Mechanical arm driving structure, mechanical arm and cleaning equipment

Abstract

The utility model provides a mechanical arm driving structure, a mechanical arm and cleaning equipment. The mechanical arm driving structure comprises an arm body, a transmission part and a driving device, the transmission part comprises a first power output end, a second power output end and a power input end, and the first power output end is connected with the arm body so as to drive the arm body to rotate around a first axis. The second power output end is connected with the arm body so as to drive the arm body to rotate around the second axis. An output shaft of the driving device is connected with the power input end so as to provide source power for the first power output end and the second power output end. According to the mechanical arm driving structure, the space proportion of a plurality of driving devices in a narrow installation space of the cleaning equipment is reduced, the space layout of the cleaning equipment is more compact, the equipment size is reduced, the overall space utilization rate of the cleaning equipment is improved, and meanwhile the design and manufacturing cost of the mechanical arm can be reduced through application of the single driving device.

Description

Technical Field

[0001] This disclosure relates to the field of cleaning equipment technology, specifically to a robotic arm drive structure, a robotic arm, and a cleaning device. Background Technology

[0002] In the control system of robotic arms in cleaning equipment, the robotic arms typically employ a foldable design to adapt to limited space. When not in use, the robotic arm is usually folded and stored in the robotic arm compartment of the cleaning equipment. When the robotic arm performs cleaning tasks, multiple drive devices are required to achieve work posture transitions. For example, transitioning the robotic arm from a horizontal to a vertical position, and rotating it around the direction of gravity in a vertical position, usually requires two drive devices to achieve the transition of the robotic arm's motion state. Due to the limited installation space of cleaning equipment, it is difficult to accommodate multiple drive devices, resulting in poor overall space utilization. Utility Model Content

[0003] In view of the above-mentioned shortcomings, this disclosure provides a robotic arm drive structure, a robotic arm, and a cleaning device to improve the technical problem that existing cleaning devices control the movement of different dimensions through multiple drive devices, resulting in low overall space utilization.

[0004] To achieve the above and other related objectives, a first aspect of this disclosure provides a robotic arm drive structure. The robotic arm drive structure includes an arm body, a transmission unit, and a drive device. The transmission unit includes a first power output end, a second power output end, and a power input end. The first power output end is connected to the arm body to drive the arm body to rotate about a first axis. The second power output end is connected to the arm body to drive the arm body to rotate about a second axis. The output shaft of the drive device is connected to the power input end to provide power to the first and second power output ends.

[0005] In the above technical solution, a single drive unit acts as a power source, providing stable power output to the first and second power output ends of the transmission unit. The first power output end drives the arm to rotate around a first axis, and the second power output end drives the arm to rotate around a second axis, thereby realizing the working posture conversion of the arm. A single drive unit occupies relatively little space, making the entire robotic arm drive structure more flexible in spatial layout and reducing its volume. Simultaneously, a single drive unit can reduce the design and manufacturing costs of the robotic arm drive structure.

[0006] In one embodiment of the robotic arm drive structure disclosed herein, the robotic arm drive structure further includes a frame and a base. The base is rotatably mounted on the frame, and the arm is rotatably mounted on the base. A first power output end drives the arm to rotate relative to the base about a first axis. A second power output end is connected to the arm through the base to drive the base to rotate relative to the frame about a second axis.

[0007] In the above technical solution, the frame provides stable support for the base, and the base, as a connecting component between the frame and the arm, combines the rotation of the arm around the first and second axes with the fixed foundation of the frame. Driven by the first power output end, the arm rotates around the first axis; driven by the second power output end, the base enables the arm to rotate around the second axis. This allows the arm to flexibly adjust its posture and direction of movement in complex environments, increasing its flexibility and range of motion.

[0008] In one embodiment of the robotic arm drive structure disclosed herein, the transmission unit includes an input mechanism, a first output mechanism, and a second output mechanism. The input mechanism includes a power input end, the first output mechanism includes a first power output end, and the second output mechanism includes a second power output end. The input mechanism transmits power to the first power output end through the first output mechanism, and the input mechanism transmits power to the second power output end through the second output mechanism.

[0009] In the above technical solution, the input mechanism receives power from the drive device, using the power input end as the starting point for power transmission, and distributes the power to the first output mechanism and the second output mechanism. This allows the two movement directions of the arm to share the same power source, avoiding the need for a separate drive device for each movement direction, thus simplifying the structure, reducing costs, and improving system integration. The first output mechanism is specifically responsible for transmitting the power from the input mechanism to the first power output end, precisely controlling the rotation of the arm around the first axis, improving the accuracy and reliability of the arm's movement around the first axis. Simultaneously, the second output mechanism transmits the power from the input mechanism to the second power output end, providing stable and reliable power support for the arm's rotation around the second axis, further expanding the robotic arm's range of motion and flexibility.

[0010] In one embodiment of the robotic arm drive structure disclosed herein, the input mechanism further includes a first transmission shaft, the power input end being a worm gear assembly, the worm gear assembly including a worm and a worm wheel, the output shaft of the drive device being fixedly connected to the worm, the worm meshing with the worm wheel, and the worm wheel transmitting the power output by the drive device to the first output mechanism and the second output mechanism through the first transmission shaft.

[0011] In the above technical solution, the worm gear assembly has a self-locking characteristic, which enables the arm to maintain a stable position and posture at a specific location. This ensures that the arm will not easily change position even under the action of external forces, guaranteeing the stability of power transmission, improving the precision of arm control, and enhancing the anti-interference capability and reliability of the robotic arm drive structure.

[0012] In one embodiment of the robotic arm drive structure disclosed herein, the first output mechanism has a first state of driving the arm body to rotate around a first axis and a second state of stopping the arm body from rotating around the first axis, and the second output mechanism has a third state of driving the arm body to rotate around a second axis and a fourth state of stopping the arm body from rotating around the second axis.

[0013] In the above technical solution, in the first state, the first output mechanism provides power for the rotation of the arm body around the first axis, ensuring that the rotation of the arm body around the first axis reaches a set position. In the second state, the first output mechanism maintains the current position of the arm body on the first axis. In the third state, the second output mechanism provides power for the rotation of the arm body around the second axis, ensuring that the rotation of the arm body around the second axis reaches a predetermined position. In the fourth state, the second output mechanism maintains the current position of the arm body around the second axis. The different states of the first and second output mechanisms enable precise movement and stable holding of the arm body in two different directions.

[0014] In one embodiment of the robotic arm drive structure disclosed herein, in response to the first output mechanism changing from a first state to a second state, the second output mechanism changes from a fourth state to a third state.

[0015] In the above technical solution, the first output mechanism and the second output mechanism adjust the rotation of the arm in two directions in stages, which can improve the positioning accuracy of the arm in space. At the same time, adjusting the rotation of the arm around the first axis and around the second axis in stages optimizes the movement path of the arm, reduces unnecessary space occupation, avoids possible conflicts or instability when the movement in two directions is carried out simultaneously, and ensures that the movement of the arm is more stable and coordinated.

[0016] In one embodiment of the robotic arm drive structure disclosed herein, the first output mechanism further includes a first cantilever. An input mechanism drives the first cantilever to rotate. The first cantilever is provided with a first hook portion, and a first power output end is provided with a first groove adapted to the first hook portion. In a first state, the first cantilever rotates, and the first hook portion is slidably connected to the first groove to drive the first power output end to rotate. In a second state, the first hook portion disengages from the first groove, and the first cantilever travels without load to stop the rotation of the first power output end.

[0017] In the above technical solution, in the first state, the engagement of the first hook and the first groove enables the rotation of the first cantilever to be effectively transmitted to the first power output end, thereby realizing the first power output end driving the boom to rotate around the first axis. In the second state, the engagement of the first hook and the first groove disengages, the power transmission can be reliably cut off, and finally, precise control of the boom's rotation around the first axis is achieved.

[0018] In one embodiment of the robotic arm drive structure disclosed herein, the second output mechanism further includes a first gear, a second gear, and a second cantilever. The first gear meshes with the second gear, and the input mechanism transmits power to the second cantilever through the first and second gears. The second cantilever is provided with a second hook portion, and the second power output end is provided with a second groove adapted to the second hook portion. In the third state, the second cantilever rotates, and the second hook portion slides into the second groove to drive the second power output end to rotate. In the fourth state, the second hook portion disengages from the second groove, and the second cantilever travels without load to stop the rotation of the second power output end.

[0019] In the above technical solution, the meshing of the first and second gears allows the power provided by the input mechanism to change direction through gear transmission, ensuring efficient power transmission from the input mechanism to the second cantilever and improving power transmission efficiency. In the third state, the engagement of the second hook and the second groove enables the rotation of the second cantilever to be effectively transmitted to the second power output end, thereby enabling the second power output end to drive the arm body to rotate around the second axis. In the fourth state, the engagement of the second hook and the second groove disengages, ensuring that when the arm body needs to maintain its current position after rotating around the second axis, power transmission can be reliably cut off, ultimately achieving precise control of the arm body's rotation around the second axis.

[0020] In one embodiment of the robotic arm drive structure disclosed herein, the second output mechanism further includes a transmission assembly, which includes a third transmission shaft, a third gear, and a fourth gear. The third gear and the fourth gear are coaxially mounted on the third transmission shaft. The third gear meshes with the first gear, and the fourth gear meshes with the second gear.

[0021] In the above technical solution, the arrangement of the transmission components makes the transmission layout of the second output mechanism more compact, reduces the size of the first and second gears, reduces the space occupied by the second output mechanism, realizes power transmission and motion control within a limited installation space, and improves transmission efficiency.

[0022] A second aspect of this disclosure provides a robotic arm that includes the robotic arm drive structure of any of the above claims.

[0023] In the above technical solution, the robotic arm includes a robotic arm drive structure. The single drive device of the robotic arm drive structure realizes efficient power transmission and flexible motion control of the entire robotic arm structure. At the same time, the overall spatial layout of the robotic arm is more compact, reducing the volume occupied by the robotic arm, reducing the manufacturing cost of the robotic arm, and improving the overall reliability and flexibility of the robotic arm.

[0024] A third aspect of this disclosure provides a cleaning device that includes the aforementioned robotic arm.

[0025] In the above technical solution, the cleaning equipment includes a robotic arm. The robotic arm's single-motor drive and compact spatial layout allow it to adapt to the limited installation space of the cleaning equipment, reducing its volume footprint. Simultaneously, the robotic arm achieves efficient power transmission and flexible motion control, accurately completing cleaning tasks while reducing manufacturing costs and improving the overall space utilization of the cleaning equipment.

[0026] In the disclosed robotic arm drive structure, robotic arm, and cleaning equipment, the robotic arm drive structure uses a single drive device as a power source to provide power to the first and second power output ends of the transmission unit. The first power output end of the transmission unit drives the arm body to rotate around a first axis, and the second power output end drives the arm body to rotate around a second axis, thereby realizing the working posture conversion of the robotic arm. This robotic arm drive structure reduces the space ratio of multiple drive devices in the confined installation space of the cleaning equipment, making the spatial layout of the cleaning equipment more compact, reducing the equipment volume, and improving the overall space utilization of the cleaning equipment. At the same time, the application of a single drive device can also reduce the design and manufacturing costs of the robotic arm. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other embodiments can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a three-dimensional structural diagram of the robotic arm drive structure in one embodiment of the present disclosure. Figure 1 ;

[0029] Figure 2 This is a three-dimensional structural diagram of the robotic arm drive structure in one embodiment of the present disclosure. Figure 2 ;

[0030] Figure 3 This is a schematic diagram of the frame of the robotic arm drive structure in one embodiment of the present disclosure;

[0031] Figure 4 This is a top view of one embodiment of the robotic arm drive structure disclosed herein;

[0032] Figure 5 This is a schematic diagram of the arm body rotating around a first axis at an angle in one embodiment of the present disclosure;

[0033] Figure 6 This is a schematic diagram of another angle after the arm body rotates about the first axis in one embodiment of this disclosure;

[0034] Figure 7This is a schematic diagram of the arm body rotating around the second axis at an angle in one embodiment of the present disclosure;

[0035] Figure 8 This is a schematic diagram of another angle after the arm body rotates around the second axis in one embodiment of this disclosure.

[0036] Component designation explanation:

[0037] 10. First axis; 20. Second axis; 100. Frame; 200. Seat; 210. Connecting seat; 220. Second rotating shaft; 300. Arm; 310. First rotating shaft; 400. Transmission unit; 410. Input mechanism; 411. Worm; 412. Worm wheel; 413. First transmission shaft; 420. First output mechanism; 421. First cantilever; 422. First power output end; 423. First hook; 424. First groove; 430. Second output mechanism; 431. First gear; 432. Second gear; 433. Second transmission shaft; 434. Second cantilever; 435. Second power output end; 436. Second hook; 437. Second groove; 438. Transmission assembly; 4381. Third transmission shaft; 4382. Third gear; 4383. Fourth gear; 500. Drive device. Detailed Implementation

[0038] The following specific examples illustrate the implementation of this disclosure. Those skilled in the art can easily understand other advantages and effects of this disclosure from the content disclosed in this specification. This disclosure can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this disclosure. It should be noted that, unless otherwise specified, the following embodiments and features can be combined with each other. It should also be understood that the terminology used in the embodiments of this disclosure is for describing specific implementation schemes and not for limiting the scope of protection of this disclosure. Test methods in the following embodiments that do not specify specific conditions are generally performed under conventional conditions or according to the conditions recommended by the respective manufacturers.

[0039] When numerical ranges are given in the embodiments, it should be understood that, unless otherwise stated in this disclosure, both endpoints of each numerical range and any value between the two endpoints may be selected. Unless otherwise defined, all technical and scientific terms used in this disclosure and the description of this disclosure by those skilled in the art can be implemented using any methods, apparatus, and materials similar to or equivalent to those in the embodiments of this disclosure.

[0040] It should be noted that the terms such as "upper", "lower", "left", "right", "middle" and "one" used in this specification are only for clarity of description and are not intended to limit the scope of this disclosure. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of this disclosure.

[0041] Please see Figures 1 to 8 This disclosure provides a robotic arm drive structure, a robotic arm, and a cleaning device. The robotic arm drive structure serves as the power output mechanism for the robotic arm, enabling multi-directional motion control. This robotic arm drive structure is suitable for various application scenarios, such as use in industrial automated production lines as the core drive component of a robotic arm, or in robotic arms within cleaning equipment to control the robotic arm for efficient and flexible cleaning operations. The cleaning equipment can be a sweeper or a floor scrubber, but is not limited to these. For example, regarding the application of this robotic arm drive structure in a sweeper, please refer to [link to relevant documentation]. Figure 1 The robotic arm drive structure includes an arm body 300, a transmission unit 400, and a drive device 500. The arm body 300 is the main actuator of the robotic arm, used to position and operate cleaning tools or other end effectors mounted at the end of the arm body 300. The transmission unit 400 is the core component of the robotic arm drive structure, responsible for distributing the power of the drive device 500 to different directions of movement, thereby enabling motion control of the arm body 300 in different directions.

[0042] Please see Figure 1 , Figure 5 and Figure 6 The transmission unit 400 includes a first power output end 422, a second power output end 435, and a power input end. The power input end is connected to the output shaft of the drive device 500, receives power from the drive device 500, and transmits the power to the first power output end 422 and the second power output end 435. The first power output end 422 is connected to the arm body 300 and transmits power to the arm body 300 to drive the arm body 300 to rotate around the first axis 10. The rotation of the arm body 300 around the first axis 10 can be used to extend or retract the arm body 300 from the storage compartment of the cleaning equipment, or to adjust the position of the arm body 300 when performing cleaning tasks within the cleaning area. The first axis 10 is not limited and can be in any direction in space, with the specific direction set according to the control requirements of the arm body 300. Specifically, in this embodiment, the arm body 300 rotates around the first axis 10 to extend or retract the arm body 300 from the storage compartment of the cleaning equipment. The connection method between the first power output end 422 and the boom 300 is not limited. The first power output end 422 can be directly connected to the boom 300, or it can be indirectly connected to the boom 300 through connecting parts such as a drive shaft, as long as it can drive the boom 300 to rotate around the first axis 10.

[0043] Please see Figure 1 , Figure 7 and Figure 8 The second power output end 435 is connected to the arm body 300, transmitting power to the arm body 300 to drive it to rotate around the second axis 20. The rotation of the arm body 300 around the second axis 20 can be a secondary adjustment of the arm body 300's position after it extends from the storage compartment, bringing it to a preset extension position. It can also be a position adjustment of the arm body 300 during cleaning tasks. The second axis 20 is not limited and can be in any spatial direction. The first axis 10 and the second axis 20 can be in the same direction or intersect, the specific direction depending on the control requirements of the arm body 300. Specifically, in this embodiment, the first axis 10 and the second axis 20 intersect, the arm body 300 rotates around the first axis 10, and the arm body 300 is raised from a horizontal direction to a vertical direction relative to the frame 100, extending out of the storage compartment. The boom 300 rotates around the second axis 20. Relative to the frame 100, the boom 300 rotates vertically, allowing for a secondary adjustment of its working posture, ultimately bringing it to the set working position. The connection method between the second power output end 435 and the boom 300 is not limited. The second power output end 435 can be directly connected to the boom 300, or indirectly connected via a drive shaft, intermediate component, or other connecting parts, as long as it enables the boom 300 to rotate around the second axis 20.

[0044] Please see Figure 1 The drive unit 500 serves as the power source for the entire robotic arm drive structure and is fixedly mounted on the cleaning equipment. The output shaft of the drive unit 500 is connected to the power input end. The drive unit 500 provides power to the first power output end 422 and the second power output end 435 through the power input end of the transmission unit 400, driving the arm body 300 to rotate around the first axis 10 and around the second axis 20. The drive unit 500 can be a motor, such as a DC motor, servo motor, or stepper motor, or a hydraulic motor. The connection method between the drive unit 500 and the power input end is not limited; it can be a direct drive motor or an indirect connection via common transmission mechanisms such as chain drive, belt drive, or gear drive to transmit power to the power input end.

[0045] The disclosed robotic arm drive structure, installed on a cleaning device, controls the extension of the arm 300 from the storage compartment of the cleaning device to a set working position and its retraction back into the storage compartment. A single drive unit 500 serves as a power source, providing stable power to the first power output end 422 and the second power output end 435 of the transmission unit 400. The first power output end 422 drives the arm 300 to rotate around a first axis 10, controlling the arm 300 to move from a retracted state to an extended state on the cleaning device. The second power output end 435 drives the arm 300 to rotate around a second axis 20, moving the arm 300 from the extended state to the set working state, thereby realizing the working posture conversion of the robotic arm and meeting the flexibility control requirements of the arm 300. The single drive unit 500 reduces the space occupied by the robotic arm drive structure on the cleaning device, making the spatial layout of the cleaning device more compact, reducing the size of the cleaning device, and improving the overall space utilization of the cleaning device. At the same time, the application of the single drive unit 500 can also reduce the design and manufacturing costs of the robotic arm, thereby reducing the manufacturing cost of the cleaning device.

[0046] Please see Figure 1 , Figure 3 and Figure 4In one embodiment of the robotic arm drive structure disclosed herein, the robotic arm drive structure further includes a frame 100 and a base 200. The frame 100 serves as a support device for the entire robotic arm drive structure. The structure of the frame 100 is not limited and can be any suitable type of structure that can provide stable installation support for the robotic arm drive structure. Specifically, in this embodiment, the frame 100 is a storage compartment structure. The frame 100 is installed on the cleaning equipment and serves as a storage compartment for the arm 300, as well as a mounting compartment for the base 200, the transmission part 400, and the drive device 500. The base 200 serves as a transfer connector connecting the frame 100 and the arm 300. The base 200 is rotatably mounted on the frame 100, and the arm 300 is rotatably mounted on the base 200 via a first rotating shaft 310. A first power output end 422 is fixedly connected to the first rotating shaft 310, driving the arm 300 to rotate relative to the base 200 around a first axis 10. The axial direction of the first rotating shaft 310 is the first axis 10. The second power output end 435 is fixedly connected to the base 200 and the arm 300 is connected through the base 200 to drive the base 200 to rotate relative to the frame 100, thereby realizing the rotation of the arm 300 around the second axis 20. Specifically, in this embodiment, the base 200 includes a connecting seat 210 and a second rotating shaft 220. The arm 300 is rotatably connected to the connecting seat 210 through the first rotating shaft 310. One end of the second rotating shaft 220 is rotatably mounted on the frame 100, and the other end is fixedly connected to the connecting seat 210. The second power output end 435 is fixedly connected to the second rotating shaft 220 to drive the second rotating shaft 220 to rotate. The second axis 20 is the axial direction of the second rotating shaft 220, and the first rotating shaft 310 and the second rotating shaft 220 are perpendicular to each other, that is, the first axis 10 and the second axis 20 are perpendicular to each other. The base 200 combines the rotation of the arm 300 around the first axis 10 and the second axis 20 with the fixed foundation of the frame 100, enabling the arm 300 to adjust its posture and direction of movement, thus increasing its flexibility and range of motion. This allows the arm 300 to extend from the storage compartment of the frame 100 and rotate to a set working position, or to rotate from a set working position and retract into the storage compartment.

[0047] Please see Figure 1 and Figure 2In one embodiment of the robotic arm drive structure disclosed herein, the transmission unit 400 includes an input mechanism 410, a first output mechanism 420, and a second output mechanism 430. The input mechanism 410 includes a power input end, receiving power from the drive device 500. The power input end can be a common transmission structure such as a gear assembly, sprocket assembly, belt drive assembly, or worm gear drive assembly. The first output mechanism 420 includes a first power output end 422, and the second output mechanism 430 includes a second power output end 435. The input mechanism 410 uses the power input end as the starting point for power transmission and transmits power to the first power output end 422 through the first output mechanism 420. Simultaneously, the input mechanism 410 transmits power to the second power output end 435 through the second output mechanism 430, allowing the arm 300 to share the same power source in its movements around the first axis 10 and the second axis 20. This avoids the need for a separate drive device for each rotation direction of the arm 300, thereby simplifying the design of the robotic arm drive structure, reducing costs, and improving system integration. The first output mechanism 420 is specifically responsible for transmitting the power from the input mechanism 410 to the first power output end 422, precisely controlling the rotation of the arm 300 around the first axis 10, thus improving the accuracy and reliability of the arm 300's rotation around the first axis 10. Simultaneously, the second output mechanism 430 transmits the power from the input mechanism 410 to the second power output end 435, ensuring stable and reliable power support for the arm 300 when rotating around the second axis 20, guaranteeing precise rotation control of the arm 300, and further expanding the range of motion and flexibility of the robotic arm.

[0048] Please see Figure 1 and Figure 2In one embodiment of the robotic arm drive structure disclosed herein, the input mechanism 410 further includes a first transmission shaft 413. The power input end is a worm gear assembly, which includes a worm 411 and a worm wheel 412. The output shaft of the drive device 500 is fixedly connected to the worm 411, and the worm 411 is meshed with the worm wheel 412. The worm wheel 412 transmits the power output by the drive device 500 to the first output mechanism 420 and the second output mechanism 430 through the first transmission shaft 413. The worm gear assembly has a self-locking characteristic, which allows the arm 300 to maintain a stable position and posture at a specific location. This ensures that the arm 300 will not easily change position even under the action of external forces, guaranteeing the stability of power transmission, improving the accuracy of arm 300 control, and enhancing the anti-interference capability and reliability of the robotic arm drive structure. Specifically, in this embodiment, the first drive shaft 413 is rotatably mounted on the frame 100, and the worm gear 412 is coaxially fixedly mounted on the first drive shaft 413. The output shaft of the drive device 500 drives the worm gear 411 to rotate, thereby driving the first drive shaft 413 to rotate. The first drive shaft 413 rotates relative to the frame 100 and distributes power to the first output mechanism 420 and the second output mechanism 430 to realize power transmission.

[0049] Please see Figure 1 , Figure 5 and Figure 6 In one embodiment of the robotic arm drive structure disclosed herein, the first output mechanism 420 has a first state of driving the arm body 300 to rotate around the first axis 10 and a second state of stopping the arm body 300 from rotating around the first axis 10. In the first state, the first output mechanism 420 provides power for the rotation of the arm body 300 around the first axis 10, and the arm body 300 rotates relative to the base 200 around the first pivot 310 until the arm body 300 reaches a set position around the first axis 10. In the second state, the first power output end 422 stops driving the rotation of the base 200, and the arm body 300 no longer rotates relative to the base 200, that is, the rotation state of the arm body 300 around the first axis 10 remains at the current position. The second output mechanism 430 has a third state of driving the arm body 300 to rotate around the second axis 20 and a fourth state of stopping the arm body 300 from rotating around the second axis 20. In the third state, the second output mechanism 430 drives the base 200 to rotate relative to the frame 100, thereby driving the arm body 300 to rotate around the second axis 20. This ensures that the arm 300 rotates to a set position around the second axis 20. In the fourth state, the second output mechanism 430 maintains the current position of the arm 300's rotation around the second axis 20. The different states of the first output mechanism 420 and the second output mechanism 430 enable precise movement and stable holding of the arm 300 in two different directions.

[0050] Please see Figures 5 to 8In one embodiment of the robotic arm drive structure disclosed herein, in response to the first output mechanism 420 changing from a first state to a second state and the second output mechanism 430 changing from a fourth state to a third state, the arm 300 changes from a retracted state to an extended state. Alternatively, in response to the second output mechanism 430 changing from a third state to a fourth state and the first output mechanism 420 changing from a second state to a first state, the arm 300 changes from an extended state to a retracted state. The first output mechanism 420 and the second output mechanism 430 adjust the rotation of the arm 300 in two directions in stages, which can improve the positioning accuracy of the arm 300 in space. Simultaneously adjusting the rotation of the arm 300 around the first axis 10 and around the second axis 20 in stages optimizes the movement path of the arm 300, reduces unnecessary space occupation, and avoids interference or conflict with the frame 100 or other components of the cleaning equipment that may occur when movement in two directions occurs simultaneously, ensuring that the movement of the arm 300 is more stable and coordinated.

[0051] Please see Figure 1 , Figure 2 , Figures 5 to 8 In one embodiment of the robotic arm drive structure disclosed herein, the first output mechanism 420 further includes a first cantilever 421. The first transmission shaft 413 of the input mechanism 410 is fixedly connected to the first cantilever 421 to drive the first cantilever 421 to rotate. The first cantilever 421 is provided with a first hook portion 423, and the first power output end 422 is provided with a first groove 424 adapted to the first hook portion 423. The length of the first groove 424 is not limited and can be specifically designed according to the rotation angle of the arm body 300 around the first axis 10. In the first state, the cooperation of the first hook portion 423 and the first groove 424 enables the rotation of the first cantilever 421 to be effectively transmitted to the first power output end 422, thereby realizing that the first power output end 422 drives the arm body 300 to rotate around the first axis 10. In the second state, the engagement between the first hook 423 and the first groove 424 is disengaged, ensuring that when the arm 300 needs to remain in the current position after rotating around the first axis 10, the power transmission can be reliably cut off, ultimately achieving precise control of the arm 300's rotation around the first axis 10.

[0052] In one specific embodiment, taking the arm 300 rotating 90° relative to the base 200 about the first axis 10 and the arm 300 rotating 90° relative to the frame 100 about the second axis 20 as examples, when it is necessary to change the arm 300 from a retracted state to an extended state, the drive device 500 transmits power to the first output mechanism 420 through the input mechanism 410. Please refer to [link / reference]. Figure 5In the first state, the first output mechanism 420 drives the first cantilever 421 to rotate counterclockwise by 90° in the first drive shaft 413, causing the first hook 423 to slide back and forth once in the first groove 424, and driving the first power output end 422 to rotate clockwise by 90°. Responding to the rotation of the first power output end 422, the arm 300 rotates clockwise by 90° around the first axis 10, changing the arm 300 from a horizontal state to a vertical state, thus completing the first state of the first output mechanism 420. The first cantilever 421 continues to rotate counterclockwise by 90°, and the first output mechanism 420 is in the second state. The first cantilever 421 is idle, meaning the first hook 423 disengages from the first groove 424, and the first cantilever 421 rotates synchronously with the first drive shaft 413. However, the first cantilever 421 no longer transmits power to the first power output end 422, and the first power output end 422 stops rotating around the first axis 10, while the arm 300 remains in a vertical state. Conversely, when the arm 300 needs to move from the extended state to the retracted state, the working process is reversed.

[0053] Please see Figure 2 , Figure 6 and Figure 8 In one embodiment of the robotic arm drive structure disclosed herein, the second output mechanism 430 further includes a first gear 431, a second gear 432, a second transmission shaft 433, and a second cantilever 434. The first gear 431 is coaxially mounted on the first transmission shaft 413, and the first gear 431 meshes with the second gear 432. The first gear 431 can directly mesh with the second gear 432 to achieve power transmission, or the first gear 431 can be indirectly connected to the second gear 432 through a transmission assembly to achieve power transmission, which can be determined according to the actual installation space size. The cooperation between the first gear 431 and the second gear 432 allows the power provided by the input mechanism 410 to change direction through gear transmission. The second transmission shaft 433 is rotatably mounted on the frame 100, and the second gear 432 and the second cantilever 434 are coaxially mounted on the second transmission shaft 433. The input mechanism 410 transmits power to the second cantilever 434 through the first gear 431 and the second gear 432. The second cantilever 434 is provided with a second hook portion 436, and the second power output end 435 is provided with a second groove 437 adapted to the second hook portion 436, so as to realize the power transmission from the second cantilever 434 to the second power output end 435. The second output mechanism 430 ensures that the power is efficiently transmitted from the input mechanism 410 to the second cantilever 434, thereby improving the power transmission efficiency.

[0054] Please see Figures 5 to 8In one specific embodiment, taking the sequential rotation of the arm 300 relative to the seat 200 around the first axis 10 by 90° and the arm 300 relative to the frame 100 around the second axis 20 by 90° as an example, when the first output mechanism 420 is in the first state, that is, when the first hook part 423 is slidably connected to the first groove 424, the second output mechanism 430 is in the fourth state, the second cantilever 434 is idle, that is, the second hook part 436 is disengaged from the second groove 437, the second cantilever 434 rotates synchronously with the first transmission shaft 413, but the second cantilever 434 no longer transmits power to the second power output end 435, and the seat 200 does not rotate relative to the frame 100. When the first output mechanism 420 enters the second state, that is, when the first cantilever 421 is idle, the second output mechanism 430 enters the third state. The rotation of the second cantilever 434 causes the second hook 436 to slide into the second groove 437, driving the second power output end 435 to rotate. This, in turn, causes the base 200 to rotate relative to the frame 100, and consequently, causes the arm 300 on the base 200 to rotate around the second axis 20. The design of the second hook 436 and the second groove 437 controls the transmission and disconnection of power transmission when the arm 300 rotates around the second axis 20, ultimately achieving precise control of the arm 300's rotation around the second axis 20.

[0055] Please see Figure 2 In one embodiment of the robotic arm drive structure disclosed herein, the second output mechanism 430 further includes a transmission assembly 438. The transmission assembly 438 includes a third transmission shaft 4381, a third gear 4382, and a fourth gear 4383. The third transmission shaft 4381 is rotatably mounted on the frame 100. The third gear 4382 and the fourth gear 4383 are coaxially mounted on the third transmission shaft 4381. The third gear 4382 meshes with the first gear 431 to realize the reversing transmission of power. The fourth gear 4383 meshes with the second gear 432. The arrangement of the transmission assembly 438 makes the transmission layout of the second output mechanism 430 more compact, reduces the size of the first gear 431 and the second gear 432, reduces the space occupied by the second output mechanism 430, realizes power transmission and motion control within a limited installation space, and improves transmission efficiency.

[0056] Please see Figures 5 to 8In one specific embodiment, taking the sequential rotation of the arm 300 relative to the base 200 around the first axis 10 by 90° and the rotation of the arm 300 relative to the frame 100 around the second axis 20 by 90° as an example, when the arm 300 needs to be changed from a retracted state to an extended state, the first output mechanism 420, within one cycle from the first state to the second state, drives the first transmission shaft 413 to rotate the first cantilever 421 by 180°. The rotation of the first cantilever 421 from 0° to 90° is the first state of the first output mechanism 420, causing the arm 300 to rotate from 0° to 90° around the first axis 10. The robotic arm drive structure also includes a limiting structure. When the arm 300 rotates to 90°, the limiting structure is fixedly connected to the first power output end 420. When the arm 300 rotates to 90°, the limiting structure restricts the first power output end 420 from rotating around the first axis 10, thereby restricting the arm 300 from rotating around the first axis 10, but does not restrict the arm 300 from rotating around the second axis 20. The limiting mechanism can be installed on the cleaning equipment or on the frame 100. The limiting mechanism can be a hook, magnet, limiting pin, or other commonly used structures with limiting functions, but is not limited to these. The rotation of the first cantilever 421 from 90° to 180° is the second state of the first output mechanism 420, and the arm 300 no longer rotates around the first axis 10. During this cycle, the first transmission shaft 413 drives the first gear 431 to rotate synchronously by 180°. The gear ratio between the first gear 431 and the third gear 4382 is 1:2, and the first gear 431 drives the third gear 4382 to rotate synchronously by 360°. The third gear 4382 and the fourth gear 4383 are coaxial and have a gear ratio of 1:1, and the fourth gear 4383 rotates by 360°. The gear ratio between the fourth gear 4383 and the second gear 432 is 2:1, driving the second gear 432 to rotate by 180°. The second gear 432 is coaxial with the second cantilever 434, driving the second cantilever 434 to rotate synchronously by 180°. During the 180° rotation cycle of the second cantilever 434, when the second cantilever 434 rotates from 0° to 90°, the second output mechanism 430 is in the fourth state, the second cantilever 434 is running idle, and the second hook part 436 is disengaged from the second groove 437. When the second cantilever 434 rotates from 90° to 180°, the second output mechanism 430 enters the third state, the second hook part 436 is slidably connected to the second groove 437, driving the second power output end 435 to rotate, thereby causing the seat 200 to rotate 90° around the second axis 20, thus causing the arm body 300 to rotate 90° around the second axis 20.

[0057] Conversely, when the arm 300 needs to be changed from the extended state to the retracted state, the drive device 500 drives the worm gear 411 to rotate in the opposite direction, the second output mechanism 430 changes from the third state to the fourth state, and the second hook part 436 and the second groove 437 change from the sliding connection state to the disengaged state. At the same time, when the second input mechanism 430 changes from the third state to the fourth state, the limiting mechanism releases the limit on the first power output end 435, and the second input mechanism 420 changes from the second state to the first state, finally storing the arm 300 in the storage compartment, which will not be described in detail here.

[0058] A second aspect of this disclosure provides a robotic arm including the robotic arm drive structure described in any of the preceding claims. This robotic arm drive structure utilizes a single drive unit 500 to achieve efficient power transmission and flexible motion control for the entire robotic arm structure. Simultaneously, the overall spatial layout of the robotic arm is more compact, reducing its volume footprint, lowering manufacturing costs, and improving its overall reliability and flexibility. It should be noted that the robotic arm in this disclosure may also include conventional components of existing robotic arms such as robotic arm joints, end effectors, and sensors, which will not be elaborated upon here.

[0059] This disclosure provides a cleaning device, which includes the aforementioned robotic arm. The robotic arm utilizes a single drive unit 500 to control its movement, and its compact spatial layout allows it to adapt to the limited installation space of the cleaning device, reducing its footprint. Simultaneously, the robotic arm achieves efficient power transmission and flexible motion control, enabling the cleaning device to accurately complete cleaning tasks. This also reduces the manufacturing cost of the cleaning device and improves its overall space utilization. It should be noted that the cleaning device in this disclosure may also include conventional modular components of existing cleaning robots, such as a sweeping module, a vacuuming module, a navigation module, a drive module, and a control module, which will not be elaborated upon here.

[0060] The robotic arm drive structure, robotic arm, and cleaning equipment disclosed herein utilize a single drive device as a power source to provide power to the first and second power output ends of the transmission unit. The first power output end of the transmission unit drives the arm body to rotate around a first axis, and the second power output end drives the arm body to rotate around a second axis, thereby achieving the working posture conversion of the robotic arm. This robotic arm drive structure reduces the space ratio of multiple drive devices in the confined installation space of the cleaning equipment, making the overall spatial layout of the robotic arm and cleaning equipment more compact, reducing the equipment volume, and improving the overall space utilization rate of the cleaning equipment. Furthermore, the application of a single drive device can also reduce the design and manufacturing costs of the robotic arm. Therefore, this disclosure effectively overcomes practical problems and thus has high utilization value and practical significance.

[0061] The above embodiments are merely illustrative of the principles and effects of this disclosure and are not intended to limit this disclosure. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this disclosure. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this disclosure should still be covered by the claims of this disclosure.

Claims

1. A robotic arm drive structure, characterized in that, include: Arm body (300), The transmission unit (400) includes a first power output end (422), a second power output end (435), and a power input end. The first power output end (422) is connected to the arm body (300) to drive the arm body (300) to rotate around a first axis (10). The second power output end (435) is connected to the arm body (300) to drive the arm body (300) to rotate around a second axis (20). A drive device (500) is provided, the output shaft of which is connected to the power input end to provide power source for the first power output end (422) and the second power output end (435).

2. The robotic arm drive structure according to claim 1, characterized in that, The robotic arm drive structure further includes a frame (100) and a base (200), the base (200) being rotatably mounted on the frame (100), and the arm (300) being rotatably mounted on the base (200); the first power output end (422) drives the arm (300) to rotate relative to the base (200) around the first axis (10); the second power output end (435) is connected to the arm (300) through the base (200) to drive the base (200) to rotate relative to the frame (100) around the second axis (20).

3. The robotic arm drive structure according to claim 1, characterized in that, The transmission unit (400) includes an input mechanism (410), a first output mechanism (420), and a second output mechanism (430). The input mechanism (410) includes a power input end, the first output mechanism (420) includes a first power output end (422), and the second output mechanism (430) includes a second power output end (435). The input mechanism (410) transmits power to the first power output end (422) through the first output mechanism (420), and the input mechanism (410) transmits power to the second power output end (435) through the second output mechanism (430).

4. The robotic arm drive structure according to claim 3, characterized in that, The input mechanism (410) further includes a first transmission shaft (413). The power input end is a worm gear assembly, which includes a worm (411) and a worm wheel (412). The output shaft of the drive device (500) is fixedly connected to the worm (411). The worm (411) meshes with the worm wheel (412). The worm wheel (412) transmits the power output by the drive device (500) to the first output mechanism (420) and the second output mechanism (430) through the first transmission shaft (413).

5. The robotic arm drive structure according to claim 3, characterized in that, The first output mechanism (420) has a first state of driving the arm (300) to rotate around the first axis (10) and a second state of stopping the arm (300) from rotating around the first axis (10). The second output mechanism (430) has a third state of driving the arm (300) to rotate around the second axis (20) and a fourth state of stopping the arm (300) from rotating around the second axis (20).

6. The robotic arm drive structure according to claim 5, characterized in that, In response to the first output mechanism (420) changing from the first state to the second state, the second output mechanism (430) changing from the fourth state to the third state.

7. The robotic arm drive structure according to claim 5, characterized in that, The first output mechanism (420) further includes a first cantilever (421), the input mechanism (410) drives the first cantilever (421) to rotate, the first cantilever (421) is provided with a first hook (423), and the first power output end (422) is provided with a first groove (424) adapted to the first hook (423); in the first state, the first cantilever (421) rotates, and the first hook (423) is slidably connected to the first groove (424) to drive the first power output end (422) to rotate; In the second state, the first hook (423) disengages from the first groove (424), and the first cantilever (421) runs unloaded to stop the first power output end (422) from rotating.

8. The robotic arm drive structure according to claim 5, characterized in that, The second output mechanism (430) further includes a first gear (431), a second gear (432), and a second cantilever (434). The first gear (431) meshes with the second gear (432). The input mechanism (410) transmits power to the second cantilever (434) through the first gear (431) and the second gear (432). The second cantilever (434) is provided with a second hook (436), and the second power output end (435) is provided with a second groove (437) adapted to the second hook (436). In the third state, the second cantilever (434) rotates, and the second hook (436) slides in connection with the second groove (437) to drive the second power output end (435) to rotate. In the fourth state, the second hook (436) disengages from the second groove (437), and the second cantilever (434) runs idle to stop the rotation of the second power output end (435).

9. The robotic arm drive structure according to claim 8, characterized in that, The second output mechanism (430) further includes a transmission assembly (438), which includes a third transmission shaft (4381), a third gear (4382), and a fourth gear (4383). The third gear (4382) and the fourth gear (4383) are coaxially mounted on the third transmission shaft (4381). The third gear (4382) meshes with the first gear (431), and the fourth gear (4383) meshes with the second gear (432).

10. A robotic arm, characterized in that, The robotic arm drive structure includes any one of claims 1 to 9.

11. A cleaning device, characterized in that, Includes the robotic arm as described in claim 10.

Images