Forearm mechanism, bionic execution system and intelligent cleaning equipment

Abstract

The utility model provides a forearm mechanism, a bionic execution system and intelligent cleaning equipment. The forearm mechanism comprises a mounting shell and a rotary driving part, and the rotary driving part is mounted in the mounting shell. The front arm mechanism further comprises a transmission part and an unloading abutting part, the transmission part is fixedly connected to an output shaft of the rotary driving part, and the rotary driving part is used for driving the transmission part to rotate; the periphery of the transmission part abuts against the installation shell. The unloading abutting piece is connected to the mounting shell and abuts against the side, away from the mounting shell, of the periphery so that the periphery of the transmission piece can be pressed on the mounting shell. The periphery of the transmission piece is further rotationally connected with the unloading abutting piece and / or the mounting shell. Therefore, the bending moment borne by the output shaft is reduced, the output shaft is kept in a state closer to an ideal straight line, the operation precision and stability of the rotary driving part are improved, the mechanical fatigue and abrasion of the rotary driving part are reduced, and the service life of the rotary driving part is prolonged.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent cleaning equipment, and in particular to a forearm mechanism, a bionic execution system and an intelligent cleaning equipment. BACKGROUND

[0002] In the cleaning field, intelligent cleaning robots have been widely used in homes and commercial places, but their functions are mainly limited to conventional operations such as floor dusting, sweeping and mopping. With the progress of science and technology, users expect robots not only to clean the floor, but also to grasp, move and clean surrounding obstacles, garbage and other objects. To this end, a mechanical arm is introduced into the intelligent cleaning robot, and through the installation of the mechanical arm, the robot can flexibly grasp and move objects, significantly expanding its functions.

[0003] In the related art, the end of the mechanical arm is an execution device, which mainly includes a forearm mechanism and an execution mechanism (such as a gripper, a dust collection piece, a sweeping piece, a mop plate, etc.). The execution mechanism is fixedly sleeved on the output shaft of the rotary drive of the forearm mechanism, and the rotary drive is used to drive the execution mechanism to rotate, simulating the movement of the human wrist, thereby improving the flexibility of the mechanical arm.

[0004] However, this technology still has defects that need to be solved. Because the load borne by the execution mechanism is unevenly distributed, the load on the output shaft is also uneven, which tends to cause bending deformation and form a large bending moment on the output shaft. In addition, the stiffness of the bearing cooperating with the output shaft is insufficient, which is prone to deformation under the action of the load, causing the output shaft to fail to maintain an ideal straight state, further exacerbating the generation of bending moment. These factors together cause the output shaft to bear a large bending moment during operation, not only causing poor running accuracy and stability of the rotary drive, but also increasing the mechanical fatigue and wear of the rotary drive, thereby shortening the service life of the forearm mechanism. UTILITY MODEL CONTENT

[0005] The purpose of the present application is to overcome the deficiencies in the prior art and provide a forearm mechanism, a bionic execution system and an intelligent cleaning equipment with high running accuracy and stability and long service life.

[0006] The purpose of the present application is achieved by the following technical solutions:

[0007] In a first aspect, the present application provides a forearm mechanism, which includes a mounting shell and a rotary drive, the rotary drive being installed in the mounting shell, the forearm mechanism further including a transmission member and an unloading pressure piece, the transmission member being fixedly connected to the output shaft of the rotary drive, so that the rotary drive is used to drive the transmission member to rotate; the peripheral edge of the transmission member is in abutment with the mounting shell;

[0008] The unloading pressing piece is connected to the mounting shell and abuts against a side of the peripheral edge away from the mounting shell to press the peripheral edge of the transmission member against the mounting shell; and the peripheral edge is further rotationally connected to the unloading pressing piece and / or the mounting shell.

[0009] In some implementations, the unloading pressing piece further sleeves the outside of the transmission member.

[0010] In some implementations, the transmission member further sleeves the inside of the mounting shell.

[0011] In some implementations, the unloading pressing piece is fixedly connected to the mounting shell, and the peripheral edge is rotationally connected to the unloading pressing piece and the mounting shell, respectively.

[0012] In some implementations, the end surface of the mounting shell is provided with a connecting hole, and the unloading pressing piece is provided with a clearance hole; the forearm mechanism further includes a fastener, the fastener is arranged in the clearance hole, a first end of the fastener is connected to the connecting hole, and a second end of the fastener abuts against the unloading pressing piece, so that the unloading pressing piece is fixedly connected to the mounting shell through the fastener.

[0013] In some implementations, a torque output portion is protruded from a side of the transmission member away from the rotary driving member, and the torque output portion is used to fixedly sleeve the actuating mechanism.

[0014] In a second aspect, the present application provides a bionic actuating system, which includes an actuating mechanism and the forearm mechanism according to any of the above implementations, and the actuating mechanism is fixedly connected to the transmission member.

[0015] In some implementations, the actuating mechanism includes a mounting member and a receiving shell, the mounting member is fixedly connected to the transmission member, and the receiving shell is fixedly connected to the mounting member.

[0016] In some implementations, the receiving shell is provided with a positioning groove, and the mounting member is protruded with a positioning portion, and the positioning portion is embedded in the positioning groove.

[0017] In a third aspect, the present application further provides an intelligent cleaning device, which includes a body and the bionic actuating system according to any of the above implementations, and the mounting shell is mounted to the body.

[0018] Compared with the prior art, the present application has at least the following advantages:

[0019] When the rotary driving member operates, the output shaft generates a bending moment due to uneven load or external force; since the transmission member is fixedly connected to the output shaft, the bending moment is first transmitted to the transmission member; since the transmission member is clamped at the periphery between the load relief pressing member and the mounting shell, i.e., the load relief pressing member presses the periphery of the transmission member on the mounting shell, the bending moment is further transmitted to the mounting shell. The mounting shell, as a rigid support structure, can effectively bear the transmitted bending moment, so that the bending moment of the output shaft is dispersed to the mounting shell, thereby reducing the bending moment borne by the output shaft, not only making the output shaft keep in a more ideal straight line state, thereby improving the operation accuracy and stability of the rotary driving member, but also reducing the mechanical fatigue and wear of the rotary driving member, thereby prolonging the service life of the rotary driving member. BRIEF DESCRIPTION OF DRAWINGS

[0020] 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 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.

[0021] Figure 1 A structural schematic diagram of a forearm mechanism of an embodiment of the present application;

[0022] Figure 2 A sectional view of the forearm mechanism shown in Figure 1

[0023] Figure 3 An enlarged schematic view of the forearm mechanism at A shown in Figure 2

[0024] Figure 4 A sectional view of a bionic execution system of an embodiment of the present application;

[0025] Figure 5 An enlarged schematic view of the bionic execution system at B shown in Figure 4

[0026] Reference signs: 10, forearm mechanism; 20, execution mechanism;

[0027] 100, mounting shell;

[0028] 200, rotary driving member; 201, output shaft;

[0029] 300, transmission member; 310, torque output portion; 301, first locking hole;

[0030] 400, load relief pressing member; 401, position avoiding hole;

[0031] 500, fastener;​​​

[0032] 600, mounting member; 610, positioning portion; 620, connecting portion; 621, second locking hole; 601, first accommodating hole;

[0033] 700, accommodating shell; 701, positioning groove. DETAILED DESCRIPTION

[0034] For the purpose of promoting the understanding of the present application, the present application will be more fully described by reference to the following drawings. The preferred embodiments of the present application are illustrated in the drawings. It should be noted, however, that the present application can be practiced in many different forms and should not be considered as limited to the embodiments set forth in the specification. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the application to those skilled in the art.

[0035] It should be noted that when an element is referred to as being "on" another element, it can be directly on the other element or intervening elements can also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements can also be present.

[0036] 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 this application belongs. The terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the application.

[0037] For better understanding of the technical scheme and beneficial effects of the present application, the present application will be further described in detail below in combination with specific embodiments:

[0038] As shown in Figure 1 The forearm mechanism 10 provided by the embodiments of the present application includes a mounting shell 100 and a rotary driving member 200, and the rotary driving member 200 is installed in the mounting shell 100. The rotary driving member 200 is used to provide a rotary force, and the rotary driving member 200 can be a motor or a speed-reducing motor.

[0039] As shown in Figures 1 to 3As shown, the forearm mechanism 10 further includes a transmission member 300 and a load-bearing pressing member 400. The transmission member 300 is fixedly connected to the output shaft 201 of the rotary drive member 200, so that the rotary drive member 200 drives the transmission member 300 to rotate. The periphery of the transmission member 300 abuts against the mounting housing 100. The load-bearing pressing member 400 is connected to the mounting housing 100 and abuts against the side of the periphery of the transmission member 300 away from the mounting housing 100, so that the periphery of the transmission member 300 is clamped between the load-bearing pressing member 400 and the mounting housing 100, thereby pressing the periphery of the transmission member 300 against the mounting housing 100. The peripheral portion is also rotatably connected to the unloading pressure member 400 and / or the mounting shell 100, that is, at least one of the unloading pressure member 400 and the mounting shell 100 is rotatably connected to the peripheral portion of the transmission member 300 to avoid interference of the unloading pressure member 400 and the mounting shell 100 with the rotation of the transmission member 300.

[0040] In the forearm mechanism 10 described above, when the rotary drive 200 is running, the output shaft 201 experiences bending moment due to uneven load or external forces. Since the transmission component 300 is fixedly connected to the output shaft 201, the bending moment is first transmitted to the transmission component 300. Because the periphery of the transmission component 300 is clamped between the unloading pressure component 400 and the mounting shell 100, i.e., the unloading pressure component 400 presses the periphery of the transmission component 300 onto the mounting shell 100, the bending moment is further transmitted to the mounting shell 100. As a rigid support structure, the mounting shell 100 can effectively bear the transmitted bending moment, distributing the bending moment of the output shaft 201 to the mounting shell 100, thereby reducing the bending moment borne by the output shaft 201. This not only keeps the output shaft 201 closer to an ideal straight state, thus improving the operating accuracy and stability of the rotary drive 200, but also reduces the mechanical fatigue and wear of the rotary drive 200, thereby extending the service life of the rotary drive 200.

[0041] like Figure 3 As shown, in some embodiments, the unloading pressure member 400 is also sleeved on the outside of the transmission member 300, which increases the contact area between the unloading pressure member 400 and the transmission member 300, reduces the stress concentration of the unloading pressure member 400 and the transmission member 300, and thus extends the service life of the unloading pressure member 400 and the transmission member 300.

[0042] like Figure 3 As shown, in some embodiments, the transmission member 300 is also sleeved inside the mounting shell 100, which increases the contact area between the transmission member 300 and the mounting shell 100, reduces the stress concentration of the mounting shell 100 and the transmission member 300, and thus extends the service life of the mounting shell 100 and the transmission member 300.

[0043] like Figure 3As shown in some embodiments, the unloading pressing piece 400 is fixedly connected with the mounting shell 100, and the transmission member 300 is rotatably connected with the unloading pressing piece 400 and the mounting shell 100 at the periphery of the transmission member 300. In this embodiment, since the unloading pressing piece 400 is fixedly connected with the mounting shell 100, the stability of the unloading pressing piece 400 is improved, and it is ensured that the unloading pressing piece 400 continuously presses the periphery of the transmission member 300 on the mounting shell 100, so that the bending moment of the output shaft 201 can be normally dispersed on the mounting shell 100.

[0044] As shown in some embodiments, Figure 1 As shown in some embodiments, the end surface of the mounting shell 100 is provided with a connecting hole (not shown), and the unloading pressing piece 400 is provided with a clearance hole 401. The forearm mechanism 10 further includes a fastener 500, the fastener 500 is arranged in the clearance hole 401, the first end of the fastener 500 is connected in the connecting hole, and the second end of the fastener 500 abuts against the unloading pressing piece 400, so that the unloading pressing piece 400 is fixedly connected with the mounting shell 100 through the fastener 500. In this embodiment, since the connecting hole is arranged on the end surface of the mounting shell 100, the fastener 500 and the connecting hole are not exposed on the peripheral side of the mounting shell 100, and the surface flatness of the peripheral side of the mounting shell 100 is improved.

[0045] Preferably, the connecting hole is a threaded hole, and the fastener 500 is a threaded fastener 500, and the first end of the fastener 500 is threadedly connected in the threaded hole. In other embodiments, the fastener 500 is a clamping pin, the connecting hole is a clamping hole, and the first end of the fastener 500 is clamped in the clamping hole.

[0046] As shown in some embodiments, Figure 1 As shown in some embodiments, the side of the transmission member 300 away from the rotary driving member 200 is provided with a torque output portion 310, the torque output portion 310 is used for fixedly sleeving with the actuating mechanism 20, so that the bending moment of the transmission member 300 is transmitted to the actuating mechanism 20 through the bending moment output portion, to drive the actuating mechanism 20 to rotate.

[0047] As shown in some embodiments, Figure 4 and Figure 5 As shown in some embodiments, the present application further provides a bionic execution system, i.e. a mechanical arm, which includes the actuating mechanism 20 and the forearm mechanism 10 of any of the above embodiments, and the actuating mechanism 20 is fixedly connected with the transmission member 300. In this embodiment, the transmission member 300 is used for driving the actuating mechanism 20 to rotate, to imitate the activity of the human wrist, and the flexibility of the actuating mechanism 20 is improved.

[0048] When the rotating driving member 200 operates, the output shaft 201 generates a bending moment due to uneven load or external force. Since the transmission member 300 is fixedly connected to the output shaft 201, the bending moment is first transmitted to the transmission member 300. Since the transmission member 300 is clamped at the periphery between the load relief pressing member 400 and the mounting shell 100, i.e., the load relief pressing member 400 presses the periphery of the transmission member 300 on the mounting shell 100, the bending moment is further transmitted to the mounting shell 100. The mounting shell 100 as a rigid support structure can effectively bear the transmitted bending moment, so that the bending moment of the output shaft 201 is dispersed to the mounting shell 100, thereby reducing the bending moment borne by the output shaft 201. Not only does this make the output shaft 201 maintain a more ideal straight line state, thereby improving the operating precision and stability of the rotating driving member 200, but also reduces the mechanical fatigue and wear of the rotating driving member 200, thereby prolonging the service life of the rotating driving member 200.

[0049] As shown in Figure 5 some embodiments, the transmission member 300 is provided with a torque output portion 310 on the side away from the rotating driving member 200, and the actuating mechanism 20 is fixedly sleeved on the outside of the torque output portion 310, so that the bending moment of the transmission member 300 is transmitted to the actuating mechanism 20 through the torque output portion to drive the actuating mechanism 20 to rotate.

[0050] As shown in Figure 5 some embodiments, the actuating mechanism 20 includes a mounting member 600 and a receiving shell 700, the mounting member 600 is fixedly connected to the transmission member 300, and the receiving shell 700 is fixedly connected to the mounting member 600. In this embodiment, when the actuating mechanism 20 is installed to the forearm mechanism 10, the mounting member 600 is first fixedly connected to the transmission member 300, and then the receiving shell 700 is fixedly connected to the mounting member 600, so that the transmission member 300 drives the actuating mechanism 20 to rotate.

[0051] As shown in Figure 5 further, the mounting member 600 is sleeved on the outside of the torque output portion 310. The mounting member 600 is provided with a first accommodating hole 601, the transmission member 300 is provided with a first locking hole 301, and the actuating mechanism 20 further includes a first locking member, the first locking member is arranged in the first accommodating hole 301, a first end of the first locking member is threadedly connected in the first locking hole 301, and a second end of the first locking member abuts against the mounting member 600, so that the mounting member 600 is fixedly connected to the torque output portion 310, and further, the mounting member 600 is fixedly sleeved on the outside of the torque output portion 310.

[0052] As shown in Figure 5As shown, the mounting member 600 further includes a protruding connecting portion 620 located within the housing 700, and the connecting portion 620 has a second locking hole 621. The side wall of the housing 700 has a second clearance hole. The actuator 20 also includes a second locking member, which passes through the second clearance hole. The first end of the second locking member is threaded to the second locking hole 621, and the second end of the second locking member abuts against the housing 700, thereby fixing the housing 700 to the connecting portion 620 via the second locking member, thus fixing the housing 700 to the mounting member 600.

[0053] like Figure 5 As shown, in some embodiments, the housing 700 is provided with a positioning groove 701, and the mounting member 600 is provided with a positioning part 610 protruding from it. The positioning part 610 is embedded in the positioning groove 701, and the installation position of the housing 700 is determined by the cooperation between the positioning part 610 and the positioning groove 701. In this embodiment, when the actuator 20 is installed on the forearm mechanism 10, the mounting member 600 is first fixedly connected to the transmission member 300. Then, by the cooperation between the positioning part 610 and the positioning groove 701, the housing 700 is positioned on the mounting member 600, and then the housing 700 is fixedly connected to the mounting member 600. The cooperation between the positioning part 610 and the positioning groove 701 improves the positioning efficiency of the housing 700 and the efficiency of installing the housing 700 onto the mounting member 600.

[0054] This application also provides an intelligent cleaning device, including a body and a bionic execution system according to any of the above embodiments, with a mounting shell 100 installed on the body. The intelligent cleaning device can be used for sweeping, mopping, vacuuming, object clamping, and other existing cleaning operations.

[0055] In the aforementioned intelligent cleaning equipment, when the rotary drive 200 is running, the output shaft 201 experiences bending moment due to uneven load or external forces. Since the transmission component 300 is fixedly connected to the output shaft 201, the bending moment is first transmitted to the transmission component 300. Because the periphery of the transmission component 300 is clamped between the unloading pressure component 400 and the mounting shell 100, i.e., the unloading pressure component 400 presses the periphery of the transmission component 300 onto the mounting shell 100, the bending moment is further transmitted to the mounting shell 100. As a rigid support structure, the mounting shell 100 can effectively bear the transmitted bending moment, distributing the bending moment of the output shaft 201 to the mounting shell 100, thereby reducing the bending moment borne by the output shaft 201. This not only keeps the output shaft 201 closer to an ideal straight line, thus improving the operating accuracy and stability of the rotary drive 200, but also reduces the mechanical fatigue and wear of the rotary drive 200, thereby extending the service life of the rotary drive 200.

[0056] Compared with the prior art, this application has at least the following advantages:

[0057] When the rotary driving member 200 is running, the output shaft 201 will generate bending moment due to uneven load or external force; since the transmission member 300 is fixedly connected to the output shaft 201, the bending moment is first transmitted to the transmission member 300; since the transmission member 300 is clamped at the periphery between the load relief pressing member 400 and the mounting shell 100, i.e. the load relief pressing member 400 presses the periphery of the transmission member 300 on the mounting shell 100, the bending moment will be further transmitted to the mounting shell 100. The mounting shell 100 as a rigid support structure can effectively bear the transmitted bending moment, so that the bending moment of the output shaft 201 is dispersed to the mounting shell 100, thereby reducing the bending moment borne by the output shaft 201, not only making the output shaft 201 keep in a more ideal straight line state, thereby improving the running accuracy and stability of the rotary driving member 200, but also reducing the mechanical fatigue and wear of the rotary driving member 200, thereby prolonging the service life of the rotary driving member 200.

[0058] The above-described embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the disclosed patent scope. It should be noted that for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application patent should be subject to the appended claims.

Claims

1. A forearm mechanism, comprising a mounting shell (100) and a rotary drive (200) mounted in the mounting shell (100), characterized in that, the forearm mechanism further comprises a transmission member (300) and an unloading pressing member (400), the transmission member (300) is fixedly connected to an output shaft (201) of the rotary drive (200), so that the rotary drive (200) is used to drive the transmission member (300) to rotate; the periphery of the transmission member (300) abuts against the mounting shell (100); the unloading pressing member (400) is connected to the mounting shell (100) and abuts against one side of the periphery away from the mounting shell (100), so as to press the periphery of the transmission member (300) against the mounting shell (100); the periphery is further rotationally connected with the unloading pressing member (400) and / or the mounting shell (100).

2. The forearm mechanism of claim 1, wherein, The unloading pressing member (400) is further sleeved on the outside of the transmission member (300).

3. The forearm mechanism of claim 1, wherein, The transmission member (300) is further sleeved on the inside of the mounting shell (100).

4. The forearm mechanism of claim 1, wherein, The unloading pressing member (400) is fixedly connected with the mounting shell (100), and the periphery is respectively rotationally connected with the unloading pressing member (400) and the mounting shell (100).

5. The forearm mechanism of claim 4, wherein, An end surface of the mounting shell (100) is provided with a connecting hole, and the unloading pressing member (400) is provided with a position avoiding hole (401); the forearm mechanism (10) further comprises a fastener (500), the fastener (500) is arranged in the position avoiding hole (401), a first end of the fastener (500) is connected in the connecting hole, and a second end of the fastener (500) abuts against the unloading pressing member (400), so that the unloading pressing member (400) is fixedly connected with the mounting shell (100) through the fastener (500).

6. The forearm mechanism according to any one of claims 1 to 5, characterized in that A side of the transmission member (300) away from the rotary drive (200) is provided with a torque output portion (310), and the torque output portion (310) is used to be fixedly sleeved with an actuating mechanism (20).

7. A bionic execution system, characterized in that, The actuating mechanism (20) is fixedly connected with the transmission member (300).

8. The bionic execution system according to claim 7, characterized in that, The actuating mechanism (20) comprises a mounting member (600) and a receiving shell (700), the mounting member (600) is fixedly connected with the transmission member (300), and the receiving shell (700) is fixedly connected with the mounting member (600).

9. The bionic execution system according to claim 8, characterized in that, The receiving shell (700) is provided with a positioning groove (701), and the mounting member (600) is provided with a positioning portion (610), the positioning portion (610) is embedded in the positioning groove (701).

10. An intelligent cleaning device, characterized in that, The mounting shell (100) is mounted on a machine body.

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