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CN-224206764-U - Mechanical arm, cleaning equipment and cleaning system

CN224206764UCN 224206764 UCN224206764 UCN 224206764UCN-224206764-U

Abstract

The disclosure provides a mechanical arm, cleaning equipment and a cleaning system, wherein the mechanical arm comprises a first arm and a second arm, the second arm is hinged with the first arm so that the first arm and the second arm can be unfolded and folded, an anti-clamping device is arranged on the first arm and/or the second arm, when foreign matters exist at the relative folding position, the anti-clamping device controls the first arm and the second arm to stop folding, and the problem of low safety of the mechanical arm in the working process can be solved.

Inventors

  • CHU XIAOGANG
  • LV XIAOMING
  • QIN HAITAO
  • ZHAO ZHENHAO
  • ZHANG YINGYIN

Assignees

  • 麦悦未来智能科技(苏州)有限公司

Dates

Publication Date
20260508
Application Date
20250528

Claims (13)

  1. 1. A robotic arm, comprising: A first arm (100); A second arm (200) hinged to the first arm (100) to enable the first arm (100) and the second arm (200) to be unfolded and folded; The first arm (100) and/or the second arm (200) are/is provided with an anti-clamping device (300), and when foreign matters exist at the relative folding position, the anti-clamping device (300) controls the first arm (100) and the second arm (200) to stop folding actions.
  2. 2. The robotic arm of claim 1, wherein the anti-pinch device (300) further comprises at least one sensing mechanism (310) and a floating plate (320); The sensing mechanism (310) is arranged on the first arm (100), the floating plate (320) is connected to the first arm (100) in a sliding manner, and when the first arm (100) and the second arm (200) are in a folded state, the floating plate (320) is positioned between the sensing mechanism (310) and the second arm (200); And/or, the sensing mechanism (310) is arranged on the second arm (200), the floating plate (320) is connected to the second arm (200) in a sliding manner, and when the first arm (100) and the second arm (200) are in a folded state, the floating plate (320) is positioned between the sensing mechanism (310) and the first arm (100).
  3. 3. The mechanical arm according to claim 2, characterized in that at least one protrusion (321) is provided on a side of the floating plate (320) facing the sensing mechanism (310), the protrusion (321) being provided corresponding to a sensing portion of the sensing mechanism (310), the protrusion (321) being capable of contacting the sensing portion at least when a foreign object is present between the first arm (100) and the second arm (200) to control the first arm (100) and the second arm (200) to stop the folding action.
  4. 4. A manipulator according to claim 3, wherein the projection (321) is provided with a resilient pad (322) at one end thereof adjacent to the sensing location.
  5. 5. The mechanical arm according to claim 2, wherein the anti-pinch device (300) further comprises at least one elastic member (330), the elastic member (330) being located between the floating plate (320) and the first arm (100) and/or between the floating plate (320) and the second arm (200), the floating plate (320) being compressed by the floating plate (320) at least when the foreign object is present between the first arm (100) and the second arm (200), and rebounded after the foreign object is taken out.
  6. 6. The mechanical arm according to claim 5, characterized in that the anti-pinch device (300) is provided to the first arm (100), the elastic member (330) being connected to the first arm (100) and/or the floating plate (320); And/or, the anti-pinch device (300) is arranged on the second arm (200), and the elastic piece (330) is connected with the second arm (200) and/or the floating plate (320).
  7. 7. The mechanical arm according to claim 2, wherein the anti-pinch device (300) further comprises at least one anti-slip mechanism (340), the floating plate (320) being slidably fixedly connected with the first arm (100) and/or with the second arm (200) by the anti-slip mechanism (340) to block the floating plate (320) from being disengaged from the first arm (100) and/or the second arm (200).
  8. 8. The mechanical arm according to claim 7, wherein the anti-drop mechanism (340) comprises a limit portion (341), a fixed connection portion (342) and a sliding connection portion (343) that are connected to each other; The anti-pinch device (300) is arranged on the first arm (100), the fixed connection part (342) is detachably and fixedly connected to the first arm (100) or the floating plate (320), the sliding connection part (343) penetrates through the floating plate (320) or the first arm (100) and is in sliding connection with the floating plate (320) or the first arm (100), and the limiting part (341) is detachably connected to one end, far away from the fixed connection part (342), of the sliding connection part (343); And/or, the anti-pinch device (300) is arranged on the second arm (200), the fixed connection part (342) is detachably and fixedly connected with the second arm (200) or the floating plate (320), the sliding connection part (343) penetrates through the floating plate (320) or the second arm (200) and is in sliding connection with the floating plate (320) or the second arm (200), and the limiting part (341) is detachably connected with one end, far away from the fixed connection part (342), of the sliding connection part (343).
  9. 9. The mechanical arm according to claim 2, wherein the anti-pinch device (300) further comprises at least one guiding mechanism (350), the guiding mechanism (350) connecting the floating plate (320) with the first arm (100) and/or connecting the floating plate (320) with the second arm (200) such that the floating plate (320) slides according to a preset trajectory of the guiding mechanism (350).
  10. 10. The mechanical arm according to claim 9, characterized in that the guiding mechanism (350) comprises a guiding rod (351) and a guiding sleeve (352) slidingly connected; The anti-pinch device (300) is arranged on the first arm (100), the guide rod (351) is arranged on the first arm (100) and/or the floating plate (320), and the guide sleeve (352) is arranged on the floating plate (320) and/or the first arm (100); And/or, the anti-pinch device (300) is arranged on the second arm (200), the guide rod (351) is arranged on the second arm (200) and/or the floating plate (320), and the guide sleeve (352) is arranged on the floating plate (320) and/or the second arm (200).
  11. 11. The mechanical arm according to any of the claims 2 to 10, characterized in that the anti-pinch device (300) is arranged on the first arm (100), a first cavity (110) is arranged on the folded side of the first arm (100), the sensing mechanism (310) is arranged in the first cavity (110), and the floating plate (320) is at least partly positioned in the first cavity (110); And/or, the anti-pinch device (300) is arranged on the second arm (200), a second concave cavity is formed in one folded side of the second arm (200), the sensing mechanism (310) is arranged in the second concave cavity, and the floating plate (320) is at least partially positioned in the second concave cavity.
  12. 12. A cleaning apparatus comprising the robotic arm of any one of claims 1-11.
  13. 13. A cleaning system comprising a base station and the cleaning apparatus of claim 12.

Description

Mechanical arm, cleaning equipment and cleaning system Technical Field The disclosure relates to the technical field of cleaning tools, and in particular relates to a mechanical arm, cleaning equipment and a cleaning system. Background The cleaning device can generally realize the sweeping and mopping functions by using the rolling brush, the side brush and the rag, and is widely applied to families and various public places for cleaning operation, thereby bringing great convenience to life and work. In order to better realize the cleaning function, the mechanical arm which can extend out of the machine body is additionally arranged, so that the grabbing or moving of obstacles, articles and garbage on the periphery of the machine body can be realized, and the mechanical arm can be stored into the machine body in a non-use state. But robotic arms often lack the ability to sense the surrounding environment. When the mechanical arm is retracted from the unfolded state to the folded state, the risk of clamping objects or fingers can be caused, so that the objects are damaged or personal injury is caused, and potential safety hazards exist. Disclosure of utility model In view of the above problems in the prior art, the present disclosure provides a mechanical arm, a cleaning device and a cleaning system, so as to improve the problem of low safety of the mechanical arm during operation. To achieve the above and other related objects, a first aspect of the present disclosure provides a mechanical arm, including a first arm and a second arm, the second arm being hinged to the first arm so that the first arm and the second arm can be unfolded and folded, wherein an anti-pinch device is provided on the first arm and/or the second arm, and when a foreign object exists at a relative folding position, the anti-pinch device controls the first arm and the second arm to stop a folding action. In the technical scheme, the anti-clamping device is arranged on the first arm and/or the second arm, when the first arm and the second arm carry out folding actions, if foreign matters exist at the relative folding positions of the first arm and the second arm, the anti-clamping device can feed back the foreign matters and control the first arm and the second arm to stop the folding actions, so that the risk of clamping injury is effectively prevented, and the safety of the mechanical arm in the using process is improved. In an embodiment of the mechanical arm of the disclosure, the anti-pinch device further comprises at least one sensing mechanism and a floating plate, wherein the sensing mechanism is arranged on the first arm, the floating plate is slidably connected to the first arm, the floating plate is positioned between the sensing mechanism and the second arm when the first arm and the second arm are in a folded state, and/or the sensing mechanism is arranged on the second arm, the floating plate is slidably connected to the second arm, and the floating plate is positioned between the sensing mechanism and the first arm when the first arm and the second arm are in a folded state. In the technical scheme, the first arm and/or the second arm are/is provided with the sensing mechanism and the floating plate, and the sliding connection characteristic of the floating plate is utilized, so that the floating plate is always positioned between the sensing mechanism and the other arm when the mechanical arm is folded. Because the area of the floating plate is large, the foreign matter contact at any position can trigger the induction mechanism, so that the omnibearing anti-pinch detection is ensured, and the sensitivity and reliability of safety protection are improved. In addition, the design structure is compact, normal movement of the mechanical arm is not affected, and the mechanical arm is suitable for application scenes with high precision and high safety requirements. In an embodiment of the mechanical arm of the disclosure, at least one protrusion is disposed on a side of the floating plate facing the sensing mechanism, the protrusion is disposed corresponding to a sensing portion of the sensing mechanism, and the protrusion can contact the sensing portion at least when a foreign object exists between the first arm and the second arm, so as to control the first arm and the second arm to stop the folding motion. In the technical scheme, the protruding structure is additionally arranged on one side of the floating plate, which faces the sensing mechanism, so that the protruding structure accurately corresponds to the sensing part of the sensing mechanism. When foreign matters exist in the folding process of the mechanical arm, the floating plate is extruded and displaced, the protrusions are caused to directly contact the sensing part, the anti-pinch protection mechanism is triggered rapidly, and the folding action is stopped timely. The design improves the induction sensitivity and response speed through the raised directional