Manipulator and cleaning equipment

Abstract

The utility model relates to a manipulator and cleaning equipment. The driving mechanism comprises a driving shaft capable of rotating around the axis of the driving shaft; the transmission mechanism comprises a transmission part and a matching part, the transmission part is connected with the matching part, the transmission part is further in threaded fit with the driving shaft, and the transmission part and the matching part are limited in the rotating circumferential direction of the driving shaft; and the executing mechanism comprises a clamping piece, the clamping piece is connected with the matching piece, and the clamping piece is driven by the matching piece to complete the clamping or loosening action. According to the scheme provided by the invention, the occupied space can be reduced, and the cost can be reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning equipment, in particular to a mechanical hand and a cleaning equipment. BACKGROUND

[0002] An intelligent cleaning equipment, such as a sweeping robot, is a device capable of automatically cleaning while moving. At present, in order to better realize the sweeping function, a mechanical hand is added to realize the grabbing or moving of obstacles, articles and garbage.

[0003] In the related art, the multi-stage gear transmission or the belt transmission mechanism is bulky, and it is difficult to realize compact design. Some schemes attempt to directly drive the gripper by using a linear motor, but there are problems such as high cost and electromagnetic interference. CONTENT OF THE UTILITY MODEL

[0004] To solve or partially solve the problems in the related art, the present application provides a mechanical hand which can reduce the occupied space and is beneficial to reduce the cost.

[0005] The first aspect of the present application provides a mechanical hand, comprising:

[0006] A driving mechanism comprising a driving shaft capable of rotating around its own axis;

[0007] A transmission mechanism comprising a transmission member and a cooperating member, the transmission member and the cooperating member are connected, the transmission member is further threadedly connected with the driving shaft, and the transmission member and the cooperating member are limited in the rotation circumferential direction of the driving shaft;

[0008] An executing mechanism comprising a clamping member, the clamping member is connected with the cooperating member and completes the clamping or loosening action under the driving of the cooperating member.

[0009] In an embodiment, an outer periphery of the driving shaft is provided with an external thread, the transmission member is provided with a through hole, and an inner thread is arranged on a hole wall of the through hole; the driving shaft is arranged in the through hole and threadedly connected with the transmission member.

[0010] The transmission member comprises a shaft sleeve or a nut.

[0011] In an embodiment, the transmission member comprises a shaft sleeve, and an external periphery of the shaft sleeve is provided with a rack.

[0012] The cooperating member comprises a first cooperating member, the first cooperating member comprises a gear, the gear is engaged with the rack, and a rotation shaft of the gear is fixedly connected with the clamping member.

[0013] In an embodiment, the transmission member comprises a shaft sleeve, and an external periphery of the shaft sleeve is provided with a rack.

[0014] The matching member includes a first matching member, the first matching member includes a gear and a connecting member, the gear is engaged with the rack, and the connecting member is connected with the gear and the clamping member respectively.

[0015] In an embodiment, the gear includes a gear body and a poking part, the poking part is formed in a circumferential direction from the gear body;

[0016] The connecting member includes an integral first abutting groove and a protruding column, the poking part is used for abutting with the first abutting groove to poke the connecting member;

[0017] The clamping member is provided with a hinged hole, and the protruding column is arranged in the hinged hole and hinged with the clamping member.

[0018] In an embodiment, the transmission member includes a first nut and a second nut, the driving shaft is provided with a limiting part; the first nut and the second nut are arranged on the driving shaft and are arranged on two sides of the limiting part respectively;

[0019] The matching member includes a second matching member, the second matching member includes a first connecting end, a second connecting end and a third connecting end, the first connecting end, the second connecting end and the third connecting end are connected with the first nut, the second nut and the clamping member respectively.

[0020] In an embodiment, the second matching member further includes a bolt and a linkage rod;

[0021] One side of the linkage rod is provided with a second abutting groove for accommodating the bolt, and the other side of the linkage rod is connected with the clamping member.

[0022] In an embodiment, the actuator further includes an overload release member, the overload release member is arranged on the clamping member and has a preset pre-tightening force.

[0023] In an embodiment, the clamping member includes a clamping jaw and a joint member, the joint member is connected with the clamping jaw and the matching member respectively;

[0024] One end of the overload release member is arranged on the joint member, and the other end abuts against the clamping jaw;

[0025] The overload release member includes a spring sheet or a torsional spring.

[0026] The second aspect of the application provides a cleaning device, including the manipulator as described above.

[0027] The technical scheme provided in the application can have the following beneficial effects: by arranging the driving shaft, the transmission member and the matching member, and the threaded cooperation of the transmission member and the driving shaft, and the circumferential limiting design of the transmission member and the matching member, a multi-stage reduction gear transmission mechanism does not need to be designed, and a bulky belt transmission mechanism does not need to be used, which is beneficial to reduce the space occupation and realize compact design.

[0028] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory and are not restrictive of the application. BRIEF DESCRIPTION OF DRAWINGS

[0029] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which like reference characters refer to like parts throughout and in which:

[0030] Figure 1 is a structural schematic diagram of a mechanical hand shown in an embodiment of the application;

[0031] Figure 2 is a structural schematic diagram of a mechanical hand shown in another embodiment of the application;

[0032] Figure 3 is a structural schematic diagram of a mechanical hand shown in another embodiment of the application;

[0033] Figure 4 is a structural schematic diagram of a mechanical hand shown in another embodiment of the application;

[0034] Figure 5 is another structural schematic diagram of a mechanical hand shown in an embodiment of the application; Figure 4

[0035] Figure 6 is a structural schematic diagram of a clamping member of a mechanical hand shown in an embodiment of the application;

[0036] Figure 7 is a system schematic block diagram of a cleaning device shown in an embodiment of the application.

[0037] ​10, robot; 100, driving mechanism; 110, driving shaft; 111, limiting part; 200, transmission mechanism; 210, transmission part; 211, through hole; 212, first nut; 213, second nut; 214, shaft sleeve; 2141, rack; 220, matching part; 230, first matching part; 231, gear; 2311, gear body; 2312, poking part; 232, connecting part; 2321, first abutting groove; 2322, protruding column; 240, second matching part; 241, first connecting end; 242, second connecting end; 243, third connecting end; 2401, first matching rod; 2402, second matching rod; 244, bolt; 245, linkage rod; 2451, second abutting groove; 300, execution mechanism; 310, clamping part; 3100, hinged hole; 311, clamping jaw; 312, joint part; 320, overload release part. DETAILED DESCRIPTION

[0038] Embodiments of the present application will be described in more detail by referring to the drawings. Although embodiments of the present application are shown in the drawings, it is understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present application will be thorough and complete, and will fully convey the scope of the present application to those skilled in the art.

[0039] It should be understood that although the terms "first", "second", "third", etc. can be used in this application to describe various information, these information should not be limited by these terms. These terms are only used to distinguish the same type of information from each other. For example, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information without departing from the scope of the present application. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0040] In the description of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0041] Unless otherwise defined, the terms "mounting", "connected", "connecting", "fixed", and the like are to be construed broadly in an intended sense, for example, can be fixed connection, can also be detachable connection or integral; can be mechanical connection, can also be electrical connection; can be direct connection, can also be indirect connection through an intermediate medium, can be internal connection of two elements or interaction relationship of two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0042] The technical solutions of the embodiments of the present application are described in detail below in combination with the drawings.

[0043] Referring to Figure 1 The embodiment provides a mechanical hand 10, which comprises a driving mechanism 100, a transmission mechanism 200 and an executing mechanism 300. The driving mechanism 100 comprises a driving shaft 110, which can rotate around its own axis. The transmission mechanism 200 comprises a transmission member 210 and a cooperating member 220, the transmission member 210 and the cooperating member 220 are connected, the transmission member 210 is also threadedly connected with the driving shaft 110, and the transmission member 210 and the cooperating member 220 are limited in the rotation circumferential direction of the driving shaft 110. The executing mechanism 300 comprises a clamping member 310, which is connected with the cooperating member 220 and completes clamping or loosening action under the driving of the cooperating member 220.

[0044] Among them, the transmission member 210 and the cooperating member 220 can be abutted, hinged or slidably connected, and the transmission member 210 and the cooperating member 220 are limited in the rotation circumferential direction of the driving shaft 110 around its own rotation, for example, can be limited by a limiting plate, or can be limited by a shell, so that the transmission member 210 and the cooperating member 220 cannot rotate around the axis of the driving shaft 110.

[0045] Among them, the clamping member 310 can be fixedly connected with the cooperating member 220, when the driving shaft 110 drives the transmission member 210 to move, the transmission member 210 drives the cooperating member 220 to move, and then the cooperating member 220 drives the clamping member 310 to complete the clamping or loosening action. The clamping member 310 can also be movably connected with the cooperating member 220, for example, slidably connected, when the cooperating member 220 slides, it drives the clamping member 310 to slide, or abutted, the cooperating member 220 abuts and drives the clamping member 310, so as to complete the clamping or loosening action.

[0046] The embodiment sets the driving shaft 110, the transmission member 210 and the cooperating member 220, and the thread connection of the transmission member 210 and the driving shaft 110, and the circumferential limiting design of the transmission member 210 and the cooperating member 220, without designing multi-stage speed reduction gear transmission mechanism, and without using bulky belt transmission mechanism, which is beneficial to reduce the space occupation and realize compact design.

[0047] In addition, the circumferential limiting of the transmission component 210 and the mating component 220 eliminates the problem of circumferential movement in the traditional threaded transmission process, further improving the stability of the robot arm 10.

[0048] refer to Figures 1 to 5 In one embodiment, the outer peripheral surface of the drive shaft 110 is provided with an external thread, the transmission member 210 is provided with a through hole 211 (not shown in the figure), and the hole wall of the through hole 211 is provided with an internal thread; the drive shaft 110 passes through the through hole 211 and is threadedly engaged with the transmission member 210; wherein, the transmission member 210 includes a bushing or a nut.

[0049] The drive shaft 110 can be a motor output shaft with external threads on part of its outer circumferential surface, such as a lead screw. The transmission component 210 can be a nut with an internal thread in its through hole 211, which connects to the mating component 220 and is limited in the circumferential direction of the drive shaft 110's rotation. When the drive shaft 110 rotates around its own axis, the nut and mating component 220, due to their limitation, cannot rotate with the drive shaft 110 around its own axis. The internal thread of the nut and the external thread of the drive shaft 110 rotate relative to each other, causing the nut to move axially along the drive shaft 110, driving the mating component 220, and in turn driving the clamping component 310.

[0050] The working principle of the bushing and drive shaft 110 can be referred to the nut, and will not be repeated here.

[0051] Among them, the mating part 220 is designed to mate with the bushing and nut. It can be in the form of abutment, hinge, or elastic connection, as long as it can transmit the power of the transmission part 210 to the clamping part 310.

[0052] In this embodiment, the rotational motion of the drive shaft 110 is converted into the opening and closing action of the clamping member 310 through the mating connection of the mating member 220 and the transmission member 210. Furthermore, the form of the mating member 220 can be flexibly changed according to the needs of the scenario, thus overcoming the limitations of a single transmission mode.

[0053] refer to Figure 2 For example, in one embodiment, the transmission member 210 includes a bushing 214, and the outer peripheral surface of the bushing 214 is provided with a rack 2141; the mating member 220 includes a first mating member 230, the first mating member 230 includes a gear 231, the gear 231 meshes with the rack 2141, and the shaft of the gear 231 is fixedly connected to the clamping member 310.

[0054] The bushing 214 includes a through hole 211 (not shown in the figure) with internal threads and a rack 2141 on the outer circumferential surface. The rack 2141 can be integrally formed with the bushing 214, or it can be fixedly connected by means of bonding, welding or other methods. No specific limitation is made in this regard.

[0055] The rack 2141 can be arranged parallel to the axis of the drive shaft 110. When the drive shaft 110 rotates around its own axis, the bushing 214, being at its upper limit in the circumferential direction, cannot rotate synchronously with the drive shaft 110, thus generating relative rotation. Through threaded engagement, the bushing 214 moves along the axis, converting rotational motion into linear motion. The rack 2141 on the bushing 214 moves synchronously. Since the rack 2141 has multiple teeth that mesh with the gear 231, the movement of the rack 2141 drives the gear 231 to rotate. The rotation axis of the gear 231 is perpendicular to the direction of movement of the rack 2141. Because the shaft of the gear 231 is fixed to the clamping member 310, when the gear 231 rotates, the clamping member 310 rotates synchronously, thereby outputting power to the clamping member 310 through the gear 231.

[0056] The engagement stroke of the rack 2141 and the gear 231 can be limited by the stroke of the bushing 214 and the length of the rack 2141. This embodiment does not make specific limitations on this.

[0057] For ease of understanding, taking the clamping member 310, which includes upper and lower clamping members 310, as an example, the gear 231 is located at one end of the clamping member 310 near the drive shaft 110. When the drive shaft 110 rotates, the bushing 214 moves axially, pushing the gear 231, which meshes with the rack 2141, to rotate. For example, if the drive shaft 110 rotates clockwise, the bushing 214 moves towards the clamping member 310, the upper gear 231 rotates clockwise, and the lower gear 231 rotates counterclockwise. As a result, the upper clamping member 310 rotates clockwise, and the lower clamping member 310 rotates counterclockwise. This causes the jaws of the upper and lower clamping members 310 to widen, achieving a loosening action. It can be understood that when the drive shaft 110 rotates in reverse, the jaws of the upper and lower clamping members 310 can be controlled to narrow, achieving a clamping action. The jaws mentioned in this embodiment refer to the space formed between the clamping members 310, which increases or decreases as the clamping members 310 are loosened and tightened.

[0058] Gear 231 and clamping member 310 may also not be fixedly connected, for example, see reference. Figure 3 In one embodiment, the transmission member 210 includes a bushing 214, and the transmission part of the bushing 214 includes a rack 2141; the first mating member 230 includes a gear 231 and a connector 232, the gear 231 meshes with the rack 2141, and the connector 232 is connected to the gear 231 and the clamping member 310 respectively.

[0059] In this design, the shaft of gear 231 and the clamping member 310 are rotatably connected, meaning they are not fixed relative to each other. When gear 231 rotates, the shaft does not drive the clamping member 310 to rotate. Connector 232 is connected to both gear 231 and clamping member 310. When gear 231 rotates, it outputs power to connector 232, which then drives gear 231 to rotate. Compared to the direct drive of clamping member 310 by the shaft of gear 231, the use of connector 232 for transmission allows for flexible adjustments to the direction, speed, and efficiency of the transmission, as well as the response speed of clamping member 310, through the design of the shape, arrangement, and engagement method of connector 232. This facilitates customized design based on specific requirements.

[0060] refer to Figure 3 and Figure 6 Taking a connector 232 as an example, in one embodiment, the gear 231 includes a gear body 2311 and a moving part 2312, the moving part 2312 extending circumferentially from the gear body 2311; the connector 232 includes an integral first abutment groove 2321 and a protrusion 2322, the moving part 2312 is used to abut against the first abutment groove 2321 to move the connector 232; the clamping member 310 is provided with a hinge hole 3100, the protrusion 2322 passes through the hinge hole 3100 and is hinged to the clamping member 310.

[0061] The actuating part 2312 can extend circumferentially from the gear body 2311 and be formed into a lever or ball shape, or other shapes, for abutting against the first abutting groove 2321. When the gear 231 rotates, the actuating part 2312 rotates accordingly and abuts against the first abutting groove 2321, thereby actuating the connecting member 232. After the connecting member 232 is actuated, the protrusion 2322 provided on the connecting member 232 moves accordingly. Since the protrusion 2322 and the clamping member 310 are hinged, when the protrusion 2322 moves, it drives the clamping member 310 to rotate, thereby realizing the loosening or clamping.

[0062] The protrusion 2322 and the first abutment groove 2321 are located on both sides of the connector 232. The protrusion 2322 is located close to the clamping member 310, and the first abutment groove 2321 is located close to the gear 231.

[0063] The above provides two forms where the transmission component 210 is a bushing and the first mating component 220 is correspondingly fitted. In other embodiments, the transmission component 210 can also be replaced by a nut, which can be one or two, see reference. Figure 4 and Figure 5In one embodiment, the transmission component 210 includes a first nut 212 and a second nut 213, and the drive shaft 110 is provided with a limiting portion 111; the first nut 212 and the second nut 213 are provided on the drive shaft 110 and are respectively provided on both sides of the limiting portion 111; the mating component 220 includes a second mating component 240, which includes a first connecting end 241, a second connecting end 242 and a third connecting end 243, and the first connecting end 241, the second connecting end 242 and the third connecting end 243 are respectively connected to the first nut 212, the second nut 213 and the clamping component 310.

[0064] The first nut 212 and the second nut 213 can be installed on the drive shaft 110 with opposite rotation directions. That is, the first nut 212 is installed into the drive shaft 110 by rotating clockwise, and the second nut 213 is installed into the drive shaft 110 by rotating counterclockwise. Thus, when the drive shaft 110 rotates, the first nut 212 and the second nut 213 will generate opposite relative movements, thereby generating opposite axial movements. For example, the first nut 212 moves to the left, and the second nut 213 moves to the right, so that the first nut 212 and the second nut 213 move relatively closer and relatively farther apart.

[0065] In this configuration, the internal threads of the first nut 212 and the second nut 213 can be set to have opposite thread directions, while the threaded sections of the drive shaft remain consistent. Alternatively, the internal threads of the first nut 212 and the second nut 213 can be set to have the same thread direction, while the drive shaft 110 has two opposite threaded sections, so that when the drive shaft 110 rotates, the first nut 212 and the second nut 213 move in opposite directions.

[0066] To prevent the first nut 212 and the second nut 213 from coming into contact when they are close together, and to limit the stroke of the first nut 212 and the second nut 213, a limiting part 111 is provided between the first nut 212 and the second nut 213. The limiting part 111 rotates synchronously with the drive shaft 110 and is located at the center point of the first nut 212 and the second nut 213. When the first nut 212 and the second nut 213 approach each other until they abut against the limiting part 111, they no longer rotate relative to the drive shaft 110, and the first nut 212, the second nut 213 and the drive shaft 110 are relatively fixed.

[0067] The first connecting end 241, the second connecting end 242 and the third connecting end 243 of the second mating part 240 are respectively connected to the first nut 212, the second nut 213 and the clamping member 310. Therefore, the first connecting end 241 and the second connecting end 242 can move closer or further away from each other. When the first connecting end 241 and the second connecting end 242 move closer or further away from each other, the third connecting end 243 will move synchronously, causing the clamping member 310 to loosen or tighten.

[0068] For example, the second mating member 240 includes two mating rods. The first end of the first mating rod 2401 is the first connecting end 241, which is connected to the first nut 212. The first end of the second mating rod 2402 is the second connecting end 242, which is connected to the second nut 213. The second end of the first mating rod 2401 and the second end of the second mating rod 2402 are connected to form a third connecting end 243. The third connecting end 243 is connected to the clamping member 310. The first connecting end 241, the second connecting end 242 and the third connecting end 243 form a triangle.

[0069] When the first nut 212 and the second nut 213 approach each other, the first mating rod 2401 and the second mating rod 2402 approach each other, and the third connecting end 243 moves away from the axis of the drive shaft 110. When the first nut 212 and the second nut 213 move away from each other, the first mating rod 2401 and the second mating rod 2402 move away from each other, and the third connecting end 243 moves towards the axis of the drive shaft 110, thereby causing the clamping member 310 to loosen or tighten.

[0070] Specifically, in one embodiment, the second mating member 240 further includes a pin 244 and a linkage rod 245. One side of the linkage rod 245 is provided with a second abutment groove 2451 for receiving the pin 244; the other side of the linkage rod 245 is connected to the clamping member 310.

[0071] The third connecting end 243 is connected to the clamping member 310 via a pin 244 and a linkage rod 245. For example, the pin 244 is inserted into the third connecting end 243 and is movable along the axis of the drive shaft 110. When the first nut 212 and the second nut 213 approach each other, that is, when the first connecting end 241 and the second connecting end 242 approach each other, the third connecting end 243 drives the pin 244 to move away from the drive shaft 110. Since the pin 244 is connected to the linkage rod 245 and the pin 244 abuts against the second abutting groove 2451, when the pin 244 moves away from the drive shaft 110, the second abutting groove 2451 is pushed, and one end of the linkage rod 245 close to the second abutting groove 2451 also moves away from the drive shaft 110. The other end of the linkage rod 245 is connected to the clamping member 310 and moves close to the drive shaft 110, thereby causing the clamping member 310 to move close to the drive shaft 110 and achieve clamping.

[0072] It is understandable that the clamping member 310 can be released when the first nut 212 and the second nut 213 move away from each other.

[0073] The above embodiments provide a variety of clamping solutions, and compared with traditional multi-stage gear reduction transmission, they can reduce the space occupied.

[0074] In addition, conventional robotic arms 10 generally use hydraulic or pneumatic levers to open or close their jaws so that they can grasp and release objects. When the robotic arm 10 is obstructed by external forces, the impact may be too great. However, the robotic arm 10 provided in this embodiment can reduce the risk of damage to the gripper 310 of the robotic arm 10.

[0075] In related technologies, the robotic arm 10 typically controls the motor to stop via sensor feedback in emergency situations. However, such solutions have significant response delays and are difficult to achieve millisecond-level mechanical decoupling protection in scenarios of sudden overload (such as applying excessive force when gripping brittle objects).

[0076] To solve the above problems, refer to Figure 6 In one embodiment, the actuator 300 also includes an overload release member 320, which is disposed on the clamping member 310 and has a preset preload force.

[0077] The overload release component 320 can have a certain elasticity and is set on the clamping component 310 under the action of pre-tightening force. When the clamping force of the clamping component 310 is large, for example, greater than the pre-tightening force, the overload release component 320 will pop out from the clamping component 310, causing the clamping component 310 to lose its fastening effect and thus be unable to continue to apply force.

[0078] refer to Figure 6 In one embodiment, the clamping member 310 includes a gripper 311 and a joint member 312, the joint member 312 being connected to the gripper 311 and the mating member 220 respectively; one end of the overload release member 320 is mounted on the joint member 312, and the other end abuts against the gripper 311; wherein, the overload release member 320 includes a spring or a torsion spring.

[0079] The mating part 220 drives the joint part 312 to move, which in turn drives the gripper 311 to move, so that the gripper 311 can be loosened or clamped.

[0080] The actuator 300 may include two clamping members 310. Each clamping member 310 may include a gripper 311 and a joint member 312. The gripper 311 may be a rod with an arc shape, and the joint member 312 may have a hinge hole 3100 for hinged with the protrusion 2322 of the mating member 220.

[0081] The joint 312 has a cavity for accommodating the overload release member 320. One end of the overload release member 320 abuts against the inner wall of the cavity, and the other end abuts against the gripper 311. It is fixed between the joint 312 and the gripper 311 by a preload force. When the gripping force of the gripper 311 is too large, or the impact of the external force is too great, exceeding the preload force, the overload release member 320 pops out of the cavity, so that the gripper 311 and the joint 312 are no longer fixed, and the gripper 311 is no longer driven by the joint 312, thereby achieving overload protection.

[0082] When the overload release member 320 is a spring, such as a metal spring, its two ends abut against the gripper 311 and the joint member 312 respectively; when the overload release member 320 is a torsion spring, its two ends abut against the gripper 311 and the joint member 312 respectively, and a hinge point can be provided on the joint member to install the torsion spring.

[0083] Corresponding to the aforementioned application function implementation device embodiments, this application also provides a cleaning device and corresponding embodiments.

[0084] Figure 7 This is a schematic diagram of the structure of the cleaning equipment shown in the embodiments of this application.

[0085] See Figure 7 This embodiment provides a cleaning device 20, including the robotic arm 10 as described above. The cleaning device 20 can be a sweeping robot, a mopping robot, a combined sweeping and mopping robot, a window cleaning robot, etc., and this embodiment does not impose any specific limitations.

[0086] The solution of this application has been described in detail above with reference to the accompanying drawings. In the above embodiments, the descriptions of each embodiment have different focuses; for parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. Those skilled in the art should also understand that the actions and modules involved in the specification are not necessarily essential to this application. Furthermore, it is understood that the steps in the method of this application embodiment can be adjusted, combined, and deleted according to actual needs, and the modules in the device of this application embodiment can be combined, divided, and deleted according to actual needs.

[0087] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A robotic arm, characterized in that: include The drive mechanism includes a drive shaft that can rotate about its own axis; A transmission mechanism includes a transmission component and a mating component, the transmission component and the mating component are connected, the transmission component is also threadedly engaged with the drive shaft, and the transmission component and the mating component are limited in the circumferential direction of the drive shaft. An actuator includes a clamping member connected to a mating member, which performs clamping or releasing actions under the action of the mating member.

2. The robotic arm according to claim 1, characterized in that, The outer circumferential surface of the drive shaft is provided with an external thread, the transmission component is provided with a through hole, and the wall of the through hole is provided with an internal thread; the drive shaft passes through the through hole and is threadedly engaged with the transmission component. The transmission component includes a bushing or a nut.

3. The robotic arm according to claim 2, characterized in that, The transmission component includes a bushing, and the outer peripheral surface of the bushing is provided with a rack; The mating component includes a first mating component, which includes a gear that meshes with the rack, and the shaft of the gear is fixedly connected to the clamping component.

4. The robotic arm according to claim 2, characterized in that, The transmission component includes a bushing, and the outer peripheral surface of the bushing is provided with a rack; The mating component includes a first mating component, which includes a gear and a connecting component. The gear meshes with the rack, and the connecting component is connected to the gear and the clamping component respectively.

5. The robotic arm according to claim 4, characterized in that, The gear includes a gear body and a moving part, the moving part extending circumferentially from the gear body; The connector includes an integral first abutment groove and a protrusion, and the actuating part is used to abut against the first abutment groove to actuate the connector; The clamping member is provided with a hinge hole, and the protrusion passes through the hinge hole and is hinged to the clamping member.

6. The robotic arm according to claim 2, characterized in that, The transmission component includes a first nut and a second nut, and the drive shaft is provided with a limiting part; the first nut and the second nut are provided on the drive shaft and are respectively provided on both sides of the limiting part; The mating component includes a second mating component, which includes a first connecting end, a second connecting end, and a third connecting end. The first connecting end, the second connecting end, and the third connecting end are respectively connected to the first nut, the second nut, and the clamping component.

7. The robotic arm according to claim 6, characterized in that, The second mating component also includes a pin and a linkage rod; The linkage rod has a second abutment groove on one side for receiving the pin; the other side of the linkage rod is connected to the clamping member.

8. The robotic arm according to any one of claims 1-7, characterized in that, The actuator further includes an overload release member, which is disposed on the clamping member and has a preset preload force.

9. The robotic arm according to claim 8, characterized in that, The clamping member includes a jaw and a joint, the joint being connected to the jaw and the mating member respectively; One end of the overload release member is mounted on the joint member, and the other end abuts against the gripper. The overload release component includes a spring or a torsion spring.

10. A cleaning device, characterized in that, Including the robotic arm as described in any one of claims 1-9.

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