover plate 962 provide good protection for the fifth driving part 910. The second guide nut 930 and a portion of the linkage 950 are located in a gap between the first cover plate 961 and the second cover plate 962. Therefore, the first cover plate 961 and the second cover plate 962 have good protection effect on the second guide nut 930 and the part of the link mechanism 950, which is beneficial to improving the reliability of the manipulator 90, and meanwhile, is beneficial to improving the aesthetic property and the neatness of the appearance of the manipulator 90, and the arrangement of the gap between the first cover plate 961 and the second cover plate 962 provides enough movement space for the second guide nut 930 and the part of the link mechanism 950.

Specifically, the first cover plate 961 and the second cover plate 962 may be detachably connected by means of bolts, clamping, etc. to facilitate maintenance of the second guide nut 930 and the link mechanism 950 between the two cover plates, and thus, the operation is convenient.

In some possible embodiments provided by the present utility model, as shown in fig. 27, 29 and 30, the manipulator 90 further includes: the sixth driving unit 970, the transmission mechanism 980 and the first image capturing device 990, wherein the sixth driving unit 970 is disposed on the base 960, the transmission mechanism 980 is connected with the sixth driving unit 970 and the first image capturing device 990, and the sixth driving unit 970 is used for driving the transmission mechanism 980 to drive the first image capturing device 990 to rotate relative to the base 960.

In the manipulator 90 provided by the embodiment of the utility model, the first image pickup device 990 is additionally arranged, so that under the condition that the manipulator 90 has the original function of clamping an object, the first image pickup device 990 can be utilized to collect images of the environment near the manipulator 90, thereby realizing the diversification of the functions of the manipulator 90 and being suitable for popularization and application.

Further, the sixth driving portion 970 can drive the first camera device 990 to rotate relative to the base 960 through the transmission mechanism 980, so as to change the shooting angle of view of the first camera device 990, so as to increase the acquisition range of the first camera device 990, expand the application range of the manipulator 90, and simultaneously, enable the first camera device 990 to be at a reasonable position to avoid obstacles and protect the camera 992, thereby being beneficial to reducing the failure rate of the first camera device 990 and improving the reliability of products.

Further, the sixth driving part 970 drives the transmission mechanism 980 to drive the first camera device 990 to rotate relative to the base 960, so that the problem of manually adjusting the shooting visual angle of the first camera device 990 is simplified, and the intellectualization of the manipulator 90 is improved.

In the above embodiment, one end of the first image capturing device 990 is rotatably connected to the base 960 through the second rotation shaft 982; the transmission mechanism 980 comprises a third screw rod 983, a third guide nut 984 and a connecting rod 981, the third screw rod 983 is in threaded connection with the third guide nut 984 and is connected with the sixth driving part 970, the first end of the connecting rod 981 is hinged with the third guide nut 984, and the second end of the connecting rod 981 is hinged with a part of the first camera 990 far away from the second rotating shaft 982; accordingly, the sixth driving portion 970 drives the third screw 983 to rotate, and can move the third guide nut 984 relative to the third screw 983 to drive the first image capturing device 990 to turn around the second rotation shaft 982 via the link 981, so as to realize the rotation of the first image capturing device 990 relative to the base 960. The sixth driving part 970 may be a motor capable of driving the third screw 983 to rotate in a forward or reverse direction, so as to achieve forward or reverse turning of the first image capturing device 990 with respect to the base 960. Specifically, through the cooperation of the sixth driving portion 970, the third screw 983, the third guide nut 984, the connecting rod 981 and the second rotating shaft 982, the first image pickup device 990 can be driven to rotate relative to the base 960, and the manipulator 90 has the advantages of simple structure, convenient operation and smaller volume, and can meet the design requirement of compact structure of the manipulator 90.

Specifically, the first image capturing device 990 includes an image capturing bracket 991 and a camera 992, the image capturing bracket 991 is connected with the base 960 through a second rotation shaft 982, the image capturing bracket 991 is hinged with the connecting rod 981, and the camera 992 is mounted on the image capturing bracket 991, so that the sixth driving part 970 drives the image capturing bracket 991 to rotate relative to the base 960 through the transmission mechanism 980, and the camera 992 can rotate relative to the base 960, so that different viewing angles can be realized.

Further, the maximum tilting angle of the first camera 990 may be 180 °, and the first camera can be tilted at any position of 0 to 180 ° with respect to the base 960, and it is understood that the maximum tilting angle of the camera may also be 200 °, 270 °, 300 ° or other angle values.

As shown in fig. 33 and 34, in some possible embodiments provided by the present utility model, the transmission mechanism 980 further includes a connection block 985, and the connection block 985 is fixedly connected with the third guide nut 984 and is hinged with the connection rod 981. The connection block 985 is provided to facilitate and reliably hinge the link 981 with the third guide nut 984.

One side of the connecting block 985 may be fixed on the third guide nut 984 by welding, or the connecting block 985 may be fixed on the third guide nut 984 by a bolt structure, a clamping connection or the like, one side of the connecting block 985 away from the third guide nut 984 may be provided with a circular convex column, and the first end of the connecting rod 981 may be sleeved on the outer side of the circular convex column through a circular hole, so as to realize hinged connection between the connecting rod 981 and the connecting block 985.

As shown in fig. 29, 30, 33 and 34, the transmission mechanism 980 further includes a sliding rod 986, where the sliding rod 986 is parallel to the third screw 983 and fixed on the base 960, and the sliding rod 986 is penetrating through the third guide nut 984 and used for limiting the movement of the third guide nut 984.

That is, the third guide nut 984 is provided with a threaded hole and a through hole, the third guide nut 984 is in threaded connection with the third screw 983 through the threaded hole and can move along the third screw 983 under the condition that the third screw 983 rotates, and the third guide nut 984 is in sliding connection with the slide rod 986 through the through hole, so that the third guide nut 984 can slide along the slide rod 986 under the limitation of the through hole and the slide rod 986 in the process of moving along the third screw 983. Therefore, the arrangement of the sliding rod 986 can improve the moving precision and accuracy of the third guide nut 984 along the third screw 983, reduce the shaking phenomenon of the third guide nut 984 during the moving process, further improve the stability and accuracy of the first image capturing device 990 turning over relative to the base 960, and facilitate to ensure the capturing quality of the first image capturing device 990.

In some possible embodiments of the present utility model, an avoidance space 941 is formed between the two clamping portions 940, and the first image capturing device 990 can be flipped over the avoidance space 941 with respect to the base 960. Accordingly, when the first image capturing device 990 is turned over to the upper side of the avoidance space 941 with respect to the base 960, if the camera 992 of the first image capturing device 990 faces the avoidance space 941, the first image capturing device 990 can capture an image of a view angle below the avoidance space 941 through the avoidance space 941, and the capturing range of the image capturing device is further increased.

As shown in fig. 35 to 42, in some embodiments of the present utility model, another structure of the manipulator 90' is further provided, and it is understood that the manipulator 90' provided in this embodiment may still be connected to the fourth output shaft 412 of the fourth mechanical joint through the connecting shaft 901', and the specific connection manner is the same as that of the manipulator 90 shown in fig. 27 to 34, which is not specifically explained herein.

As shown in fig. 35 to 42, a manipulator 90' provided in an embodiment of the present utility model includes: a base 960', wherein the base 960' is provided with a storage groove 963' with an upward opening; a main driving part 910' and two clamping parts 940', which are disposed on the base 960' and outside the receiving groove 963', the main driving part 910' being drivingly connected to the two clamping parts 940' to drive the two clamping parts 940' to approach or separate from each other; the sub-driving portion 970' and the first image pickup device 990', the sub-driving portion 970' is disposed in the receiving groove 963', and the sub-driving portion 970' is in driving connection with the first image pickup device 990' to drive the first image pickup device 990' to flip into the receiving groove 963' or out of the receiving groove 963 '.

As shown in fig. 36, 40 and 41, the manipulator 90 'according to the embodiment of the present utility model drives the two clamping parts 940' to approach or separate from each other by the main driving part 910', so as to implement the grabbing or releasing operation of the manipulator 90'. Meanwhile, the first camera 990 'is added, so that when the manipulator 90' has the original function of clamping an object, the first camera 990 'can be used for detecting the environment or the object near the manipulator 90', for example, the first camera 990 'can realize ranging or mapping or recognizing the object and the color, thereby realizing the diversification of the function of the manipulator 90', and being suitable for popularization and application.

Further, the auxiliary driving portion 970 'is in driving connection with the first camera 990' to drive the first camera 990 'to turn over, so as to change the shooting angle of view of the first camera 990', thereby increasing the detection range of the first camera 990 'and expanding the application range of the manipulator 90'. Meanwhile, the base 960' of the manipulator 90' is provided with a storage groove 963', and the first camera 990' can be turned over to be contained in the storage groove 963' or located outside the storage groove 963' under the driving of the auxiliary driving part 970', so as to meet the requirements of different shooting angles of the first camera 990', and meanwhile, the first camera 990' is contained in the storage groove 963', and compared with the outer wall of the manipulator, which is connected with the first camera in the related art, the overall size of the manipulator in the thickness direction is reduced, and the design requirement of the manipulator 90' with compact structure can be met. The top and bottom directions of the manipulator 90' are shown by arrows in fig. 38 and 40, and the thickness direction of the manipulator 90' is the top-to-bottom direction of the manipulator 90 '.

Further, the sub driving part 970' drives the first camera 990' to turn over relative to the base 960', so that the problem of manually adjusting the photographing angle of view of the first camera 990' is simplified, and the intellectualization of the manipulator 90' is improved.

It will be appreciated that the base 960 'may be coupled to the working arm 80 of the robot arm 001, and in particular, the base 960' may be rotatably coupled to the working arm 80 through a fourth mechanical joint 40, and a specific mechanism of the fourth mechanical joint 40 will be described in detail later.

In some possible implementations provided by the present utility model, the first camera device 990 'includes a camera 992'. The camera 992' includes a ToF camera and an RGB camera, where the ToF camera includes a transmitting end and a receiving end, and the ToF camera may be used for ranging or mapping alone or in combination with an LDS or other optical modeling sensor of the self-moving cleaning device to create a 3D map model. RGB cameras can be used to identify objects and colors.

Further, as shown in fig. 36, 37, 38 and 39, the first camera 990' includes a first limit position accommodated in the accommodation groove 963', and in the first limit position, the top of the first camera 990' is lower than the upper surface of the base 960', and the camera 992' faces upward.

The first limit position may be understood as an initial position of the first image capturing device 990', such as a zero position of the first image capturing device 990', when the first image capturing device 990' is at the first limit position, the first image capturing device 990' is received in the receiving groove 963', and an upper surface of the base 960' protrudes from a top of the first image capturing device 990 '. By the arrangement, the base 960' plays a good role in protecting the first camera device 990', so that the problem that obstacles scrape against the first camera device 990' is avoided, the camera 992' is protected, the failure rate of the first camera device 990' is reduced, and the reliability of products is improved. Meanwhile, when the first camera device 990' is at the first limit position, the camera 992' faces upwards, so that when the mechanical arm 001 is stored in the accommodating cavity 011, an upward map can be built by using the camera 992', a 3D map model can be built by matching with an LDS or other optical modeling sensor of the self-moving cleaning equipment, the reliability of the map building of the self-moving cleaning equipment can be improved, and the setting of the sensor of the self-moving cleaning equipment can be simplified to a certain extent.

Further, as shown in fig. 41 and 42, the first camera device 990 'includes a second limit position between two clamping portions 940' that are far away from each other, and in the second limit position, the camera 992 'of the first camera device 990' faces downward.

The second limit position may be understood as a maximum turning position of the first camera device 990', when the first camera device 990' turns to the second limit position, under the condition that the two clamping portions 940 'are separated, the first camera device 990' is located between the two clamping portions 940', so that the first camera device 990' reasonably utilizes a space formed after the two clamping portions 940 'are separated, thereby realizing a storage function, being beneficial to reducing a space occupied by the whole manipulator 90', being convenient for storage, and utilizing the two clamping portions 940 'to play a good protection role on the first camera device 990' from two sides, avoiding an obstacle from striking the first camera device 990 'from the side, and being beneficial to improving the service life of the first camera device 990'. Meanwhile, when the first camera device 990' is at the second limit position, the camera 992' faces downwards, so that dust can be prevented from depositing on the camera 992' when the mechanical arm 001 is accommodated in the accommodating cavity 011, the cleanliness of the camera 992' can be improved, and the accuracy of information acquisition of the first camera device 990' can be improved.

Specifically, the flip angle of the first camera 990' may be 180 °, which may provide a larger viewing angle for the robotic arm.

As shown in fig. 36, 37, 38 and 42, in some possible embodiments provided by the present utility model, the first image capturing device 990' further includes: the camera support 991', the camera 992' is installed on the camera support 991', and the end of the camera support 991' far away from the camera 992 'is connected with the output shaft of the auxiliary driving part 970', and the auxiliary driving part 970 'rotates to drive the camera support 991' to overturn.

In this embodiment, the auxiliary driving portion 970 'may be a motor, and the camera support 991' is connected with an output shaft of the auxiliary driving portion 970', for example, one end of the camera support 991' is sleeved on the output shaft of the auxiliary driving portion 970', so that the output shaft of the auxiliary driving rotates to drive the camera support 991' to overturn relative to the base 960', and the camera 992' is installed on the camera support 991', so that the camera 992' can overturn relative to the base 960', so as to realize the overturn operation of the first camera device 990', and the camera device has simple structure, small volume and low cost.

As shown in fig. 41 and 42, an avoidance bend 993' is further provided at a portion of the imaging support 991' between the camera 992' and the sub-driving portion 970', and the avoidance bend 993' is used to avoid the base 960' when the first imaging device 990' is in the second limit position. That is, in the process of turning the first camera device 990' from the first limit position to the second limit position by the operation of the auxiliary driving portion 970', the camera 992' is turned from the inside of the storage groove 963' to the outside of the storage groove 963', and is located between the two clamping portions 940' separated from each other, that is, the camera 992' is turned 180 °. The arrangement of the bending 993' is avoided, so that the image capturing bracket 991' can avoid the side wall of the storage groove 963', further, the interference between the image capturing bracket 991' and the side wall of the storage groove 963' is avoided, the rotation range of the image capturing bracket 991' is influenced, further, the first image capturing device 990' can be ensured to smoothly overturn to the second limit position, and the top of the first image capturing device 990' is lower than the upper surface of the storage groove 963' in the first limit position.

As shown in fig. 36, 37 and 41, in some possible embodiments provided by the present utility model, the manipulator 90' further includes: the first link mechanism 953 'and the second link mechanism 954' distributed on both sides outside the receiving groove 963', the first link mechanism 953' and the second link mechanism 954 'are in transmission connection through the main gear set 955', and are hinged with the base 960 'and the corresponding clamping portion 940'. That is, the first linkage 953' is hinged with the base 960' and one of the clamping portions 940', the second linkage 954' is hinged with the base 960' and the other of the clamping portions 940', and the first linkage 953' and the second linkage 954' are drivingly connected through the main gear set 955 '. Therefore, the main driving part 910' is in transmission connection with the first link mechanism 953', the main driving part 910' drives the first link mechanism 953' to move, the first link mechanism 953' drives the second link mechanism 954' to move through the main gear set 955', and then the two clamping parts 940' are driven to be close to or far away from each other, so that the grabbing or releasing operation of the manipulator 90' is realized, and the manipulator is simple in structure and low in cost.

Further, since the main driving portion 910 'is in transmission connection with the first link mechanism 953', the first link mechanism 953 'transmits power to the second link mechanism 954' through the main gear set 955', so that the main driving portion 910' can be more intensively arranged close to the first link mechanism 953', and further can avoid the storage groove 963' and the first image capturing device 990', and can meet the design requirement of the manipulator 90' with compact structure.

In the above-described embodiment, as shown in fig. 37 and 42, the first lever 951' of the first link mechanism 953' and the first lever 951' of the second link mechanism 954' are distributed on the side of the receiving groove 963' away from the main driving portion 910', the first end of the first lever 951' is hinged to the base 960' through the first hinge point 9511', and the first end of the first lever 951' of the first link mechanism 953' and the first end of the first lever 951' of the second link mechanism 954' are drivingly connected through the main gear set 955', and the second end of the first lever 951' is hinged to the clamp portion 940' through the second hinge point 9512 '.

Further, the second rod 952' of the first link mechanism 953' and the second rod 952' of the second link mechanism 954' are distributed at two sides outside the receiving groove 963', the first end of the second rod 952' is hinged to the base 960' through a third hinge point 9521', and the second end of the second rod 952' is hinged to the clamping portion 940' through a fourth hinge point 9522 '; the first hinge point 9511', the second hinge point 9512', the third hinge point 9521', and the fourth hinge point 9522' form a parallelogram, that is, the first link mechanism 953' and the second link mechanism 954' are parallel four-link mechanisms, and the parallel four-link mechanisms have simple structure and good dynamic balance, so that the working stability and reliability of the manipulator 90' can be improved.

The main driving portion 910' is in transmission connection with the second rod 952' of the first link mechanism 953', so that the main driving portion 910' can drive the second rod 952' of the first link mechanism 953' to rotate, further enable the clamping portion 940' connected with the first link mechanism 953' to act, and drive the first rod 951' of the first link mechanism 953' to rotate, and power is transmitted to the second link mechanism 954' through the main gear set 955', so as to drive the first rod 951' of the second link mechanism 954' to rotate, further enable the other clamping portion 940' connected with the second link mechanism 954' to rotate, so that the two clamping portions 940' are close to or far away from each other.

As shown in fig. 37 and 42, in some possible embodiments provided by the present utility model, the manipulator 90' further includes: a second screw 920' and a second guide nut 930', the second screw 920' being screw-coupled with the second guide nut 930' and coupled with the main driving part 910', the second guide nut 930' being provided with a cylindrical boss 931'; a sliding groove 9523' is formed in the direction from the first end to the second end of the second rod 952' of the first link mechanism 953', and the cylindrical boss 931' is located in the sliding groove 9523' and is movable in the sliding groove 9523' along with the movement of the second guide nut 930 '. Thus, when the main driving portion 910' drives the second screw 920' to rotate, the second guide nut 930' moves relative to the second screw 920', and the cooperation of the cylindrical boss 931' and the sliding slot 9523' can drive the second end of the second rod 952' of the first link mechanism 953' to rotate relative to the first end, i.e. can drive the second rod 952' to rotate, and can further drive the clamping portion 940' connected to the first link mechanism 953' to rotate, so as to drive the second end of the first rod 951' of the first link mechanism 953' to rotate relative to the first end, i.e. the first rod 951' of the first link mechanism 953 '. Thus, the first lever 951' of the first linkage 953' can drive the main gear set 955' to rotate, so as to drive the second linkage 954' to rotate, so that the first linkage 953' and the second linkage 954' are closed or opened in a scissor manner, thereby realizing the clamping and unloading functions of the clamping part 940 '.

The second screw 920 'has a long and thin volume, and occupies a smaller space in the radial direction of the second screw 920', so that the second screw 920 'and the second guide nut 930' are connected with the main driving portion 910 'and the first link mechanism 953', so that the second screw 920 'can be close to the first link mechanism 953', or close to the edge of the base 960', so as to avoid the storage groove 963' and the first image pickup device 990', and meet the design requirement of the manipulator 90' with compact structure.

As shown in fig. 37 and 42, in some possible embodiments provided by the present utility model, the manipulator 90' further includes: an elastic restoring member 980' is connected between the first end of the second lever 952' of the second linkage 954' and the base 960', the elastic restoring member 980' being configured to apply a steering force to the second linkage 954' away from the first linkage 953 '.

That is, when the main driving part 910' is not operated, the second link mechanism 954' is rotated in a direction away from the first link mechanism 953' by the elastic restoring member 980', that is, the first link mechanism 953' and the second link mechanism 954' are opened in a scissor type so that the two clamping parts 940' are away from each other. When the main driving portion 910 'is operated, the main driving portion 910' drives the first linkage 953 'to act, so that the first linkage 953' rotates in a direction approaching the second linkage 954', that is, the first linkage 953' and the second linkage 954 'are in scissor-type closing, so that the two clamping portions 940' approach each other. The elastic reset piece 980 'is arranged, so that the manipulator 90' can switch between clamping and unloading actions, and different functions are also met.

Specifically, the elastic return member 980' is a torsion spring that is coupled between the base 960' and the first end of the second linkage 954 '. As shown in fig. 37, the torsion spring applies a clockwise steering force to the second linkage 954' to move the second linkage 954' away from the first linkage 953'.

As shown in fig. 37, 39 and 42, in some possible embodiments provided by the present utility model, the manipulator 90' further includes: the output shaft of the main driving part 910 'is in driving connection with the second screw 920' through the auxiliary gear set 912', and the second screw 920' is positioned at one side of the receiving groove 963 'near the first link mechanism 953'.

The driving direction of the main driving portion 910' and the second screw 920' can be changed through the auxiliary gear set 912', so that the second screw 920' can avoid the storage slot 963' and the first image capturing device 990', for example, the second screw 920' can be close to the edge of the base 960', thereby, a setting space is reserved for the storage slot 963', and a turnover space is reserved for the first image capturing device 990', so that the first image capturing device 990' can be ensured to smoothly turn between the first limit position and the second limit position, so as to ensure that the manipulator 90' has a larger shooting view angle, and meanwhile, the manipulator 90' is compact in structure and small in volume.

That is, in the manipulator 90 'provided by the embodiment of the present utility model, the main driving portion 910' works, the secondary gear set 912 'drives the second screw 920' to rotate, and because the second guide nut 930 'on the second screw 920' moves relative to the second screw 920', the first link mechanism 953' can be driven to rotate by matching the cylindrical boss 931 'on the second guide nut 930' with the sliding groove 9523 'on the first link mechanism 953', and the first link mechanism 953 'drives the second link mechanism 954' to rotate through the main gear set 955', so that the first link mechanism 953' and the second link mechanism 954 'are closed or opened in a scissor manner, thereby realizing the clamping and unloading functions of the clamping portion 940'. Meanwhile, by the arrangement, the first image pickup assembly and the storage groove 963 'can be avoided, so that the structure of the manipulator 90' is compact.

As shown in fig. 38 and 40, in some possible embodiments of the present utility model, the base 960' includes: a first cover plate 961' and a second cover plate 962', a portion of the first cover plate 961' and the second cover plate 962' being connected to each other and enclosing a chamber for accommodating the main driving portion 910', a gap being provided between the other portion of the first cover plate 961' and the second cover plate 962', and the second guide nut 930' and the second screw 920' being located in the gap.

That is, the main driving part 910 'is installed inside the chamber defined by the first cover plate 961' and the second cover plate 962', so that the first cover plate 961' and the second cover plate 962 'provide good protection for the main driving part 910'. The second guide nut 930 'and the second screw 920' are located in a gap between the first cover plate 961 'and the second cover plate 962'. Therefore, the first cover plate 961 'and the second cover plate 962' have good protection effect on the second guide nut 930 'and the second screw 920', which is beneficial to improving the reliability of the manipulator 90', and simultaneously, is beneficial to improving the aesthetic property and the neatness of the appearance of the manipulator 90', and the arrangement of the gap between the first cover plate 961 'and the second cover plate 962' provides enough movement space for the second guide nut 930 'and the second screw 920'. Specifically, a portion of the first linkage 953 'and a portion of the second linkage 954' may also be located in the gap between the first cover plate 961 'and the second cover plate 962'.

The first cover plate 961' is located above the second cover plate 962', and the first cover plate 961' is provided with a receiving slot 963', so that the first image capturing device 990' can be turned from the top of the base 960' to be located in the receiving slot 963', and turned from the top of the base 960' to be located between the two separated clamping portions 940 '. Specifically, the first cover plate 961 'and the second cover plate 962' may be detachably connected by means of bolts, clips, or the like, so as to facilitate maintenance of the second guide nut 930', the second screw 920', the first link mechanism 953', and the second link mechanism 954' between the two cover plates, and thus, the operation is convenient.

As shown in fig. 1, 2 and 3, a self-moving cleaning apparatus 002 according to an embodiment of the present utility model includes: the equipment body 010 and arm 001, equipment body 010 is including holding the chamber 011, and the bottom of equipment body 010 is triangle-shaped and distributes has two action wheel 020 and from driving wheel 030, and arm 001 folding holding holds the intracavity 011, wherein hold to be provided with in the chamber 011 and be used for installing the mounting structure of arm 001, and the projection of mounting structure in the horizontal plane is located triangle-shaped in the projection's of horizontal plane inside.

In this embodiment, the mechanical arm 001 is connected with the accommodation cavity 011 of the apparatus body 010 through a mounting structure provided in the accommodation cavity 011, that is, the mechanical arm 001 is mounted in the accommodation cavity 011 of the apparatus body 010 through the mounting structure, so that the mechanical arm 001 can move along with the movement of the apparatus body 010, and further can reach the position to be worked along with the apparatus body 010. The mechanical arm 001 is contained in the containing cavity 011 in a foldable manner, so that the mechanical arm 001 is contained in the containing cavity 011 after being folded, the space occupied by the mechanical arm 001 in a folded state is small, the size is small, the containing is convenient, and meanwhile, the containing cavity 011 is arranged on the equipment body 010, so that the containing of the mechanical arm 001 can be realized by fully utilizing the structure of the equipment body 010, and the mechanical arm 001 is simple in structure and can meet the design requirements of the self-moving cleaning equipment 002, such as compact structure and small size.

The driving system comprises two driving wheels 020 and one driven wheel 030, the two driving wheels 020 and the one driven wheel 030 are distributed at the bottom of the equipment body 010 in a triangular shape, wherein the triangular area is the triangular area where P is shown in fig. 3, and the equipment body 010 can be moved by the arrangement, and has good stability in the moving process. Through holding the projection of the mounting structure that is used for installing arm 001 that sets up in the chamber 011 in the projection of horizontal plane and is located triangle-shaped in the inside of the projection of horizontal plane, it is in the triangle-shaped region that two action wheels 020 and follow driving wheel 030 formed to account for arm 001's mounted position at equipment body 010, such setting, make from removing cleaning device 002 can reach better focus, promptly from removing cleaning device 002's focus can coincide or the distance is less with the support center that two action wheels 020, one follow driving wheel 030 constitutes, with stability and the reliability of guaranteeing from removing cleaning device 002 work, and can avoid arm 001 to install the condition emergence that easily leads to equipment body 010 upset outside the triangle-shaped region.

As shown in fig. 3, in some possible embodiments of the present utility model, two driving wheels 020 are distributed along the lateral direction of the apparatus body 010, and the mechanical arm 001 is disposed near the two driving wheels 020. Thus, the horizontal dimension of the robot arm 001 can be increased as much as possible to improve the strength of the robot arm 001 while ensuring good stability and reliability of the self-moving cleaning apparatus 002.

In general, two driving wheels 020 are distributed at a position near the middle of the apparatus body 010 in the lateral direction of the apparatus body 010, and the driven wheels 030 are distributed at the front end of the bottom of the apparatus body 010, that is, the distance between the two driving wheels 020 is greater than the distance between the driven wheels 030 and the driving wheels 020. Therefore, the accommodating cavity 011 is close to the two driving wheels 020, the mechanical arm 001 is close to the two driving wheels 020, the horizontal size (such as the length) of the mechanical arm 001 can be larger, namely, the connection area of the mechanical arm 001 and the accommodating cavity 011 can be increased, and then the mechanical arm 001 can be stably and reliably connected to the accommodating cavity 011 of the equipment body 010, so that when the mechanical arm 001 is unfolded, the situation that the equipment body 010 is overturned due to the larger unfolding range of the mechanical arm 001 can be reduced, the stability and the safety of the work of the self-moving cleaning equipment 002 can be improved, and the satisfaction degree of the user is improved.

As shown in fig. 2, in some possible embodiments of the present utility model, when the mechanical arm 001 is accommodated in the accommodating cavity 011 in a foldable manner, an end of the mechanical arm 001 away from the driving wheel 020 and/or the driven wheel 030 is not higher than the upper surface of the apparatus body 010.

That is, when the robot 001 is folded and accommodated in the accommodating cavity 011, the robot 001 does not protrude from the upper surface of the apparatus body 010, that is, the height of the apparatus body 010 is not increased by the robot 001 in this posture, and thus, the problem that the moving range of the self-moving cleaning apparatus 002 is limited due to collision of the protruding portion of the robot 001 with the obstacle caused by the protruding upper surface of the apparatus body 010, that is, the folding of the robot 001 accommodated in the accommodating cavity 011 does not affect the original moving range of the self-moving cleaning apparatus 002 can be avoided. Thus, the self-moving cleaning device 002 provided in the embodiment of the present utility model does not affect the original functions of the self-moving cleaning device 002 when the mechanical arm 001 is added to expand the functions of the self-moving cleaning device 002.

In some possible embodiments provided by the present utility model, as shown in fig. 1, the self-moving cleaning apparatus 002 further includes: a second image pickup device 050 provided in front of the apparatus body 010; the control system 060 is used for identifying the obstacle according to the acquired information of the first image pickup device 990 and the second image pickup device 050 and controlling the working state of the mechanical arm 001 to grasp and disassemble the obstacle.

The second image capturing device 050 may be an original image capturing device of the self-moving cleaning device 002, so that the first image capturing device 990 and the second image capturing device 050 are matched, and the obstacle near the self-moving cleaning device 002 and the space pose coordinates of the grabbing point thereof can be identified by combining with an AI algorithm, so as to move or clean the obstacle.

Further, as shown in fig. 35, the self-moving cleaning apparatus 002 further includes a processing system 070, the processing system 070 interacts with the control system 060, the control system 060 is electrically connected with the first driving part 110, the second driving part 220, the third driving part, the fourth driving part 410, the fifth driving part 910 and the sixth driving part 970 of the mechanical arm 001, the processing system 070 acquires the acquired information of the first image capturing device 990 and the second image capturing device 050, processes according to the detection structure of each rotation angle detection device in combination with the kinematic solution algorithm, and transmits the solution result to the control system 060, and issues the instruction to the driving parts through the control system 060 to drive each driving part to move to the target position, so that the mechanical arm 001 can reach the target position to execute the corresponding operation.

It can be understood that only the first driving portion 110 is disposed on the base 50, and the other second driving portion 220, the third driving portions of the two third mechanical joints 30, the fourth driving portion 410, the fifth driving portion 910, and the sixth driving portion 970 are correspondingly distributed on the supporting arm 60, the connecting arm 70, and the working arm 80 of the mechanical arm 001.

Further, the control system 060 can also utilize a part of the field of view of the first camera 990 to view and measure the distance between the clamping portion 940 and the obstacle, so as to realize a part of logic judgment of the clamping portion 940, thereby improving the accuracy and reliability of the clamping portion 940 to clamp the obstacle.

As shown in fig. 35, the field of view of the first image capturing device 990 may be divided into a C1 sub-field of view and a C2 main field of view, where the angle of C1 is smaller than C2, and the ratio of C1 to C2 is 1:4, it is understood that the ratio of C1 to C2 may be other values. The C1 sub-field of view can radiate to most of the clamping portion, and further the distance between the clamping portion 940 and the obstacle can be checked and measured using the C1 sub-field of view of the first camera 990; the distance information between the clamping part 940 and the surrounding environment can be checked by using the C1 secondary view field of the first camera 990, so as to control the reasonable movement of the mechanical arm to accurately clamp the object.

In some possible implementations provided by the present utility model, the control system 060 is also for: when the mechanical arm 001 is in the working posture, the second mechanical joint 20 is controlled to enable the supporting arm 60 to be unfolded relative to the rotating seat 55 to be perpendicular to the base 50; when the self-moving cleaning apparatus 002 constructs a map or the robot 001 is in the non-working posture, the robot 001 is controlled to move and fold and be accommodated in the accommodation chamber 011.

That is, when the mechanical arm 001 is in operation, the supporting arm 60 of the mechanical arm 001 is vertically arranged relative to the base 50, that is, the supporting arm 60 is completely erected, so that the influence of the mechanical arm 001 on the navigation system can be reduced, and the reliability of the operation of the self-moving cleaning device 002 can be further improved.

When the map is created by the self-moving cleaning device 002, the control system 060 can control the mechanical arm 001 to act and fold and store in the accommodating cavity 011, namely the mechanical arm 001 is stored in the accommodating cavity 011, so that the mechanical arm 001 can be prevented from extending out of the accommodating cavity 011 to affect the operation of the laser sensor, and meanwhile, the mechanical arm 001 can be prevented from extending out of the accommodating cavity 011 to collide with an obstacle, so that the reliability of the self-moving cleaning device 002 is improved.

When the mechanical arm 001 is in a non-working posture, if the mechanical arm 001 is not required to be used for grabbing an obstacle, the control system 060 can control the mechanical arm 001 to act and fold and store in the accommodating cavity 011, namely the mechanical arm 001 is stored in the accommodating cavity 011, and by the arrangement, the mechanical arm 001 can be prevented from extending out of the accommodating cavity 011 to influence other works such as cleaning and charging of the self-moving cleaning equipment 002, and other operations of the self-moving cleaning equipment 002 can be reliably carried out. It will be appreciated that the above-mentioned obstacle may also be an object required by the user, such as a remote control, an apple, etc., which are not listed here.

The present utility model has been illustrated by the above-described embodiments, but it should be understood that the above-described embodiments are for purposes of illustration and description only and are not intended to limit the utility model to the embodiments described. In addition, it will be understood by those skilled in the art that the present utility model is not limited to the embodiments described above, and that many variations and modifications are possible in light of the teachings of the utility model, which variations and modifications are within the scope of the utility model as claimed. The scope of the utility model is defined by the appended claims and equivalents thereof.

Claims

1. A mechanical joint for connecting a swivel base (55) and a base (50) of a mechanical arm (001), the mechanical joint comprising:

the rotary seat comprises a base (50), a first driving part (110), a rotary joint (120), a first transmission assembly (130) and a connecting structure, wherein the first driving part (110) is installed on the base (50) through the connecting structure, the first transmission assembly (130) is used for connecting the first driving part (110) and the rotary joint (120) in a transmission mode, and the first driving part (110) is used for driving the rotary joint (120) to rotate through the first transmission assembly (130) so that the rotary seat (55) rotates relative to the base (50).

2. The mechanical joint according to claim 1, wherein,

the first transmission assembly (130) comprises a first synchronous wheel (132) and a second synchronous wheel (133) which are in transmission connection through a first transmission belt (131), the first synchronous wheel (132) is connected with the first driving part (110), the first driving part is arranged on the base (50), the second synchronous wheel (133) is connected with the rotating seat (55), and the rotating seat (55) is movably connected with the base (50) through the rotating joint (120).

3. A mechanical joint according to claim 2, wherein,

the rotary joint (120) comprises a rolling assembly (121) located between the rotary seat (55) and the base (50), the rolling assembly (121) comprising balls or needles.

4. The mechanical joint according to claim 3, wherein,

the rotating seat (55) comprises a first rotating shaft (552) inserted into the base (50) and a table top (551) arranged on the upper portion of the first rotating shaft (552), the rolling assembly (121) is sleeved on the outer side of the first rotating shaft (552), the second synchronous wheel (133) is connected with the table top (551), and the rolling assembly (121) comprises a first rolling assembly (1211) and a second rolling assembly (1212) which are distributed at two opposite ends of the base (50);

Wherein opposite sides of the base (50) are in rolling contact with the first rolling assembly (1211) and the second rolling assembly (1212), respectively.

5. The mechanical joint according to claim 4, wherein,

the table top (551) is located outside the base (50), and an end of the second rolling assembly (1212) remote from the first rolling assembly (1211) is in rolling contact with a side of the table top (551) facing the base (50).

6. The mechanical joint according to claim 4, wherein the rotary joint (120) further comprises:

a first pad (122), an end of the first rolling assembly (1211) remote from the second rolling assembly (1212) being in rolling contact with the first pad (122);

-a pretensioning assembly (123), the pretensioning assembly (123) being adapted to adjust a distance between the first rolling assembly (1211) and the second rolling assembly (1212) by means of the first spacer (122).

7. The mechanical joint according to claim 6, characterized in that the pretension assembly (123) comprises:

first regulating part (1231) and first pretension gasket (1232), first pretension gasket (1232) are located first gasket (122) are kept away from one side of first rolling subassembly (1211), first regulating part (1231) wear to locate first pretension gasket (1232) with first pivot (552) swing joint, first regulating part (1231) rotation can drive first pretension gasket (1232) for roating seat (55) reciprocates, in order to adjust first rolling subassembly (1211) with distance between second rolling subassembly (1212).

8. The mechanical joint according to claim 4, wherein the rotary joint (120) further comprises:

the sliding sleeve (124) is sleeved on the outer side of the first rotating shaft (552), is positioned between the first rolling assembly (1211) and the second rolling assembly (1212), and is accommodated in a mounting groove arranged on one side of the base (50) facing the first rolling assembly (1211).

9. The mechanical joint of claim 2, further comprising:

the detection device comprises a detection shaft (170), a first rotation angle detection device (140) and a second synchronous pulley assembly (150), wherein the detection shaft (170) is rotatably arranged on the base (50), the second synchronous pulley assembly (150) is used for being in transmission connection with an output shaft of the detection shaft (170) and the first driving part (110), and the first rotation angle detection device (140) is used for detecting rotation angles of the detection shaft (170).

10. The mechanical joint of claim 9, further comprising:

mount (180), with base (50) are connected, and erect the week side of detecting axle (170), second synchronous pulley subassembly (150) are including third synchronizing wheel and the fourth synchronizing wheel of being connected through the second drive belt, third synchronizing wheel with the output shaft of first drive portion (110) is connected, the fourth synchronizing wheel with detect axle (170) are connected, first corner detection device includes magnetic induction piece (141) and magnetic part (142), magnetic induction piece (141) set up on mount (180), magnetic part (142) set up on detecting axle (170).

11. A mechanical joint according to claim 3, further comprising:

and the tensioning device (160) is arranged on the base (50), and the tensioning device (160) is used for adjusting the tension degree of the first transmission belt.

12. The mechanical joint according to claim 11, characterized in that the tensioning device (160) comprises a guide (161), a tensioning shaft and a second adjustment;

the guide part (161) is arranged on the base (50), a guide groove is formed in the inner bottom of the guide part (161), the tensioning shaft is inserted into the guide part (161), the end part of the tensioning shaft is positioned in the guide groove and can slide along the guide groove towards the direction close to or far away from the first transmission belt (131), a tensioning bearing (162) connected with the first transmission belt (131) is arranged at the part of the tensioning shaft positioned outside the guide part (161), and the second adjusting piece is inserted into the guide part (161) and is abutted to the tensioning shaft, so that the position of the tensioning shaft in the guide groove can be adjusted by the connection position of the second adjusting piece and the guide part (161).

13. A robotic arm (001), comprising: the mechanical joint of any one of claims 1 to 12.

14. A self-moving cleaning device (002), characterized by comprising: the robotic arm (001) of claim 13.