Rotating mechanism, mechanical arm and cleaning robot

Abstract

The invention provides a rotating mechanism, a mechanical arm and a cleaning robot. The rotating mechanism comprises a driving piece, a driven piece, a locking piece and an elastic piece. The driving piece and the driven piece are coaxially arranged and sleeved, and the driving piece is used for driving the driven piece to rotate. The elastic piece is fixedly connected with the locking piece, and when the driving piece drives the driven piece to rotate forwards by a preset rotating angle, the elastic piece is elastically recovered and drives the locking piece to be fixedly connected with the driven piece so as to lock the driven piece. Therefore, the adverse effect of a transmission chain on the rotating angle is eliminated, a closed-loop control system is prevented from being adopted for correcting the angle, the maximum torque capable of being borne by the mechanical arm is improved, and the precision requirement of the reduction gearbox is lowered.

Description

Technical Field

[0001] The present application relates to the technical field of robotic arms, and particularly to a rotating mechanism, a robotic arm, and a cleaning robot. Background Art

[0002] As the core actuator of modern automation technology, the application fields of robotic arms have extended from professional scenarios such as industrial manufacturing, medical surgery, and logistics sorting to the smart home field. It is worth noting that home service devices represented by floor cleaning robots are realizing complex operations such as garbage grasping and fine cleaning through the integration of robotic arm technology, which indicates that robotic arm technology is undergoing a transformation from industrial-level to consumer-level application paradigms.

[0003] In the transmission system architecture of a typical robotic arm, the power transmission chain consists of a drive mechanism and an execution arm body, forming a key subsystem. Among them, the drive mechanism adopts a "motor - reduction gearbox" modular design, and realizes power transmission and speed conversion through planetary gears or harmonic reduction devices. The input end of the reduction gearbox is directly connected to the rotating shaft of the servo motor, and the output end is rigidly connected to the execution arm body through a transmission shaft, forming a complete power transmission chain. While this design realizes torque amplification, it also brings inevitable mechanical transmission error problems.

[0004] The current transmission system faces two key technical bottlenecks: First, the meshing clearance of the reduction gearbox gear pair causes backlash phenomena when the motion direction of the transmission chain switches, and this non-linear error directly affects the positioning accuracy of the execution arm body; Second, the gear elastic deformation problem during the power transmission process (especially in helical gear transmission systems) will cause transmission ratio fluctuations, resulting in cumulative errors of the execution arm body.

[0005] Existing solutions mostly adopt closed-loop control strategies, and perform motion compensation by adding a rotary encoder at the end of the transmission chain or introducing a machine vision positioning system. For example, the self-mobile cleaning device disclosed in CN118269074A needs to adopt a closed-loop control strategy to adjust the angle. Although this external error correction solution can improve the positioning accuracy of the execution arm body to a certain extent, it significantly increases the system complexity and manufacturing cost, forming a double technical paradox of accuracy improvement and cost control. This indicates that the traditional transmission architecture has approached its technical bottleneck, and there is an urgent need for innovative system-level solutions to break through the existing technical limitations. Summary of the Invention

[0006] The purpose of the present application is to overcome the deficiencies in the prior art, and provide a rotating mechanism, a robotic arm, and a cleaning robot that eliminate the adverse effects of the transmission chain on the rotation angle, avoid using a closed-loop control system to correct the angle, improve the maximum torque that the robotic arm can withstand, and reduce the accuracy requirements of the reduction gearbox.

[0007] The object of the present application is achieved by the following technical solutions:

[0008] In a first aspect, the present application provides a rotating mechanism, including a driving member. The rotating mechanism further includes a driven member, a locking member, and an elastic member; the driving member and the driven member are coaxially arranged and sleeved with each other, and the driving member is used to drive the driven member to rotate;

[0009] The elastic member is connected to the locking member. When the driving member drives the driven member to rotate forward by a preset angle, the elastic member elastically recovers and drives the locking member to be fixedly connected to the driven member to lock the driven member.

[0010] In some embodiments, one of the locking member and the driven member is provided with a locking protrusion, and the other is provided with a first locking area; when the driving member drives the driven member to rotate forward by a preset angle, the elastic member elastically recovers and drives the locking member, so that the locking protrusion is fixedly connected within the first locking area to lock the driven member.

[0011] In some embodiments, the size of the first locking area gradually decreases in a direction away from the locking protrusion, and the locking protrusion is in interference fit with the inner wall of the first locking area.

[0012] In some embodiments, one of the driving member and the locking member is provided with an abutting portion, and the other is provided with an unlocking portion. The unlocking portion is provided with a first unlocking surface; when the driven member rotates forward by a preset angle, the first unlocking surface abuts against the abutting portion under the action of the elastic member;

[0013] When the driving member rotates reversely, the first unlocking surface slidably abuts against the abutting portion to push the locking member to be separated from the driven member, so that the driving member can drive the driven member to rotate reversely, and the elastic member is deformed.

[0014] In some embodiments, one of the driving member and the driven member is provided with an acting portion, and the other is provided with a virtual position area. The acting portion rotates within the virtual position area. The virtual position area is provided with a first boundary and a second boundary that are circumferentially spaced along the driving member; during the process of the acting portion rotating from the first boundary to the second boundary, the first unlocking surface slidably abuts against the abutting portion; when the acting portion abuts against the second boundary, the driving member drives the driven member to rotate reversely.

[0015] In some embodiments, the unlocking portion is further provided with a holding surface connected to the first unlocking surface. The abutting portion slidably abuts against the holding surface after slidably abutting against the first unlocking surface, so that the locking member and the driven member are kept separated, and the elastic member remains deformed.

[0016] In some of these embodiments, when the driving member drives the driven member to reverse by a preset rotation angle, the elastic member elastically returns and drives the locking member to be fixedly connected to the driven member.

[0017] In some of these embodiments, one of the locking member and the driven member is provided with a locking protrusion, and the other is provided with a second locking area; when the driving member drives the driven member to reverse by a preset rotation angle, the elastic member elastically returns and drives the locking member, so that the locking protrusion is fixedly connected within the second locking area to lock the driven member.

[0018] In some of these embodiments, the size of the second locking area gradually decreases in a direction away from the locking protrusion, and the locking protrusion is in interference fit with the inner wall of the second locking area.

[0019] In some of these embodiments, the component provided with the second locking area is further provided with a first locking area; when the driving member drives the driven member to rotate forward by a preset rotation angle, the elastic member elastically returns and drives the locking member, so that the locking protrusion is fixedly connected within the first locking area to lock the driven member.

[0020] In some of these embodiments, one of the locking member and the driven member is provided with a plurality of the locking protrusions evenly distributed along the circumferential direction of the driven member, and the other is provided with a plurality of locking areas evenly distributed along the circumferential direction;

[0021] Any two adjacent ones of the locking areas are respectively the first locking area and the second locking area, and together form a locking group, and the plurality of locking protrusions are in one-to-one correspondence and cooperation with the plurality of locking groups, and each locking protrusion is connected to the first locking area or the second locking area of the corresponding locking group.

[0022] In some of these embodiments, the unlocking portion is further provided with a second unlocking surface; when the driven member reverses by a preset rotation angle, the second unlocking surface abuts against the abutting portion under the action of the elastic member;

[0023] When the driving member rotates forward, the second unlocking surface slidably abuts against the abutting portion to push the locking member to be separated from the driven member, so that the driving member can drive the driven member to rotate forward, and the elastic member is deformed.

[0024] In some of these embodiments, one of the driving member and the driven member is provided with an acting portion, and the other is provided with a virtual position area. The acting portion rotates within the virtual position area, and the virtual position area is provided with a first boundary and a second boundary that are circumferentially spaced along the driving member; during the process of the acting portion rotating from the second boundary to the first boundary, the second unlocking surface slidably abuts against the abutting portion; when the acting portion abuts against the first boundary, the driving member drives the driven member to rotate forward.

[0025] In some of these embodiments, the unlocking portion is further provided with a holding surface, and the first unlocking surface, the holding surface, and the second unlocking surface are sequentially connected along the circumference of the driving member; when the driving member drives the driven member to rotate, the holding surface slidably abuts against the abutting portion, so that the locking member remains separated from the driven member, and the elastic member remains deformed.

[0026] In some of these embodiments, the number of the abutting portions and the unlocking portions is multiple. The multiple abutting portions are circumferentially spaced along the driving member, and the multiple abutting portions are in one-to-one correspondence and cooperation with the multiple unlocking portions.

[0027] In some of these embodiments, the rotating mechanism further includes a receiving member. The driving member, the driven member, and the locking member are all received in the receiving member. The driven member is rotatably connected to the receiving member, and the elastic member abuts against the receiving member and the locking member respectively.

[0028] In some of these embodiments, the driving member, the driven member, and the receiving member are sleeved in sequence from the inside to the outside.

[0029] In a second aspect, the present application further provides a robotic arm, including an execution arm body and the rotating mechanism according to any of the above embodiments. The execution arm body is fixedly connected to the driven member.

[0030] In a third aspect, the present application further provides a cleaning robot, including a body and the above robotic arm. The rotating mechanism is installed on the body.

[0031] Compared with the prior art, the present application has at least the following advantages:

[0032] 1. The follower is fixedly connected to the actuator arm body. When the actuator arm body is switched from the standby position to the working position, the driving member drives the follower and the actuator arm body to rotate forward. When the follower rotates forward by a preset angle, the locking member is aligned with the follower, and the elastic member elastically returns and drives the locking member to fixedly connect the locking member to the follower to lock the follower. In this way, through the fixed connection between the locking member and the follower, the follower is locked in the working position, and then the actuator arm body is positioned in the working position, eliminating the adverse effects of the clearance and deformation of the transmission chain on the positioning accuracy of the actuator arm body, improving the positioning accuracy of the actuator arm body, ensuring that the actuator arm body accurately rotates to the working position, and thus improving the working effect of the actuator arm body.

[0033] 2. The actuator arm body is positioned in the working position by fixedly connecting the locking member to the follower, that is, the actuator arm body is locked in the working position through a pure mechanical structure, without the need for a closed-loop control system to correct the angle, improving the reliability of the robotic arm, enhancing the anti-interference ability of the robotic arm, simplifying the structure of the robotic arm, and reducing the cost of the robotic arm.

[0034] 3. The actuator arm body is locked in the working position by fixedly connecting the locking member to the follower, which also improves the structural stability of the follower, enabling the follower to withstand a greater torque, and then enabling the actuator arm body connected to the follower to withstand a greater torque, and further enabling the robotic arm to withstand a greater torque.

[0035] 4. Since the locking member improves the positioning accuracy of the actuator arm body, the requirement for the accuracy of the reduction gearbox is reduced. When the accuracy of the reduction gearbox decreases, the surface roughness of its internal components will be relatively high. In this case, the friction pair during gear meshing has a relatively low requirement for the viscosity of the lubricating oil. Low-viscosity lubricating oil has better fluidity and can more effectively carry away the heat generated inside the reduction gearbox, thus significantly improving the heat dissipation performance of the reduction gearbox and maintaining the stability of its internal temperature. Moreover, using low-viscosity lubricating oil can also reduce the stirring resistance and energy consumption.

[0036] 5. Since the requirement for the accuracy of the reduction gearbox is reduced, the requirements for the wear and fatigue strength of the components are also reduced, which prolongs the service life of the reduction gearbox.

[0037] 6. After the accuracy requirements of the reduction gearbox are lowered, the machining accuracy of the internal components can be appropriately relaxed, reducing the dependence on high-precision machining equipment and complex machining processes, thereby reducing the machining cost. In terms of material selection, there is also more flexibility, and materials with lower costs can be selected to further cut the manufacturing cost. In addition, during the assembly process of the reduction gearbox with low accuracy requirements, the requirements for the mating accuracy and clearance control of components are relatively less stringent, the assembly process is simpler, the assembly time is shortened, and the labor cost is also reduced. Moreover, after the accuracy requirements of the reduction gearbox are lowered, the requirements for lubrication and maintenance are also correspondingly reduced. Lubricating oil with a lower viscosity can be used to reduce the replacement frequency of the lubricating oil, thereby effectively reducing the maintenance cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments, the drawings required for the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application and should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0039] Figure 1 is a schematic structural diagram of the robotic arm according to the embodiment of the present application;

[0040] Figure 2 is Figure 1 a cross-sectional view of the rotating mechanism of the robotic arm shown;

[0041] Figure 3 is Figure 1 an exploded view of the rotating mechanism of the robotic arm shown;

[0042] Figure 4 is Figure 1 a schematic structural diagram of the rotating mechanism of the robotic arm shown when locked in the standby position;

[0043] Figure 5 is Figure 1 a schematic structural diagram of the rotating mechanism of the robotic arm shown after being unlocked in the forward direction;

[0044] Figure 6 is Figure 1 a schematic structural diagram of the rotating mechanism of the robotic arm shown when rotating forward;

[0045] Figure 7 is Figure 1 a schematic structural diagram of the rotating mechanism of the robotic arm shown when locked in the working position;

[0046] Figure 8 is Figure 1 a schematic structural diagram of the rotating mechanism of the robotic arm shown after being unlocked in the reverse direction;

[0047] Figure 9 The Figure 1 structural schematic diagram of the rotating mechanism of the robotic arm shown during reverse rotation;

[0048] Figure 10 The Figure 1 exploded view of the partial structure of the rotating mechanism of the robotic arm shown;

[0049] Figure 11 The Figure 1 schematic diagram of the partial structure of the rotating mechanism of the robotic arm shown.

[0050] Reference numerals: 10, rotating mechanism; 20, execution arm body; 30, driving mechanism;

[0051] 100, driving member; 110, unlocking portion; 111, first unlocking surface; 112, holding surface; 113, second unlocking surface; 120, acting portion; 200, driven member; 201, first locking region; 202, second locking region; 203, clearance region; 2031, first boundary; 2032, second boundary; 300, locking member; 310, locking protrusion; 320, abutting portion; 400, elastic member; 500, receiving member; 510, receiving sleeve; 520, mounting portion; 501, receiving space. Detailed implementation manners

[0052] For ease of understanding of the present application, the present application will be described more comprehensively below with reference to the relevant drawings. Preferred embodiments of the present application are shown in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to enable readers to understand more thoroughly and comprehensively.

[0053] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there can also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used herein are only for describing specific embodiments and are not intended to limit this application.

[0055] To better understand the technical solutions and beneficial effects of the present application, the following further describes the present application in detail with specific embodiments:

[0056] As Figure 1As shown in the figure, the robotic arm provided by the embodiment of the present application includes a rotating mechanism 10 and an execution arm body 20. The output end of the rotating mechanism 10 is fixedly connected to the execution arm body 20, and the rotating mechanism 10 is used to drive the execution arm body 20 to rotate. The execution arm body 20 is used for picking up garbage, cleaning, mopping the floor, wiping, vacuuming, washing the floor or other existing cleaning operations.

[0057] As Figure 2 and Figure 3 shown in the figure, in some embodiments, the rotating mechanism 10 includes a driving member 100, and the driving member 100 is fixedly connected to the output shaft of an external driving mechanism 30. Preferably, the driving member 100 is fixedly sleeved on the output shaft of the external driving mechanism. Of course, the driving member 100 can also be fixedly connected to the output shaft of the driving mechanism through a transmission structure.

[0058] The rotating mechanism 10 further includes a driven member 200, a locking member 300 and an elastic member 400. The driving member 100 and the driven member 200 are coaxially arranged and sleeved with each other, and the driving member 100 is used to drive the driven member 200 to rotate. The driving member 100 can be sleeved outside or inside the driven member 200. Preferably, the driving member 100 is sleeved inside the driven member 200, that is, the driven member 200 is sleeved outside the driving member 100. The driven member 200 is fixedly connected to the execution arm body 20, and the locking member 300 is used to be fixedly connected to the driven member 200 to lock the driven member 200. The elastic member 400 is connected to the locking member 300, and the elastic member 400 is used to provide the acting force for the connection between the locking member 300 and the driven member 200. The elastic member 400 can be a spring, a rubber part, a silica gel part or other existing elastic structures.

[0059] Referring successively to Figures 4 - 7 the figures, the entire process of the driving member rotating forward can be shown. Among them, in order to show the working principle of the rotating mechanism 10, the upper half of each drawing mainly shows the cooperation relationship between the driving member 100 and the locking member 300, and the lower half of each drawing mainly shows the cooperation relationship between the driven member 200 and the locking member 300. Each drawing shows the cooperation relationship among the driving member 100, the driven member 200 and the locking member 300 through the upper and lower parts.

[0060] As Figure 7 shown in the figure, when the driving member 100 drives the driven member 200 to rotate forward by a preset angle, the elastic member 400 elastically recovers and drives the locking member 300 to be fixedly connected to the driven member 200 to lock the driven member 200, and further locks the execution arm body 20 at the working position.

[0061] It can be understood that forward rotation, that is, positive rotation, is the rotation of the execution arm body 20 from the standby position to the working position, which is not equivalent to the forward rotation of the motor of the drive mechanism. For example, when the motor of the drive mechanism rotates forward, the forward rotation direction of the driving member 100 can be the same as or opposite to the forward rotation direction of the motor. The preset rotation angle can be set according to the actual situation, and can be 45°, 90°, etc.; for example, if the execution arm body 20 needs to rotate 90° from the standby position to the working position, the preset rotation angle is set to 90°. The elastic recovery of the elastic member 400 can be elongation or shortening. For example, before the driven member 200 rotates forward by the preset rotation angle, the elastic member 400 is compressed. When the driven member 200 rotates forward by the preset angle, the elastic member 400 elastically recovers and elongates; another example is that before the driven member 200 rotates forward by the preset rotation angle, the elastic member 400 is stretched. When the driven member 200 rotates forward by the preset angle, the elastic member 400 elastically recovers and shortens.

[0062] In this embodiment, the driven member 200 is fixedly connected to the execution arm body 20. When the execution arm body 20 is switched from the standby position to the working position, the driving member 100 drives the driven member 200 and the execution arm body 20 to rotate forward; when the driven member 200 rotates forward by the preset rotation angle, the locking member 300 is aligned with the driven member 200, and the elastic member 400 elastically resets and drives the locking member 300, so that the locking member 300 is fixedly connected to the driven member 200 to lock the driven member 200, and further lock the execution arm body 20 in the working position.

[0063] For the above-mentioned robotic arm and the rotating mechanism 10, the driven member 200 is fixedly connected to the execution arm body 20. When the execution arm body 20 is switched from the standby position to the working position, the driving member 100 drives the driven member 200 and the execution arm body 20 to rotate forward; when the driven member 200 rotates forward by the preset rotation angle, the locking member 300 is aligned with the driven member 200, and the elastic member 400 elastically resets and drives the locking member 300, so that the locking member 300 is fixedly connected to the driven member 200 to lock the driven member 200. In this way, through the fixed connection between the locking member 300 and the driven member 200, the driven member 200 is locked in the working position, and further the execution arm body 20 is positioned in the working position, eliminating the adverse effects of the clearance and deformation of the transmission chain on the positioning accuracy of the execution arm body 20, improving the positioning accuracy of the execution arm body 20, ensuring that the execution arm body 20 accurately rotates to the working position, and further improving the working effect of the execution arm body 20.

[0064] The execution arm body 20 is positioned in the working position by fixedly connecting the locking member 300 and the driven member 200, that is, the execution arm body 20 is locked in the working position through a pure mechanical structure, without the need for a closed-loop control system to correct the angle, improving the reliability of the robotic arm, enhancing the anti-interference ability of the robotic arm, simplifying the structure of the robotic arm, and reducing the cost of the robotic arm.

[0065] The actuating arm body 20 is locked in the working position by the locking member 300 being fixedly connected to the driven member 200, which also improves the structural stability of the driven member 200, enabling the driven member 200 to withstand a greater torque, and further enabling the actuating arm body 20 connected to the driven member 200 to withstand a greater torque, and thus enabling the robotic arm to withstand a greater torque.

[0066] Since the locking member 300 improves the positioning accuracy of the actuating arm body 20, the requirement for the accuracy of the reduction gearbox is reduced. When the accuracy of the reduction gearbox is reduced, the surface roughness of its internal components will be relatively high. In this case, the friction pair during gear meshing has a relatively low requirement for the viscosity of the lubricating oil. Low-viscosity lubricating oil has better fluidity and can more effectively carry away the heat generated inside the reduction gearbox, thus significantly improving the heat dissipation performance of the reduction gearbox and maintaining the stability of its internal temperature. Moreover, using low-viscosity lubricating oil can also reduce the stirring resistance and energy consumption.

[0067] Since the requirement for the accuracy of the reduction gearbox is reduced, the requirements for the wear and fatigue strength of the components are also reduced, which extends the service life of the reduction gearbox. At the same time, after the requirement for the accuracy of the reduction gearbox is reduced, the machining accuracy of the internal components can be appropriately relaxed, reducing the dependence on high-precision machining equipment and complex machining processes, thereby reducing the machining cost. In terms of material selection, there is also more flexibility, and materials with lower costs can be selected to further reduce the manufacturing cost.

[0068] In addition, during the assembly process of the reduction gearbox with low accuracy requirements, the requirements for the mating accuracy and clearance control of the components are relatively less stringent, the assembly process is simpler, the assembly time is shortened, and the labor cost is also reduced. Moreover, after the requirement for the accuracy of the reduction gearbox is reduced, the requirements for lubrication and maintenance are also correspondingly reduced. Low-viscosity lubricating oil can be used to reduce the replacement frequency of the lubricating oil, thereby effectively reducing the maintenance cost.

[0069] As Figure 2 shown, in some of the embodiments, the rotating mechanism 10 further includes a receiving member 500. The driving member 100, the driven member 200, and the locking member 300 are all received within the receiving member 500. The driven member 200 is rotatably connected to the receiving member 500, and the elastic member 400 abuts against the receiving member 500 and the locking member 300 respectively. In this embodiment, by the receiving member 500 receiving the driving member 100, the driven member 200, and the locking member 300, it plays a role in protecting the driving member 100, the driving member 100, and the locking member 300, avoiding external interference with the moving elements, and improving the operating reliability and stability of the rotating mechanism 10.

[0070] As Figure 2As shown, further, the receiving member 500 includes a receiving sleeve 510 and a support portion 520. The receiving sleeve 510 is fixedly connected to the support portion 520. The receiving sleeve 510 and the support portion 520 together define a receiving space 501. The driving member 100, the driven member 200, and the locking member 300 are all received within the receiving space 501.

[0071] As Figure 2 shown, in some embodiments, the driving member 100, the driven member 200, and the receiving member 500 are sleeved in sequence from the inside to the outside, so that the structure of the rotating mechanism 10 is relatively compact, which is beneficial to the miniaturization of the rotating mechanism 10.

[0072] As Figure 7 shown, in some embodiments, one of the locking member 300 and the driven member 200 is provided with a locking protrusion 310, and the other is provided with a first locking area 201. When the driving member 100 drives the driven member 200 to rotate forward by a preset angle, the elastic member 400 elastically returns and drives the locking member 300, so that the locking protrusion 310 is fixedly connected within the first locking area 201 to lock the driven member 200. In this embodiment, when the driving member 100 drives the driven member 200 to rotate forward by a preset angle, the elastic member 400 elastically returns and drives the locking member 300, so that the locking protrusion 310 enters the first locking area 201, and then the locking protrusion 310 is fixedly connected within the first locking area 201.

[0073] It can be understood that the first locking area 201 can be a groove, a hole, or other existing recessed structures. The locking protrusion 310 can be rod-shaped, spherical, or other existing protruding structures.

[0074] As Figure 7 shown, further, the locking protrusion 310 is provided on the locking member 300, and the first locking area 201 is provided on the driven member 200. Of course, in other embodiments, the positions of the locking protrusion 310 and the first locking area 201 can be swapped. Specifically, the locking protrusion 310 is provided on the driven member 200, and the first locking area 201 is provided on the locking member 300.

[0075] In some other embodiments, the locking member 300 is provided with a first wedge surface, and the driven member 200 is provided with a second wedge surface. When the driving member 100 drives the driven member 200 to rotate forward by a preset angle, the elastic member 400 elastically returns and drives the locking member 300 to approach the driven member 200, so that the first wedge surface abuts against the second wedge surface, and the first wedge surface blocks the second wedge surface from continuing to rotate forward, thereby blocking the driven member 200 from continuing to rotate forward. In this way, the forward locking of the driven member 200 is achieved, so that the driven member 200 and the actuating arm body 20 are positioned at the working position. It can be understood that in this embodiment, after the driven member 200 is forward locked, the driving mechanism is still powered on to prevent the driven member 200 from accidentally reversing, ensuring that the driven member 200 and the actuating arm body 20 are positioned at the working position.

[0076] It can be understood that the locking member 300 can also positively lock the driven member 200 through other existing rigid locking structures, which will not be elaborated in this application.

[0077] As Figure 7 shown, in some embodiments, the size of the first locking region 201 gradually decreases in a direction away from the locking protrusion 310. The locking protrusion 310 is in interference fit with the inner wall of the first locking region 201, eliminating the gap between the locking protrusion 310 and the inner wall of the first locking region 201. Therefore, after the locking protrusion 310 is fixedly connected to the first locking region 201, even if the motor of the driving mechanism is powered off, the position of the locking protrusion 310 will not change, so that the driven member 200 remains positioned at the working position, further improving the reliability of the driven member 200 and the actuating arm body 20. In addition, since the size of the first locking region 201 gradually decreases in a direction away from the locking protrusion 310, it is easier for the locking protrusion 310 to enter the first locking region 201, reducing the difficulty of engagement between the locking protrusion 310 and the first locking region 201 and improving the smoothness of engagement between the locking protrusion 310 and the first locking region 201.

[0078] It can be understood that when there is a gap between the locking protrusion 310 and the inner wall of the first locking region 201, after the locking protrusion 310 is fixed to the first locking region 201, since the driving mechanism provides a positive rotational force for the driving member 100, the locking protrusion 310 abuts against the side wall of the first locking region 201, so that the locking protrusion 310 can be stably fixed in the first locking region 201, ensuring that the driven member 200 and the actuating arm body 20 are locked at the working position.

[0079] As Figure 7 shown, in some embodiments, a transition surface is provided at one end of the locking protrusion 310 adjacent to the first locking region 201. The transition surface is a chamfered surface or a rounded surface, so that one end of the locking protrusion 310 adjacent to the first locking region 201 gradually decreases in a direction away from the first locking region 201. Thus, it is easier for the locking protrusion 310 to enter the first locking region 201, not only improving the smoothness of engagement between the locking protrusion 310 and the first locking region 201, but also reducing the wear of the locking protrusion 310 and the first locking region 201 and extending the service life of the rotating mechanism 10.

[0080] As Figure 7As shown, in some of these embodiments, one of the driving member 100 and the locking member 300 is provided with an abutting portion 320, and the other is provided with an unlocking portion 110. The unlocking portion 110 is provided with a first unlocking surface 111, and the first unlocking surface 111 is inclined with respect to the circumferential direction of the driving member 100. The first unlocking surface 111 can be a flat surface, an inclined surface, an arc surface, or a spiral surface. When the driven member 200 rotates forward by a preset angle, the first unlocking surface 111 abuts against the abutting portion 320 under the action of the elastic member 400.

[0081] As Figure 7 and Figure 8 shown, when the driving member 100 rotates in reverse, the first unlocking surface 111 slidably abuts against the abutting portion 320 to push the locking member 300 away from the driven member 200, so as to unlock the driven member 200, enabling the driving member 100 to drive the driven member 200 to rotate in reverse, and the elastic member 400 deforms. It can be understood that reverse rotation means rotating in the opposite direction, and its direction is opposite to the forward rotation direction.

[0082] As Figure 7 shown, in this embodiment, when the driving member 100 drives the driven member 200 to rotate forward by a preset angle, the elastic member 400 drives the locking member 300 to move towards the driven member 200, causing the first unlocking surface 111 to abut against the abutting portion 320. Referring successively to Figures 7 - 8 , in the initial stage of the reverse rotation of the driving member 100, the first unlocking surface 111 slidably abuts against the abutting portion 320, causing the locking member 300 to gradually move away from the driven member 200, and further causing the locking member 300 to separate from the driven member 200, so that the locking member 300 unlocks the driven member 200, and the elastic member 400 deforms. Referring successively to Figure 8 and Figure 9 , after the driven member 200 is unlocked, as the driving member 100 continues to rotate in reverse, the driving member 100 is in transmission connection with the driven member 200, and the driving member 100 drives the driven member 200 to rotate in reverse. In this way, by the sliding abutment of the first unlocking surface 111 and the abutting portion 320 to push the locking member 300 away from the driven member 200, the effect of unlocking the driven member 200 is achieved, enabling the driving member 100 to drive the driven member 200 to rotate in reverse, and further enabling the actuating arm body 20 to reset to the standby position, improving the flexibility of the actuating arm body 20.

[0083] As Figure 9 shown, in some of these embodiments, the abutting portion 320 is provided with an arc-shaped convex surface, and the arc-shaped convex surface slidably abuts against the first unlocking surface 111, improving the sliding smoothness between the abutting portion 320 and the first unlocking surface 111, reducing energy consumption, delaying the wear of the abutting portion 320 and the first unlocking surface 111, and extending the service life of the rotating mechanism 10.

[0084] As Figure 9As shown, further, the unlocking portion 110 is provided on the driving member 100, and the abutting portion 320 is provided on the locking member 300. Of course, in other embodiments, the positions of the unlocking portion 110 and the abutting portion 320 can be swapped. Specifically, the unlocking portion 110 is provided on the locking member 300, and the abutting portion 320 is provided on the driving member 100.

[0085] As Figure 10 shown, in some embodiments, one of the driving member 100 and the driven member 200 is provided with an acting portion 120, and the other is provided with a virtual position area 203. The acting portion 120 rotates within the virtual position area 203, and the virtual position area 203 is provided with a first boundary 2031 and a second boundary 2032 that are circumferentially spaced along the driving member 100. During the process of the acting portion 120 rotating from the first boundary 2031 to the second boundary 2032, the driving connection between the driving member 100 and the driven member 200 is disconnected, and the first unlocking surface 111 slidably abuts against the abutting portion 320 to unlock the driven member 200. When the acting portion 120 abuts against the second boundary 2032, the driving member 100 and the driven member 200 are drivingly connected, and the driving member 100 drives the driven member 200 to reverse.

[0086] As Figure 10 shown, in this embodiment, at the initial stage of the reverse rotation of the driving member 100, the acting portion 120 moves from the first boundary 2031 to the second boundary 2032, and the driving connection between the driving member 100 and the driven member 200 is disconnected. The first unlocking surface 111 slidably abuts against the abutting portion 320 to unlock the driven member 200. That is to say, at the initial stage of the reverse rotation of the driving member 100, the driven member 200 is stationary in the circumferential direction, and the locking member 300 unlocks the driven member 200, avoiding the circumferential interference between the driven member 200 and the locking member 300, avoiding damage to the driven member 200 and the locking member 300 during unlocking, and improving the smoothness of unlocking the driven member 200. When the acting portion 120 abuts against the second boundary 2032, the driven member 200 is driven to reverse by this abutting force, so that the driving member 100 drives the driven member 200 to reverse.

[0087] As Figure 11 shown, further, during the period when the acting portion 120 rotates from the first boundary 2031 to the second boundary 2032, the reverse rotation angle of the driving member 100 is a preset virtual position angle α, and during the period when the first unlocking surface 111 slidably abuts against the abutting portion 320, the reverse rotation angle of the driving member 100 is an unlocking angle γ, and the preset virtual position angle α ≥ the unlocking angle γ.

[0088] As Figure 8As shown, in some of these embodiments, the unlocking portion 110 is further provided with a holding surface 112 connected to the first unlocking surface 111. After the abutting portion 320 slidably abuts against the first unlocking surface 111, it abuts against the holding surface 112, keeping the locking member 300 separated from the driven member 200 and the elastic member 400 deformed. In this embodiment, after the abutting portion 320 slidably abuts against the first unlocking surface 111 and then abuts against the holding surface 112, when the driving member 100 drives the driven member 200 to reverse, the holding surface 112 slidably abuts against the abutting portion 320, keeping the driven member 200 separated and the elastic member 400 deformed, avoiding the problem that the locking member 300 interferes with the normal reverse rotation of the driven member 200 and ensuring the normal reverse rotation of the driven member 200.

[0089] Furthermore, the arc-shaped convex surface also slidably abuts against the holding surface 112, improving the sliding smoothness between the abutting portion 320 and the holding surface 112, reducing energy consumption, delaying the wear of the abutting portion 320 and the holding surface 112, and extending the service life of the rotating mechanism 10.

[0090] Preferably, the holding surface 112 is perpendicular to the axis of the driving member 100, so that when the holding surface 112 slidably abuts against the abutting portion 320, the distance between the locking member 300 and the driven member 200 remains unchanged. Of course, in other embodiments, the holding surface 112 can also be inclined to the axis of the driving member 100, and when the holding surface 112 slidably abuts against the abutting portion 320, the distance between the locking member 300 and the driven member 200 will change, but the locking member 300 still remains separated from the driven member 200.

[0091] See successively Figure 8 、 9 and 4, which can show the process of the driving member reversing. Among them, in order to demonstrate the working principle of the rotating mechanism 10, the upper half of each drawing mainly shows the cooperation relationship between the driving member 100 and the locking member 300, and the lower half of each drawing mainly shows the cooperation relationship between the driven member 200 and the locking member 300. Each drawing shows the cooperation relationship between the driving member 100, the driven member 200 and the locking member 300 through the upper and lower parts.

[0092] As Figure 4 shown, in some of these embodiments, when the driving member 100 drives the driven member 200 to reverse by a preset angle, the elastic member 400 elastically recovers and drives the locking member 300 to be fixedly connected to the driven member 200, so that the driven member 200 and the actuating arm body 20 are locked in the standby position. In this way, through the fixed connection between the locking member 300 and the driven member 200, the driven member 200 is locked in the standby position, and then the actuating arm body 20 is positioned in the standby position, eliminating the adverse effects of the clearance and deformation of the transmission chain on the positioning accuracy of the actuating arm body 20, improving the positioning accuracy of the actuating arm body 20, and ensuring that the actuating arm body 20 accurately rotates to the standby position.

[0093] As Figure 4 shown, in some of these embodiments, one of the locking member 300 and the driven member 200 is provided with a locking protrusion 310, and the other is provided with a second locking area 202. When the driving member 100 drives the driven member 200 to reverse by a preset rotation angle, the elastic member 400 elastically recovers and drives the locking member 300, so that the locking protrusion 310 is fixedly connected within the second locking area 202 to lock the driven member 200. In this embodiment, when the driving member 100 drives the driven member 200 to reverse by a preset rotation angle, the elastic member 400 elastically recovers and drives the locking member 300, so that the locking protrusion 310 enters the second locking area 202, and then the locking protrusion 310 is fixedly connected within the second locking area 202, ensuring that the driven member 200 and the actuating arm body 20 are positioned at the standby position and avoiding the problem of accidental forward rotation of the driven member 200 and the actuating arm body 20.

[0094] It can be understood that the second locking area 202 can be a groove, a hole or other existing recessed structures. The locking protrusion 310 can be a rod-shaped, spherical or other existing protruding structures.

[0095] As Figure 4 shown, further, the locking protrusion 310 is provided on the locking member 300, and the second locking area 202 is provided on the driven member 200. Of course, in other embodiments, the positions of the locking protrusion 310 and the second locking area 202 can also be swapped. Specifically, the locking protrusion 310 is provided on the driven member 200, and the second locking area 202 is provided on the locking member 300.

[0096] As Figure 4 shown, in some of these embodiments, the size of the second locking area 202 gradually decreases in the direction away from the locking protrusion 310, and the locking protrusion 310 is in interference fit with the inner wall of the second locking area 202, eliminating the gap between the locking protrusion 310 and the inner wall of the second locking area 202. Therefore, after the locking protrusion 310 is fixedly connected to the second locking area 202, even if the motor of the driving mechanism is powered off, the position of the locking protrusion 310 will not change, so that the driven member 200 remains positioned at the standby position, further improving the reliability of the driven member 200 and the actuating arm body 20. In addition, since the size of the second locking area 202 gradually decreases in the direction away from the locking protrusion 310, it makes it easier for the locking protrusion 310 to enter the second locking area 202, reducing the difficulty of engaging the locking protrusion 310 with the second locking area 202 and improving the smoothness of the engagement between the locking protrusion 310 and the second locking area 202.

[0097] It can be understood that when there is a gap between the locking convex part 310 and the inside of the second locking area 202, after the locking convex part 310 is fixed to the second locking area 202, since the driving mechanism provides a reverse rotational force for the active part 100, the locking convex part 310 abuts against the side wall of the second locking area 202, so that the locking convex part 310 can be stably fixed in the second locking area 202, ensuring that the driven part 200 and the actuating arm body 20 are locked in the standby position.

[0098] As Figure 4 shown, further, the component provided with the second locking area 202 is also provided with a first locking area 201, and the angle between the first locking area 201 and the second locking area 202 in the circumferential direction is a preset rotation angle. Referring successively to Figures 4 - 7 , furthermore, when the active part 100 drives the driven part 200 to rotate forward by a preset rotation angle, the elastic part 400 elastically recovers and drives the locking part 300, so that the locking convex part 310 is fixedly connected in the first locking area 201 to lock the driven part 200.

[0099] As Figure 7 shown, in some of the embodiments, one of the locking part 300 and the driven part 200 is provided with a plurality of locking convex parts 310 evenly distributed along the circumferential direction of the driven part 200, and the other is provided with a plurality of latching areas evenly distributed along the circumferential direction. Any two adjacent latching areas are respectively the first locking area 201 and the second locking area 202, and together they form a latching group. For example, if the number of latching areas is 4, the number of latching area groups is also 4, and the total number of the first locking area 201 and the second locking area 202 together is 4. Further, the plurality of locking convex parts 310 are in one-to-one correspondence and cooperation with the plurality of latching groups, and each locking convex part 310 is connected to the first locking area 201 or the second locking area 202 of the corresponding latching group.

[0100] In this embodiment, the cooperation between the plurality of locking convex parts 310 and the plurality of latching groups makes the locking force of the locking part 300 acting on the driven part 200 evenly distributed, improves the locking stability, and at the same time reduces the stress concentration, which helps to extend the service life of the rotating mechanism 10.

[0101] In some other embodiments, the locking member 300 is provided with a third wedge surface, and the driven member 200 is provided with a fourth wedge surface. When the driving member 100 drives the driven member 200 to reverse by a preset rotation angle, the elastic member 400 elastically recovers and drives the locking member 300 to approach the driven member 200, so that the third wedge surface abuts against the fourth wedge surface, preventing the fourth wedge surface from continuing to reverse, and further preventing the driven member 200 from continuing to reverse. In this way, the reverse locking of the driven member 200 is achieved, and the driven member 200 and the actuating arm body 20 are positioned at the standby position. It can be understood that in this embodiment, after the driven member 200 is reversely locked, the driving mechanism remains powered on to keep the third wedge surface in contact with the fourth wedge surface, so as to prevent the driven member 200 from accidentally rotating forward and ensure that the driven member 200 and the actuating arm body 20 are positioned at the standby position.

[0102] It can be understood that the locking member 300 can also reversely lock the driven member 200 through other existing rigid locking structures, which will not be elaborated in this application.

[0103] As Figure 4 shown, in some of these embodiments, the unlocking portion 110 is further provided with a second unlocking surface 113, which is inclined to the circumferential direction of the driving member 100. The second unlocking surface 113 can be a flat surface, an inclined surface, an arc surface or a spiral surface. When the driven member 200 reverses by a preset rotation angle, the second unlocking surface 113 abuts against the abutting portion 320 under the action of the elastic member 400. Referring successively to Figures 4 - 5 , when the driving member 100 rotates forward, the second unlocking surface 113 slidably abuts against the abutting portion 320 to push the locking member 300 away from the driven member 200, enabling the driving member 100 to drive the driven member 200 to rotate forward, and the elastic member 400 deforms.

[0104] In this embodiment, when the driving member 100 drives the driven member 200 to reverse by a preset rotation angle, the elastic member 400 drives the locking member 300 to move towards the driven member 200, so that the second unlocking surface 113 abuts against the abutting portion 320. Referring successively to Figures 4 - 5 , at the initial stage of the forward rotation of the driving member 100, the second unlocking surface 113 slidably abuts against the abutting portion 320, causing the locking member 300 to gradually move away from the driven member 200, and further separating the locking member 300 from the driven member 200, unlocking the locking member 300 from the driven member 200, and the elastic member 400 deforms. Referring successively to Figures 5 - 7 , after the driven member 200 is unlocked, as the driving member 100 continues to rotate forward, the driving member 100 is in transmission connection with the driven member 200, and the driving member 100 drives the driven member 200 to rotate forward. In this way, by the sliding abutment of the second unlocking surface 113 against the abutting portion 320 to push the locking member 300 away from the driven member 200, the effect of unlocking the driven member 200 is achieved, enabling the driving member 100 to drive the driven member 200 to rotate forward, and further enabling the actuating arm body 20 to rotate to the working position.

[0105] Further, the arc convex surface also slidably abuts against the second unlocking surface 113, improving the sliding smoothness between the abutting portion 320 and the second unlocking surface 113, reducing energy consumption, delaying the wear of the abutting portion 320 and the second unlocking surface 113, and prolonging the service life of the rotating mechanism 10.

[0106] As Figure 10 shown, in some embodiments, one of the driving member 100 and the driven member 200 is provided with an acting portion 120, and the other is provided with a virtual position area 203. The acting portion 120 rotates within the virtual position area 203, and the virtual position area 203 is provided with a first boundary 2031 and a second boundary 2032 that are circumferentially spaced along the driving member 100; during the process of the acting portion 120 rotating from the second boundary 2032 to the first boundary 2031, the second unlocking surface 113 slidably abuts against the abutting portion 320; when the acting portion 120 abuts against the first boundary 2031, the driving member 100 drives the driven member 200 to rotate forward.

[0107] As Figure 10 shown, in this embodiment, at the initial stage of the forward rotation of the driving member 100, the acting portion 120 moves from the second boundary 2032 to the first boundary 2031, and the transmission connection between the driving member 100 and the driven member 200 is disconnected. The second unlocking surface 113 slidably abuts against the abutting portion 320 to unlock the driven member 200. That is to say, at the initial stage of the forward rotation of the driving member 100, the driven member 200 is stationary in the circumferential direction, and the locking member 300 unlocks the driven member 200, avoiding the circumferential interference between the driven member 200 and the locking member 300, avoiding damage to the driven member 200 and the locking member 300 during unlocking, and at the same time improving the smoothness of unlocking the driven member 200. When the acting portion 120 abuts against the first boundary 2031, the driven member 200 is driven to rotate forward by this abutting force, so that the driving member 100 drives the driven member 200 to rotate forward.

[0108] As Figure 11 shown, further, during the period when the acting portion 120 rotates from the second boundary 2032 to the first boundary 2031, the forward rotation angle of the driving member 100 is a preset virtual position angle α, and during the period when the second unlocking surface 113 slidably abuts against the abutting portion 320, the forward rotation angle of the driving member 100 is an unlocking angle γ, and the preset virtual position angle α ≥ unlocking angle γ.

[0109] As Figure 9 shown, in some embodiments, the unlocking portion 110 is further provided with a holding surface 112, and the first unlocking surface 111, the holding surface 112, and the second unlocking surface 113 are sequentially connected along the circumferential direction of the driving member 100. When the driving member 100 drives the driven member 200 to rotate, the holding surface 112 slidably abuts against the abutting portion 320, keeping the locking member 300 separated from the driven member 200, and the elastic member 400 remains deformed.

[0110] In this embodiment, after the abutting portion 320 slidably abuts against the first unlocking surface 111, it abuts against the holding surface 112, so that the locking member 300 and the driven member 200 remain separated, and the elastic member 400 remains deformed; moreover, after the abutting portion 320 slidably abuts against the second unlocking surface 113, it abuts against the holding surface 112, so that the locking member 300 and the driven member 200 remain separated, and the elastic member 400 remains deformed. Thus, regardless of whether the driving member 100 drives the driven member 200 to rotate forward or backward, the holding surface 112 slidably abuts against the abutting portion 320, so that the locking member 300 and the driven member 200 remain separated, and the elastic member 400 remains deformed, avoiding the problem that the locking member 300 interferes with the normal rotation of the driven member 200 and ensuring the normal rotation of the driven member 200.

[0111] As Figure 9 shown, in some of these embodiments, the number of the abutting portions 320 and the unlocking portions 110 are both multiple, and the multiple abutting portions 320 are arranged at intervals along the circumferential direction of the driving member 100, and the multiple abutting portions 320 cooperate with the multiple unlocking portions 110 in a one-to-one correspondence. In this embodiment, by the cooperation of the multiple abutting portions 320 and the multiple unlocking portions 110, the thrust of the driving member 100 can be dispersed to multiple parts of the locking member 300, reducing the stress concentration, reducing the wear between the driving member 100 and the locking member 300, and at the same time reducing the difficulty of unlocking.

[0112] The embodiment of the present application further provides a cleaning robot, including a body and the above-mentioned robotic arm, and the rotating mechanism 10 is installed on the body. In this embodiment, the cleaning robot can be a floor sweeping robot, a mopping robot, a sweeping and mopping integrated robot, a floor washing robot, a window cleaning robot, a vacuuming robot or other existing cleaning robots.

[0113] Compared with the prior art, the present application has at least the following advantages:

[0114] 1. The driven member 200 is fixedly connected to the execution arm body 20. When switching the execution arm body 20 from the standby position to the working position, the driving member 100 drives the driven member 200 and the execution arm body 20 to rotate forward; when the driven member 200 rotates forward by a preset angle, the locking member 300 is aligned with the driven member 200, and the elastic member 400 elastically returns and drives the locking member 300, so that the locking member 300 is fixedly connected to the driven member 200 to lock the driven member 200. Thus, through the fixed connection between the locking member 300 and the driven member 200, the driven member 200 is locked in the working position, and further the execution arm body 20 is positioned in the working position, eliminating the adverse effects of the clearance and deformation of the transmission chain on the positioning accuracy of the execution arm body 20, improving the positioning accuracy of the execution arm body 20, ensuring that the execution arm body 20 accurately rotates to the working position, and further improving the working effect of the execution arm body 20.

[0115] 2. The actuating arm body 20 is positioned at the working position by fixedly connecting the locking member 300 with the driven member 200, that is, the actuating arm body 20 is locked at the working position through a pure mechanical structure, without the need for a closed-loop control system to correct the angle, improving the reliability of the robotic arm, enhancing the anti-interference ability of the robotic arm, simplifying the structure of the robotic arm, and reducing the cost of the robotic arm.

[0116] 3. By fixedly connecting the locking member 300 with the driven member 200 to lock the actuating arm body 20 at the working position, the structural stability of the driven member 200 is also improved, so that the driven member 200 can withstand a greater torque, and further the actuating arm body 20 connected to the driven member 200 can withstand a greater torque, and thus the robotic arm can withstand a greater torque.

[0117] 4. Since the locking member 300 improves the positioning accuracy of the actuating arm body 20, the requirement for the accuracy of the reduction gearbox is reduced. When the accuracy of the reduction gearbox decreases, the surface roughness of its internal components will be relatively high. In this case, the friction pair during gear meshing has a relatively low requirement for the viscosity of the lubricating oil. Low-viscosity lubricating oil has better fluidity and can more effectively take away the heat generated inside the reduction gearbox, thus significantly improving the heat dissipation performance of the reduction gearbox and maintaining the stability of its internal temperature. Moreover, using low-viscosity lubricating oil can also reduce the stirring resistance and lower the energy consumption.

[0118] 5. Since the requirement for the accuracy of the reduction gearbox is reduced, the requirements for the wear and fatigue strength of the components are also reduced, which extends the service life of the reduction gearbox.

[0119] 6. After the requirement for the accuracy of the reduction gearbox is reduced, the machining accuracy of the internal components can be appropriately relaxed, reducing the dependence on high-precision machining equipment and complex machining processes, thus reducing the machining cost. In terms of material selection, there is also more flexibility, and materials with lower costs can be selected to further cut the manufacturing cost. In addition, for a reduction gearbox with low accuracy requirements, the requirements for the fitting accuracy and clearance control of the components during the assembly process are relatively less stringent, the assembly process is simpler, the assembly time is shortened, and the labor cost is also reduced. And after the requirement for the accuracy of the reduction gearbox is reduced, the requirements for lubrication and maintenance are also correspondingly reduced. Low-viscosity lubricating oil can be used to reduce the replacement frequency of the lubricating oil, thus effectively reducing the maintenance cost.

[0120] The above-described embodiments only represent several implementation manners of the present application, and their descriptions are relatively specific and detailed, but should not be construed as limiting the scope of the disclosed patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A rotating mechanism, comprising an active member (100), characterized in that: The rotating mechanism further comprises a driven member (200), a locking member (300) and an elastic member (400); the driving member (100) and the driven member (200) are coaxially arranged and sleeved with each other, and the driving member (100) is used to drive the driven member (200) to rotate; The elastic member (400) is connected to the locking member (300), and when the active member (100) drives the driven member (200) to rotate forward to a preset rotation angle, the elastic member (400) elastically recovers and drives the locking member (300) to be fixedly connected to the driven member (200), so as to lock the driven member (200).

2. The rotating mechanism according to claim 1, characterized in that: One of the locking member (300) and the driven member (200) is provided with a locking protrusion (310), and the other is provided with a first locking area (201); when the active member (100) drives the driven member (200) to rotate forward by a preset rotation angle, the elastic member (400) elastically recovers and drives the locking member (300), so that the locking protrusion (310) is fixedly connected in the first locking area (201), so as to lock the driven member (200).

3. The rotating mechanism according to claim 2, characterized in that: The size of the first locking area (201) gradually decreases in a direction away from the locking protrusion (310), and the locking protrusion (310) is interference-fitted with the inner wall of the first locking area (201).

4. The rotating mechanism according to claim 1, characterized in that: One of the active member (100) and the locking member (300) is provided with an abutting portion (320), and the other is provided with an unlocking portion (110), and the unlocking portion (110) is provided with a first unlocking surface (111); when the driven member (200) rotates forward by a preset rotation angle, the first unlocking surface (111) abuts against the abutting portion (320) under the action of the elastic member (400); When the active member (100) is reversed, the first unlocking surface (111) slides and abuts against the abutment portion (320) to push the locking member (300) and the driven member (200) to separate, so that the active member (100) can drive the driven member (200) to reverse, and the elastic member (400) is deformed.

5. The rotating mechanism according to claim 4, characterized in that: One of the active member (100) and the driven member (200) is provided with an action portion (120), and the other is provided with a virtual position area (203); the action portion (120) rotates in the virtual position area (203); the virtual position area (203) is provided with a first boundary (2031) and a second boundary (2032) arranged at intervals along the circumference of the active member (100); when the action portion (120) rotates from the first boundary (2031) to the second boundary (2032), the first unlocking surface (111) and the abutting portion (320) are in sliding abutment with each other; when the action portion (120) and the second boundary (2032) abut against each other, the active member (100) drives the driven member (200) to reverse.

6. The rotating mechanism according to claim 4, characterized in that: The unlocking portion (110) is further provided with a retaining surface (112) connected to the first unlocking surface (111); the abutting portion (320) slides in abutment with the retaining surface (112) after sliding in abutment with the first unlocking surface (111), so that the locking member (300) and the follower (200) remain separated and the elastic member (400) remains deformed.

7. The rotating mechanism according to claim 4, characterized in that: When the active member (100) drives the driven member (200) to reverse a preset rotation angle, the elastic member (400) elastically recovers and drives the locking member (300) to be fixedly connected to the driven member (200).

8. The rotating mechanism according to claim 7, characterized in that: One of the locking member (300) and the driven member (200) is provided with a locking protrusion (310), and the other is provided with a second locking area (202); when the active member (100) drives the driven member (200) to reverse a preset rotation angle, the elastic member (400) elastically recovers and drives the locking member (300), so that the locking protrusion (310) is fixedly connected in the second locking area (202) to lock the driven member (200).

9. The rotating mechanism according to claim 8, characterized in that: The size of the second locking area (202) gradually decreases in a direction away from the locking protrusion (310), and the locking protrusion (310) is interference-fitted with the inner wall of the second locking area (202).

10. The rotating mechanism according to claim 8, characterized in that: The component provided with the second locking area (202) is also provided with a first locking area (201); when the active member (100) drives the driven member (200) to rotate forward by a preset rotation angle, the elastic member (400) elastically recovers and drives the locking member (300), so that the locking protrusion (310) is fixedly connected in the first locking area (201) to lock the driven member (200).

11. The rotating mechanism according to claim 10, characterized in that: One of the locking member (300) and the driven member (200) is provided with a plurality of locking protrusions (310) evenly distributed along the circumference of the driven member (200), and the other is provided with a plurality of locking areas evenly distributed along the circumference; Any two adjacent locking areas are respectively the first locking area (201) and the second locking area (202), and together form a locking group. The plurality of locking protrusions (310) are matched with the plurality of locking groups in a one-to-one correspondence, and each locking protrusion (310) is connected to the first locking area (201) or the second locking area (202) of the corresponding locking group.

12. The rotating mechanism according to claim 7, characterized in that: The unlocking portion (110) is further provided with a second unlocking surface (113); when the follower (200) reverses a preset rotation angle, the second unlocking surface (113) abuts against the abutting portion (320) under the action of the elastic member (400); When the active member (100) rotates forward, the second unlocking surface (113) slides and abuts against the abutment portion (320) to push the locking member (300) and the driven member (200) to separate, so that the active member (100) can drive the driven member (200) to rotate forward, and the elastic member (400) is deformed.

13. The rotating mechanism according to claim 12, characterized in that: One of the active member (100) and the driven member (200) is provided with an action portion (120), and the other is provided with a virtual position area (203); the action portion (120) rotates in the virtual position area (203); the virtual position area (203) is provided with a first boundary (2031) and a second boundary (2032) arranged at intervals along the circumference of the active member (100); when the action portion (120) rotates from the second boundary (2032) to the first boundary (2031), the second unlocking surface (113) and the abutting portion (320) are in sliding abutment; when the action portion (120) and the first boundary (2031) abut each other, the active member (100) drives the driven member (200) to rotate forward.

14. The rotating mechanism according to claim 12, characterized in that: The unlocking portion (110) is further provided with a retaining surface (112), and the first unlocking surface (111), the retaining surface (112) and the second unlocking surface (113) are sequentially connected along the circumferential direction of the active member (100); when the active member (100) drives the driven member (200) to rotate, the retaining surface (112) and the abutting portion (320) are slidably abutted, so that the locking member (300) and the driven member (200) remain separated, and the elastic member (400) remains deformed.

15. The rotating mechanism according to any one of claims 4 to 14, characterized in that: The number of the abutting parts (320) and the unlocking parts (110) are both multiple, and the multiple abutting parts (320) are arranged at intervals along the circumference of the active component (100), and the multiple abutting parts (320) correspond to the multiple unlocking parts (110) in a one-to-one manner.

16. The rotating mechanism according to any one of claims 1 to 14, characterized in that: The rotating mechanism further comprises a receiving member (500), wherein the active member (100), the driven member (200) and the locking member (300) are all received in the receiving member (500), the driven member (200) is rotationally connected to the receiving member (500), and the elastic member (400) is respectively in contact with the receiving member (500) and the locking member (300).

17. The rotating mechanism according to claim 16, characterized in that: The active component (100), the driven component (200) and the receiving component (500) are sequentially sleeved from the inside to the outside.

18. A robotic arm, characterized in that: It comprises an actuator arm body (20) and a rotating mechanism (10) according to any one of claims 1 to 17, wherein the actuator arm body (20) is fixedly connected to the follower (200).

19. A cleaning robot, characterized in that: It comprises a machine body and the robot arm as claimed in claim 18, wherein the rotating mechanism (10) is installed on the machine body.

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