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CN-224223888-U - Mechanical arm and cleaning equipment

CN224223888UCN 224223888 UCN224223888 UCN 224223888UCN-224223888-U

Abstract

The disclosure provides a mechanical arm and cleaning equipment, and relates to the technical field of mechanical arms of cleaning equipment. The mechanical arm comprises a main body part, a camera shooting module and a power mechanism. The body portion is provided with a receiving cavity having an opening. The camera shooting module is movably arranged in the accommodating cavity, the camera shooting module at least has a folding position and a working position, the camera shooting module is accommodated in the accommodating cavity when in the folding position, and the camera shooting module is at least partially exposed outside the accommodating cavity when in the working position. The power mechanism is arranged between the camera module and the main body part to drive the camera module to move to a working position under the condition that the camera module is separated from the opening to be blocked. The utility model discloses a make a video recording the module setting and hold the intracavity at the main part, when the arm corresponds and connects different execution tool, make a video recording the module and all can use to avoid a plurality of execution tools to need install the condition of making a video recording the module respectively, reduce the quantity of use of making a video recording the module effectively, reduction in production cost.

Inventors

  • ZHAO ZHENHAO
  • LV XIAOMING
  • QIN HAITAO
  • CHU XIAOGANG
  • LI HUICHAO
  • CHEN CHUNCHENG

Assignees

  • 麦悦未来智能科技(苏州)有限公司

Dates

Publication Date
20260512
Application Date
20250523

Claims (19)

  1. 1. A robotic arm, comprising: A main body part (100) provided with a housing chamber (110) having an opening (111); The camera module (300) is movably arranged in the accommodating cavity (110), the camera module (300) is at least provided with a folding position and a working position, the camera module (300) is accommodated in the accommodating cavity (110) when in the folding position, and the camera module (300) is at least partially exposed out of the accommodating cavity (110) when in the working position; The power mechanism (400) is arranged between the camera module (300) and the main body part (100) and is used for driving the camera module (300) to move to the working position under the condition that the camera module (300) is separated from the opening (111) to be blocked.
  2. 2. The mechanical arm according to claim 1, characterized in that the power mechanism (400) comprises: The elastic piece is arranged between the camera module (300) and the main body part (100) so as to apply acting force to the camera module (300), and the acting force drives the camera module (300) to move to the working position under the condition that the camera module (300) is separated from the opening (111) to block.
  3. 3. The robotic arm of claim 1, wherein the direction of the camera module (300) from the stowed position to the working position is a first direction, the robotic arm comprising: At least one stage of guiding mechanism (500) is arranged on the camera module (300) and/or the main body part (100) so as to guide the camera module (300) to reciprocate forward and backward along the first direction.
  4. 4. A robotic arm as claimed in claim 3, wherein the guiding mechanism (500) comprises: A guide (510), the guide direction of the guide (510) being co-directional with the first direction; and the moving piece (520) is matched with the guide piece (510) so as to enable the camera module (300) to reciprocate forward and backward along the first direction.
  5. 5. The robotic arm of claim 4, wherein the robotic arm comprises a plurality of stages of the guiding mechanism (500); The guide (510) of the first-stage guide mechanism (500) is provided to the main body (100), and the moving member (520) of the first-stage guide mechanism (500) is fixed to the guide (510) of the next-stage guide mechanism (500); The moving part (520) of the last-stage guide mechanism (500) is connected with the camera module (300), and the guide part (510) of the last-stage guide mechanism (500) is fixed with the moving part (520) of the last-stage guide mechanism (500).
  6. 6. The mechanical arm according to claim 4, characterized in that the guiding mechanism (500) comprises: A first guide mechanism (530) including a first guide (511) and a first mover (521), the first guide (511) being provided to the main body portion; The second guiding mechanism (540) comprises a second guiding piece (512) and a second moving piece (522), the second moving piece (522) is fixed with the camera module (300), and the second guiding piece (512) is fixed with the first moving piece (521).
  7. 7. The mechanical arm according to claim 5 or 6, wherein, When the camera module (300) is in the retracted position, the moving member (520) and the moving member (520) at the previous stage are partially overlapped in the first direction.
  8. 8. The mechanical arm according to any one of claims 4 to 6, wherein the power mechanism comprises: And a first elastic member (410) disposed between the guide member (510) and the moving member (520), wherein a force is applied to the moving member (520) to move in the guide direction of the guide member (510) when the first elastic member (410) is compressed.
  9. 9. The mechanical arm of claim 8, wherein the mechanical arm comprises a plurality of arms, The guide (510) includes a guide groove, and the moving member (520) is engaged with the guide groove.
  10. 10. The mechanical arm according to claim 9, characterized in that the guiding mechanism (500) comprises: And the limiting column (550) is arranged in the guide groove, and the first elastic piece (410) is sleeved on the limiting column (550).
  11. 11. The mechanical arm of claim 1, comprising: The rotating shaft (600) is rotationally connected with the accommodating cavity (110) and/or the camera shooting module (300), and the camera shooting module (300) is rotationally arranged in the accommodating cavity (110) through the rotating shaft (600).
  12. 12. The mechanical arm according to claim 11, wherein a direction from the stowed position to the working position of the camera module (300) is a first rotational direction, and the power mechanism (400) comprises: And a second elastic member (420) disposed between the main body (100) and the camera module (300) so as to apply a moment to the camera module (300) along the first rotation direction when the second elastic member (420) is deformed.
  13. 13. The mechanical arm of claim 12, wherein the mechanical arm comprises a plurality of arms, The opening (111) is provided with a limiting part, and the limiting part is positioned at the front side of the camera module (300) in the first rotation direction so as to limit the camera module (300) to be in the working position.
  14. 14. The mechanical arm of claim 1, wherein the mechanical arm comprises a plurality of arms, The main body part (100) is a foldable main body part (100), and when the main body part (100) is in a folded state, part of the main body part (100) is blocked by the opening (111).
  15. 15. The robotic arm of claim 1, wherein the robotic arm comprises: an execution tool including a second connection portion; The main body part (100) comprises a first connecting part, the accommodating cavity (110) is arranged on the first connecting part, and the first connecting part is detachably connected with the second connecting part.
  16. 16. The robotic arm of claim 1, wherein the camera module (300) comprises: A camera bracket (310) formed with a mounting cavity (311); And the camera assembly (320) is arranged in the mounting cavity (311).
  17. 17. The robotic arm of claim 16, wherein the camera module (300) comprises: And the bracket cover plate (330) is detachably connected with the camera bracket (310) so as to open and close the mounting cavity (311).
  18. 18. The mechanical arm of claim 17, wherein the mechanical arm comprises a plurality of arms, The mounting cavity (311) is internally provided with a slot (312), and the camera assembly (320) is matched with the slot (312) so as to realize the disassembly and assembly of the camera assembly (320) and the camera bracket (310).
  19. 19. A cleaning apparatus, comprising: an apparatus main body; The robot arm according to any one of claims 1 to 18, which is mounted to the apparatus main body.

Description

Mechanical arm and cleaning equipment Technical Field The disclosure relates to the technical field of mechanical arms of cleaning equipment, in particular to a mechanical arm and cleaning equipment. Background With the improvement of living standard, the application of the cleaning equipment is increasingly wide, and the functional requirement on the cleaning equipment is higher. Part of the cleaning equipment is provided with a mechanical arm, and corresponding tasks, such as clamping garbage, cleaning the garbage in areas where the cleaning equipment cannot reach, and the like, are executed through an execution tool at the tail end of the mechanical arm. In order to complete the corresponding task, the executing tool needs to configure the camera module to realize the identification of the object, thereby completing the task. The existing camera module is installed on the executing tool, if one mechanical arm corresponds to a plurality of executing tools, one camera module needs to be configured on each executing tool, so that the number of the camera modules is large, and obviously the cost is increased. Disclosure of utility model In view of the above problems in the prior art, the present disclosure provides a robot arm and a cleaning apparatus, so as to improve the problem that a plurality of camera modules need to be configured when the robot arm corresponds to a plurality of execution tools, resulting in increased cost. To achieve the above and other related objects, a first aspect of the present disclosure provides a robot arm including a main body, a camera module, and a power mechanism. The body portion is provided with a receiving cavity having an opening. The camera shooting module is movably arranged in the accommodating cavity, the camera shooting module at least has a folding position and a working position, the camera shooting module is accommodated in the accommodating cavity when in the folding position, and the camera shooting module is at least partially exposed outside the accommodating cavity when in the working position. The power mechanism is arranged between the camera module and the main body part to drive the camera module to move to a working position under the condition that the camera module is separated from the opening to be blocked. The camera shooting module is arranged in the accommodating cavity of the main body part, and when the mechanical arm is correspondingly connected with different execution tools, the camera shooting module can be used, so that the condition that a plurality of execution tools need to be respectively provided with the camera shooting module is avoided, the use quantity of the camera shooting modules is effectively reduced, and the production cost is reduced. The camera shooting module is provided with a folding position and a working position, when the mechanical arm is folded, the camera shooting module is positioned at the folding position, so that the situation that the camera shooting module protrudes to occupy the storage space of the mechanical arm is avoided, the space required by the mechanical arm during storage is effectively reduced, and the miniaturized design of the mechanical arm, cleaning equipment and the like is facilitated. The mechanical arm comprises a power mechanism, when the mechanical module is separated from the blocking of the opening, the power mechanism drives the camera module to move to a working position, so that the camera module can work. The blocking at the opening can be a blocking at the storage position of the mechanical arm, for example, the mechanical arm is stored in the cleaning equipment main body, the equipment main body blocks the opening, the main body of the mechanical arm can be folding, when the mechanical arm is folded and stored, part of the main body covers the opening to block the opening, the blocking at the opening can also be other limiting structures for blocking the camera module from moving to the working position, so that the camera module can be blocked when the camera module is in the storage position, and the camera module can be kept in the storage position. In an exemplary embodiment of the present disclosure, the power mechanism includes an elastic member. The elastic piece is arranged between the camera shooting module and the main body part to apply acting force to the camera shooting module, and the acting force drives the camera shooting module to move to a working position under the condition that the camera shooting module is separated from the opening to be blocked. The elastic deformation of the elastic piece provides acting force for the camera shooting module, and the elastic piece drives the camera shooting module to move to a working position under the condition that the camera shooting module is blocked at the position of the separation opening. The elastic piece responds rapidly, and can rapidly change the camera shooting module from the retracted position to the work