Mechanical joint, connecting support arm, mechanical arm and intelligent cleaning equipment
By introducing the transmission connection between the output gear and the internal gear ring and the planetary gear structure in the mechanical joint, the problems of low torque and easy wear of the existing robotic arm connecting arm are solved, achieving higher stability and reliability, and improving the operating accuracy and service life of the robotic arm.
Patent Information
- Application Number
- CN202520468850.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-17
- Publication Date
- 2026-02-17
- Estimated Expiration
- 2035-03-17
AI Technical Summary
The existing robotic arm's connecting arm is directly connected to the reducer's output shaft, resulting in low torque, small contact area, easy wear, and affecting stability and reliability.
By introducing a transmission connection between the output gear and the internal gear ring in the mechanical joint, combined with a planetary gear structure, secondary speed reduction is achieved, and the contact area between the connecting arm and the reducer is increased.
It improves the torque and stability of the connecting arm, reduces wear, enhances the operating accuracy and efficiency of the robotic arm, reduces the failure rate, and extends its service life.
Smart Images
Figure CN223918009U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of intelligent cleaning equipment, in particular to a mechanical joint, a connecting arm, a mechanical arm and an intelligent cleaning equipment. BACKGROUND
[0002] In the cleaning field, intelligent cleaning robots have been widely used in homes and commercial places. However, most of the current products have limited functions, mainly limited to ground dust collection, cleaning, mopping and other conventional cleaning. With the progress of science and technology and the development of intelligence, users expect it not only to clean the ground, but also to grasp, move obstacles, objects and garbage around the robot body, and to realize the operation of cleaning and storing large objects. In order to meet this demand, mechanical arms are applied to intelligent cleaning robots, which can flexibly grasp and move objects by installing mechanical arms, greatly expanding the range of functions.
[0003] In the prior art, the mechanical arm is connected by a plurality of connecting arms in sequence, and adjacent connecting arms are connected through a mechanical joint. The mechanical joint mainly includes a motor and a reducer, the input end of the reducer is fixed with the output shaft of the motor, the connecting arm is sleeved on the output shaft of the reducer, and the connecting arm is in transmission connection with the output shaft through a flat position.
[0004] However, this fixed sleeving mode has obvious disadvantages. Firstly, the connecting arm is directly connected with the output shaft of the reducer, which cannot be reduced again, resulting in a low torque of the connecting arm. Secondly, the output shaft is thin, and the contact area between the connecting arm and the reducer is small. When the mechanical arm is running, the small contact area leads to stress concentration, and long-term use may cause the connecting arm to wear and the stability to decrease. This not only affects the operation accuracy and efficiency of the mechanical arm, but also may cause frequent failures of the intelligent cleaning robot when performing tasks, reducing the reliability and service life. Utility model content
[0005] The purpose of the present application is to overcome the shortcomings of the prior art, and to provide a mechanical joint, a connecting arm, a mechanical arm and an intelligent cleaning equipment with higher stability and larger transmission.
[0006] The purpose of the present application is achieved by the following technical solutions:
[0007] In a first aspect, the present application provides a mechanical joint, comprising a receiving member and a reducer, the reducer being installed in the receiving member, the receiving member being provided with a rotating connection part, the rotating connection part being used for rotating connection with a rotating fitting part of a connecting arm;
[0008] The mechanical joint further comprises an output gear connected with an output shaft of the reducer, the output gear being further used for transmission connection with an internal gear ring of the connecting arm to drive the connecting arm to rotate around the rotating connection part, and the rotating speed of the internal gear ring being less than the rotating speed of the output gear.
[0009] In some implementations, the mechanical joint further comprises at least one planetary gear rotatably connected to the receiving member, the planetary gear being meshingly connected to the output gear, the planetary gear being further configured to be meshingly connected to the inner ring gear such that the output gear is drivingly connected to the inner ring gear through the planetary gear; and / or,
[0010] The rotatable connection portion is disposed at two ends of the receiving member.
[0011] In some implementations, the number of planetary gears is a plurality, and the plurality of planetary gears are arranged at intervals in the circumferential direction of the output gear.
[0012] In some implementations, the receiving member comprises a housing portion and a retaining frame, the speed reducer being installed in the housing portion, the retaining frame being fixedly connected to the housing portion, and the planetary gear being rotatably connected to the retaining frame.
[0013] In a second aspect, the present application provides a connecting arm comprising an arm body, the connecting arm further comprising a rotating fitting member and an inner ring gear, the rotating fitting member being connected to a first end of the arm body, the rotating fitting member being configured to be rotatably connected to a rotatable connection portion of a receiving member of a mechanical joint;
[0014] The inner ring gear is fixedly connected to the first end of the arm body, the inner ring gear being configured to be drivingly connected to an output gear of the mechanical joint, such that the connecting arm can rotate about the rotatable connection portion, and the rotational speed of the inner ring gear is less than the rotational speed of the output gear.
[0015] In some implementations, the rotating fitting member comprises a first fitting portion and a second fitting portion arranged at intervals, the first fitting portion and the second fitting portion being configured to be rotatably connected to the rotatable connection portion, the first fitting portion and the second fitting portion being further configured to be clamped on a limiting structure on the receiving member.
[0016] In some implementations, the connecting arm further comprises a mounting member fixedly connected to a second end of the arm body, the mounting member being configured to be fixedly connected to a receiving member of another mechanical joint.
[0017] In a third aspect, the present application provides a mechanical arm comprising the mechanical joint of any one of the above implementations and the connecting arm of any one of the above implementations, the rotating fitting member being rotatably connected to the rotatable connection portion, the inner ring gear being drivingly connected to the output gear, and the rotational speed of the inner ring gear being less than the rotational speed of the output gear.
[0018] In some implementations, the number of mechanical joints is a plurality, and the number of connecting arms is at least one, each of the connecting arms being correspondingly matched with two of the mechanical joints;
[0019] The rotating connection part of each of the connecting arms is rotationally connected with the output gear of one of the mechanical joints, and the second end of the arm body of each of the connecting arms is fixedly connected with the receiving part of the other mechanical joint.
[0020] In a fourth aspect, the present application provides an intelligent cleaning device, which comprises a machine body and the mechanical arm of any of the above implementations.
[0021] Compared with the prior art, the present application has at least the following advantages:
[0022] 1. Since the output gear is not only connected with the output shaft of the speed reducer but also transmissionally connected with the inner gear ring of the connecting arm, the speed reducer and the connecting arm are transmissionally connected through the gear structure, so that the speed reducer and the connecting arm can be twice speed-reduced, and since the rotating speed of the inner gear ring of the connecting arm is smaller than that of the output gear, the speed reducer and the connecting arm are twice speed-reduced, thereby improving the torque of the connecting arm.
[0023] 2. Since the connecting arm is not only transmissionally connected with the speed reducer but also rotationally connected with the rotating connection part of the receiving part, the contact area between the connecting arm and the speed reducer is increased, the problem of stress concentration is inhibited, the abrasion of the connecting arm is inhibited, and the stability of the connecting arm is improved. The improved stability of the connecting arm not only improves the operation accuracy and efficiency of the mechanical arm, but also reduces the failure rate of the intelligent cleaning robot, thereby improving the reliability and service life of the intelligent cleaning robot. BRIEF DESCRIPTION OF DRAWINGS
[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.
[0025] Figure 1 FIG. 1 is a structural schematic diagram of a mechanical arm of the present application;
[0026] Figure 2 FIG. 2 is a structural schematic diagram of a mechanical arm of the present application; Figure 1 FIG. 3 is a sectional view of the mechanical arm shown in FIG. 2 along the line A-A;
[0027] Figure 3 FIG. 4 is a structural schematic diagram of a mechanical arm of the present application; Figure 2An enlarged schematic view of the mechanical arm shown at B;
[0028] Figure 4 For Figure 1 An enlarged schematic view of the mechanical arm shown at C.
[0029] Reference signs: 10, mechanical arm;
[0030] 100, mechanical joint; 100a, first joint; 100b, second joint; 100c, third joint; 110, housing member; 111, accommodating portion; 1101, rotating connection portion; 112, retainer; 120, speed reducer; 130, output gear; 140, planetary gear; 150, motor;
[0031] 200, connecting branch; 200a, first branch; 200b, second branch; 210, arm body; 220, rotating fitting member; 221, first fitting portion; 222, second fitting portion; 230, inner ring gear; 240, mounting member; 250, limiting structure;
[0032] 300, mounting sleeve;
[0033] 400, execution arm;
[0034] 500, rotary driving mechanism. DETAILED DESCRIPTION
[0035] In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the accompanying drawings. The 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. The purpose of providing these embodiments is to make the reader more thoroughly and comprehensively understand.
[0036] 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 be a middle element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there can be a middle element.
[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used herein are only intended to describe specific embodiments and are not intended to limit the present application.
[0038] In order to better understand the technical solutions and beneficial effects of the present application, the present application will be further described in detail below in conjunction with specific embodiments:
[0039] As Figures 1 to 3As shown, the mechanical joint 100 provided by the embodiment of the present application comprises a receiving member 110 and a speed reducer 120, the speed reducer 120 is installed in the receiving member 110, the receiving member 110 is provided with a rotating connection part 1101, the rotating connection part 1101 is used to rotate with a rotating fitting part 220 of a connecting arm 200, so as to form a rotating axis between the receiving member 110 and the connecting arm 200. The mechanical joint 100 further comprises an output gear 130, the output gear 130 is connected with an output shaft of the speed reducer 120, the output gear 130 is further used to drive connection with an inner ring gear 230 of the connecting arm 200, so as to drive the connecting arm 200 to rotate around the rotating axis, that is, to drive the connecting arm 200 to rotate around the rotating connection part 1101, and the rotating speed of the inner ring gear 230 is less than the rotating speed of the output gear 130. Preferably, the output gear 130 is coaxially arranged with the output shaft of the speed reducer 120.
[0040] As shown in Figure 3 and Figure 4 In the embodiment, the motor 150 of the mechanical joint 100 drives the speed reducer 120 to rotate, the output shaft of the speed reducer 120 drives the output gear 130 to rotate, the output gear 130 drives the inner ring gear 230 of the connecting arm 200 to rotate, so that the whole connecting arm 200 rotates relative to the rotating connection part 1101 of the receiving member 110, and the rotating speed of the inner ring gear 230 is less than the rotating speed of the output gear 130, that is, the connecting arm 200 is driven to rotate while being subjected to secondary speed reduction.
[0041] The mechanical joint 100 described above, since the output gear 130 is not only connected with the output shaft of the speed reducer 120, but also drive connected with the inner ring gear 230 of the connecting arm 200, so that the speed reducer 120 and the connecting arm 200 are drive connected through the gear structure, so that the speed reducer 120 and the connecting arm 200 can be subjected to secondary speed reduction; and since the rotating speed of the inner ring gear 230 of the connecting arm 200 is less than the rotating speed of the output gear 130, the speed reducer 120 and the connecting arm 200 are subjected to secondary speed reduction, so as to improve the torque of the connecting arm 200.
[0042] In addition, since the connecting arm 200 is not only drive connected with the speed reducer 120, but also rotate connected with the rotating connection part 1101 of the receiving member 110, the contact area between the connecting arm 200 and the speed reducer 120 is increased, the problem of stress concentration is inhibited, and the abrasion of the connecting arm 200 is inhibited, so as to improve the stability of the connecting arm 200. The improvement of the stability of the connecting arm 200 not only improves the operation accuracy and efficiency of the mechanical arm 10, but also reduces the failure rate of the intelligent cleaning robot, and improves the reliability and service life of the intelligent cleaning robot.
[0043] As shown in Figure 3As shown, preferably, the rotating connecting part 1101 is rotatably sleeved with the rotating fitting part 220 of the connecting arm 200, so that one of them covers the other, which improves the stability of the connection between the two, and at the same time makes the two integrated, improving the overall integrity of the mechanical joint 100.
[0044] like Figure 4 As shown, in some embodiments, the mechanical joint 100 further includes at least one planetary gear 140, which is rotatably connected to the housing 110. The planetary gear 140 is meshed with the output gear 130 and is also used to mesh with the internal gear ring 230 of the connecting arm 200, so that the output gear 130 is connected to the internal gear ring 230 through the planetary gear 140.
[0045] In this embodiment, power is first transmitted from the output gear 130 to the planetary gear 140, and then from the planetary gear 140 to the internal gear ring 230. This involves two transmission processes, each with a certain degree of deceleration. The combined effect of these two decelerations results in a better final deceleration effect. Torque is transmitted between the output gear 130, planetary gear 140, and internal gear ring 230. Relatively speaking, each gear bears a smaller load, allowing for a larger transmission ratio without significantly increasing gear size and weight. This leads to better deceleration and improves the reliability and stability of the entire transmission system.
[0046] Of course, in other embodiments, the output gear 130 can also be directly engaged with the internal gear ring 230 of the connecting arm 200.
[0047] like Figure 3 As shown, in some embodiments, the rotating connection portion 1101 is provided at both ends of the receiving member 110, so that the connecting arm 200 is rotatably connected to both ends of the receiving member 110, which increases the contact area between the connecting arm 200 and the reducer 120 and further improves the stability of the connecting arm 200.
[0048] like Figure 4 As shown, in some embodiments, there are multiple planetary gears 140, which are spaced apart circumferentially around the output gear 130. In this embodiment, the output gear 130 is connected to the internal gear ring 230 of the connecting arm 200 via multiple planetary gears 140, which makes the force on the output gear 130 more uniform, suppresses the wobble of the output gear 130, and further improves the stability of the connecting arm 200.
[0049] like Figure 3 and Figure 4As shown in the figure, in some embodiments, the receiving member 110 comprises a housing 111 and a holder 112, and the speed reducer 120 is installed in the housing 111. The holder 112 is fixedly connected to one end of the housing 111, and the planetary gear 140 is rotatably connected to the holder 112. In this embodiment, the planetary gear 140 is limited to rotate at a predetermined position by the holder 112, that is, the planetary gear 140 is installed by the holder 112, so as to ensure that the planetary gear 140 rotates at a predetermined position.
[0050] As shown in the figure, preferably, the rotating connection part 1101 is provided on the housing 111, that is, the rotating connection part 1101 is part of the housing 111. Figure 3
[0051] As shown in the figure, the application also provides a connecting arm 200, which comprises an arm body 210, a rotating fitting member 220, and an inner gear ring 230. The rotating fitting member 220 is connected to the first end of the arm body 210, and preferably, the rotating fitting member 220 is fixedly connected to one end of the arm body 210. Figure 3
[0052] The rotating fitting member 220 is used to rotatably connect the rotating connection part 1101 of the receiving member 110 of a mechanical joint 100, so as to form a rotating axis between the connecting arm 200 and the receiving member 110 of the mechanical joint 100.
[0053] The inner gear ring 230 is fixedly connected to the first end of the arm body 210, and the inner gear ring 230 is used to be in transmission connection with the output gear 130 of the mechanical joint 100, so that the connecting arm 200 can rotate around the rotating axis, that is, the connecting arm 200 can rotate around the rotating connection part 1101; and the rotating speed of the inner gear ring 230 is less than the rotating speed of the output gear 130 of the mechanical joint 100. In this embodiment, the motor 150 drives the speed reducer 120 to work, the output shaft of the speed reducer 120 drives the output gear 130 to rotate, the output gear 130 drives the inner gear ring 230 of the connecting arm 200 to rotate, so that the entire connecting arm 200 rotates relative to the rotating connection part 1101 of the receiving member 110, and the rotating speed of the inner gear ring 230 is less than the rotating speed of the output gear 130.
[0054] The above-mentioned connecting arm 200, since the output gear 130 is not only connected with the output shaft of the speed reducer 120, but also in transmission connection with the inner gear ring 230 of the connecting arm 200, so that the speed reducer 120 and the connecting arm 200 are in transmission connection through the gear structure, so that the speed reducer 120 and the connecting arm 200 can be twice speed-reduced; and since the rotating speed of the inner gear ring 230 of the connecting arm 200 is less than the rotating speed of the output gear 130, so that the speed reducer 120 and the connecting arm 200 are twice speed-reduced, and the torque of the connecting arm 200 is improved.
[0055] In addition, since the connecting arm 200 is not only in transmission connection with the speed reducer 120, but also in rotational connection with the rotational connection part 1101 of the accommodating member 110, the contact area between the connecting arm 200 and the speed reducer 120 is increased, the problem of stress concentration is inhibited, and the abrasion of the connecting arm 200 is inhibited, and the stability of the connecting arm 200 is improved. The improvement of the stability of the connecting arm 200 not only improves the operation accuracy and efficiency of the mechanical arm 10, but also reduces the failure rate of the intelligent cleaning robot, and improves the reliability and service life thereof.
[0056] As shown in Figure 3 In some embodiments, the rotational fitting part 220 includes a first fitting part 221 and a second fitting part 222 which are arranged at intervals, and the first fitting part 221 and the second fitting part 222 are used for rotational connection with the accommodating member 110 of the mechanical joint 100, and the first fitting part 221 and the second fitting part 222 are also used for clamping the rotational connection part 1101. In the present embodiment, the first fitting part 221 and the second fitting part 222 are in rotational connection with the accommodating member 110 of the mechanical joint 100, the contact area between the connecting arm 200 and the mechanical joint 100 is increased, and the stability of the connecting arm 200 is further improved. Moreover, since the first fitting part 221 and the second fitting part 222 are clamped on the limiting structure 250 of the accommodating member 110, the first fitting part 221 and the second fitting part 222 jointly limit the axial movement of the connecting arm 200 along the output shaft, and the transmission connection between the connecting arm 200 and the speed reducer 120 is prevented from being accidentally disconnected.
[0057] As shown in Figure 2 and Figure 3 In some embodiments, the connecting arm 200 further includes a mounting member 240, the mounting member 240 is fixedly connected to the second end of the arm body 210, and the mounting member 240 is used for fixed connection with the accommodating member 110 of another mechanical joint 100. In the present embodiment, the connecting arm 200 cooperates with two mechanical joints 100, and the two mechanical joints 100 are respectively a second joint 100b and a third joint 100c. The rotational fitting part 220 is used for rotational connection with the rotational connection part 1101 of the accommodating member 110 of the second joint 100b, so as to form a rotational axis between the connecting arm 200 and the accommodating member 110 of the second joint 100b. The inner gear ring 230 is used for transmission connection with the output gear 130 of the second joint 100b, so that the connecting arm 200 can rotate around the rotational axis, and the rotational speed of the inner gear ring 230 is less than that of the output gear 130 of the second joint 100b. The mounting member 240 is fixedly connected to the accommodating member 110 of the third joint 100c, so that one connecting arm 200 cooperates with two mechanical joints 100, which helps to improve the flexibility of the mechanical arm 10.
[0058] AsFigures 1 to 3 As shown, this application embodiment also provides a robotic arm 10, including the mechanical joint 100 described in any of the above embodiments, and the connecting arm 200 described in any of the above embodiments, the rotating mating member 220 is rotatably connected to the rotating connecting part 1101, and the internal gear ring 230 is meshed with the output gear 130.
[0059] The aforementioned robotic arm 10, because the output gear 130 is not only connected to the output shaft of the reducer 120, but also to the internal gear ring 230 of the connecting arm 200, allows the reducer 120 and the connecting arm 200 to be connected by a gear structure, enabling secondary speed reduction between the reducer 120 and the connecting arm 200. Furthermore, because the rotational speed of the internal gear ring 230 of the connecting arm 200 is less than the rotational speed of the output gear 130, the secondary speed reduction between the reducer 120 and the connecting arm 200 increases the torque of the connecting arm 200.
[0060] Furthermore, since the connecting arm 200 is not only connected to the reducer 120 for transmission, but also rotatably connected to the rotating connection portion 1101 of the housing 110, the contact area between the connecting arm 200 and the reducer 120 is increased, suppressing stress concentration and thus inhibiting wear on the connecting arm 200, thereby improving its stability. This improved stability of the connecting arm 200 not only enhances the operational accuracy and efficiency of the robotic arm 10, but also reduces the failure rate of the intelligent cleaning robot, increasing its reliability and service life.
[0061] like Figures 1 to 3 As shown, in some embodiments, there are multiple mechanical joints 100 and at least one connecting arm 200, with each connecting arm 200 corresponding to two mechanical joints 100. The rotating engagement part 220 of each connecting arm 200 is rotatably connected to the rotating connection part 1101 of one of the corresponding mechanical joints 100, the internal gear ring 230 of each connecting arm 200 is drively connected to the output gear 130 of one of the corresponding mechanical joints 100, and the second end of the arm body 210 of each connecting arm 200 is fixedly connected to the receiving part 110 of the other corresponding mechanical joint 100, so that the robotic arm 10 has multiple connecting arms 200, and adjacent two connecting arms 200 are connected by a mechanical joint 100, thereby improving the flexibility of the robotic arm 10.
[0062] like Figure 3As shown, further, the mounting member 240 of each connecting arm 200 is fixedly connected with the second end of the corresponding arm body 210. The mounting member 240 of each connecting arm 200 is also fixedly connected with the receiving member 110 of the corresponding another mechanical joint 100, so that the second end of the arm body 210 of each connecting arm 200 is fixedly connected with the receiving member 110 of the corresponding another mechanical joint 100 through the mounting member 240.
[0063] As shown, Figure 3 As shown, further, the mounting member 240 of each connecting arm 200 is a limiting structure 250 on the receiving member 110 of the corresponding another mechanical joint 100, which is used to limit the axial movement of the another connecting arm 200 on the corresponding output shaft, so as to avoid the disconnection between the another connecting arm 200 and the corresponding mechanical joint 100.
[0064] As shown, Figure 2 As shown, further, the number of the mechanical joints 100 is three, which are the first joint 100a, the second joint 100b and the third joint 100c. The number of the connecting arms 200 is two, which are the first arm 200a and the second arm 200b. The mechanical arm 10 further comprises a mounting sleeve 300, the receiving member 110 of the first joint 100a is fixedly sleeved in the mounting sleeve 300, the rotating fitting member 220 of the first arm 200a is rotatably connected with the rotating connection part 1101 of the receiving member 110 of the first joint 100a, and the inner gear ring 230 of the first arm 200a is in transmission connection with the output gear 130 of the first joint 100a. The receiving member 110 of the second joint 100b is fixedly sleeved in the mounting member 240 of the first arm 200a. The rotating fitting member 220 of the second arm 200b is rotatably connected with the rotating connection part 1101 of the receiving member 110 of the second joint 100b, and the inner gear ring 230 of the second arm 200b is in transmission connection with the output gear 130 of the second joint 100b. The receiving member 110 of the third joint 100c is fixedly sleeved in the mounting member 240 of the second arm 200b.
[0065] As shown, Figure 1 As shown, further, the mechanical arm 10 further comprises an execution arm 400, the first end of the execution arm 400 is rotatably connected with the rotating connection part 1101 of the receiving member 110 of the third joint 100c, and the first end of the execution arm 400 is provided with an inner tooth ring which is in transmission connection with the output gear 130 of the third joint 100c. Further, the mechanical arm 10 further comprises a cleaning operation member, which can be a gripper, a dust suction member, a sweeping member or other existing cleaning member. The cleaning operation member is mounted on the second end of the execution arm 400.
[0066] As shown, Figure 1As shown, in some embodiments, the mechanical arm 10 further comprises a rotating driving mechanism 500, the mounting sleeve 300 is fixedly connected to a power output end of the rotating driving mechanism 500, and the rotating driving mechanism 500 is used to drive the mounting sleeve 300 to rotate.
[0067] The embodiment of the present application further provides a smart cleaning device, which comprises a body and the mechanical arm 10 described above, and the mechanical arm 10 is installed on the body. The smart cleaning device can be used for sweeping, dust collecting, floor washing, floor mopping and the like.
[0068] The smart cleaning device described above, since the output gear 130 is not only connected with the output shaft of the speed reducer 120, but also in transmission connection with the inner ring gear 230 of the connecting arm 200, the speed reducer 120 and the connecting arm 200 are in transmission connection through the gear structure, so that the speed reducer 120 and the connecting arm 200 can be in secondary speed reduction; and since the rotating speed of the inner ring gear 230 of the connecting arm 200 is less than the rotating speed of the output gear 130, the speed reducer 120 and the connecting arm 200 are in secondary speed reduction, so that the torque of the connecting arm 200 is improved.
[0069] In addition, since the connecting arm 200 is not only in transmission connection with the speed reducer 120, but also in rotation connection with the rotating connection part 1101 of the containing part 110, the contact area between the connecting arm 200 and the speed reducer 120 is increased, the problem of stress concentration is inhibited, and the abrasion of the connecting arm 200 is inhibited, so that the stability of the connecting arm 200 is improved. The improvement of the stability of the connecting arm 200 not only improves the operation precision and efficiency of the mechanical arm 10, but also reduces the failure rate of the smart cleaning robot, and improves the reliability and service life of the smart cleaning robot.
[0070] Compared with the prior art, the present application has at least the following advantages:
[0071] 1. Since the output gear 130 is not only connected with the output shaft of the speed reducer 120, but also in transmission connection with the inner ring gear 230 of the connecting arm 200, the speed reducer 120 and the connecting arm 200 are in transmission connection through the gear structure, so that the speed reducer 120 and the connecting arm 200 can be in secondary speed reduction; and since the rotating speed of the inner ring gear 230 of the connecting arm 200 is less than the rotating speed of the output gear 130, the speed reducer 120 and the connecting arm 200 are in secondary speed reduction, so that the torque of the connecting arm 200 is improved.
[0072] 2. Because the connecting arm 200 is not only connected to the reducer 120 for transmission, but also rotatably connected to the rotating connection part 1101 of the housing 110, the contact area between the connecting arm 200 and the reducer 120 is increased, suppressing stress concentration and thus inhibiting wear on the connecting arm 200, thereby improving its stability. This improved stability not only enhances the operational accuracy and efficiency of the robotic arm 10, but also reduces the failure rate of the intelligent cleaning robot, increasing its reliability and service life.
[0073] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the disclosed patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.
Claims
1. A mechanical joint comprising a housing (110) and a reducer (120), the reducer (120) being mounted within the housing (110), characterized in that, The receiving member (110) is provided with a rotating connection part (1101), which is used to rotately connect with the rotating fitting part (220) of the connecting arm (200); The mechanical joint (100) also includes an output gear (130), which is connected to the output shaft of the reducer (120). The output gear (130) is also used to drive the internal gear ring (230) of the connecting arm (200) to drive the connecting arm (200) to rotate around the rotating connection part (1101), and the rotational speed of the internal gear ring (230) is less than the rotational speed of the output gear (130).
2. The mechanical joint according to claim 1, characterized in that, The mechanical joint (100) further includes at least one planetary gear (140) rotatably connected to the housing (110), the planetary gear (140) meshing with the output gear (130), and the planetary gear (140) also meshing with the internal gear ring (230), so that the output gear (130) is driven by the internal gear ring (230) through the planetary gear (140); and / or, The rotating connection (1101) is provided at both ends of the housing (110).
3. The mechanical joint according to claim 2, characterized in that, The number of planetary gears (140) is multiple, and the multiple planetary gears (140) are spaced apart in the circumferential direction of the output gear (130).
4. The mechanical joint according to claim 2 or 3, characterized in that, The receiving component (110) includes a receiving portion (111) and a retainer (112), and the reducer (120) is installed in the receiving portion (111); the retainer (112) is fixedly connected to the receiving portion (111), and the planetary gear (140) is rotatably connected to the retainer (112).
5. A connecting arm, comprising an arm body (210), characterized in that, The connecting arm (200) also includes a rotating fitting (220) and an internal gear ring (230). The rotating fitting (220) is connected to the first end of the arm body (210). The rotating fitting (220) is used to rotatably connect the rotating connection part (1101) of the receiving part (110) of a mechanical joint (100). The internal gear ring (230) is fixedly connected to the first end of the arm body (210). The internal gear ring (230) is used to drive the output gear (130) of the mechanical joint (100) so that the connecting arm (200) can rotate around the rotating connection part (1101), and the rotation speed of the internal gear ring (230) is less than the rotation speed of the output gear (130).
6. The connecting arm according to claim 5, characterized in that, The rotating mating member (220) includes a first mating part (221) and a second mating part (222) spaced apart. The first mating part (221) and the second mating part (222) are both used to be rotatably connected to the rotating connecting part (1101). The first mating part (221) and the second mating part (222) are also used to clamp the limiting structure (250) on the receiving member (110).
7. The connecting arm according to claim 5 or 6, characterized in that, The connecting arm (200) also includes a mounting member (240) which is fixedly connected to the second end of the arm body (210) and is used to be fixedly connected to the housing (110) of another mechanical joint (100).
8. A robotic arm, characterized in that, The device includes a mechanical joint (100) as described in any one of claims 1 to 4, and a connecting arm (200) as described in any one of claims 5 to 7, wherein the rotating mating member (220) is rotatably connected to the rotating connecting part (1101), the internal gear ring (230) is drively connected to the output gear (130), and the rotational speed of the internal gear ring (230) is less than the rotational speed of the output gear (130).
9. The robotic arm according to claim 8, characterized in that, The number of mechanical joints (100) is multiple, and the number of connecting arms (200) is at least one, with each connecting arm (200) corresponding to and cooperating with two mechanical joints (100). The rotating fitting (220) of each of the connecting arms (200) is rotatably connected to the rotating connecting part (1101) of one of the corresponding mechanical joints (100), the internal gear ring (230) of each of the connecting arms (200) is drivenly connected to the output gear (130) of one of the corresponding mechanical joints (100), and the second end of the arm body (210) of each of the connecting arms (200) is fixedly connected to the receiving part (110) of the other corresponding mechanical joint (100).
10. An intelligent cleaning device, characterized in that, It includes a body and a robotic arm (10) as described in claim 8 or 9, the robotic arm (10) being mounted on the body.