Mechanical arm joint, mechanical arm and cleaning equipment
By introducing a cable management component into the robotic arm joint, the problem of cables becoming loose or tangled within the joint is solved, achieving higher reliability and flexibility and ensuring the normal operation of functional modules.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- 麦悦未来智能科技(苏州)有限公司
- Filing Date
- 2025-05-23
- Publication Date
- 2026-05-12
AI Technical Summary
When the robotic arm joints rotate or extend, the cables can easily become loose or entangled in other functional modules, affecting the normal operation of those modules.
Design a robotic arm joint comprising a first arm body, a second arm body, cables, and a cable management assembly. The cable management assembly responds to changes in the arm body position via a sliding part and a sliding drive mechanism, guiding changes in the cable path, maintaining tension, and preventing loosening or tangling.
It improves the reliability and flexibility of the robotic arm joints, ensures the predictability of cable path changes, reduces interference with other functional modules, and enhances the control precision and dynamic performance of the robotic arm.
Smart Images
Figure CN224223928U_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of cleaning equipment technology, specifically to a robotic arm joint, a robotic arm, and a cleaning device. Background Technology
[0002] In the robotic arm control system of cleaning equipment, the robotic arm is typically used to perform specific cleaning tasks to improve cleaning efficiency and coverage. The robotic arm joint is a crucial component for achieving changes in the robotic arm's working posture; the movement of the robotic arm is mainly achieved through the rotation of the joint. Cables are usually installed inside the robotic arm joint for power supply and communication at the end effector. Some robotic arm joints integrate other functional modules of the cleaning equipment, such as camera modules. However, when the relative positions of the first and second arms of the robotic arm joint change (such as rotation, extension, or sliding), it can cause irregular movement of the cables within the joint, leading to cables becoming loose or entangled in other functional modules, affecting their normal operation. Utility Model Content
[0003] In view of the above-mentioned shortcomings, this disclosure provides a robotic arm joint, a robotic arm, and a cleaning device to improve the technical problem that the rotation of existing robotic arm joints can cause cables to become loose or entangled in other functional modules inside the joint, affecting the normal operation of other functional modules.
[0004] To achieve the above and other related objectives, a first aspect of this disclosure provides a robotic arm joint mounted on a cleaning device. The robotic arm joint includes a first arm body, a second arm body, cables, and a cable management assembly. The second arm body is movably connected to the first arm body and includes a chamber. The cables extend through the chamber to the first arm body, and in response to changes in the relative position of the first and second arm bodies, the cables within the chamber undergo path changes. The cable management assembly is mounted in the chamber and connected to the cables. The cable management assembly guides the path changes of the cables in response to changes in the relative position of the first and second arm bodies.
[0005] In the above technical solution, when the relative positions of the first and second arms change, the cable management component responds synchronously to the changes in their relative positions, restricting and guiding the changes in the cable path. This ensures that the cable's path within the cavity follows a planned route, preventing the cable from becoming tangled or swaying disorderly within the robotic arm joints. This reduces interference from the cable with other functional modules, ensuring their normal operation. Simultaneously, the cable management component's constraint on the cable within the confined cavity space enhances the reliability and flexibility when the relative positions of the robotic arm joints change.
[0006] In one embodiment of the robotic arm joint disclosed herein, in response to a change in the relative position of the first arm and the second arm, the cable management assembly keeps the cable in the cavity taut.
[0007] In the above technical solution, the cable management component forces the cables in the chamber to remain taut, restricting their degrees of freedom. The component actively manages the cable path changes within the chamber, further preventing slack cables from becoming tangled or swinging disorderly, thus avoiding interference with other functional modules. The taut cables can respond promptly to changes in the relative positions of the first and second robotic arms, ensuring that the cable's response speed as the robotic arm joints rotates is synchronized with the arm's movement. This avoids signal transmission delays or power losses caused by cable slack, improving the precision and dynamic performance of the robotic arm joint control. Simultaneously, keeping the cables taut allows redundant cable lengths to be promptly stored within the chamber, preventing them from affecting the first robotic arm or other structural components.
[0008] In one embodiment of the robotic arm joint disclosed herein, the cable management assembly includes a sliding portion and a sliding drive mechanism. The sliding portion is slidably mounted within a cavity and is connected to the cable. The sliding drive mechanism is mounted within the cavity and, in response to changes in the relative position of the first and second arm bodies, drives the sliding portion to slide to guide changes in the path of the cable within the cavity.
[0009] In the above technical solution, the sliding drive mechanism drives the sliding part to slide in real time based on the relative position change of the first arm and the second arm, forcing the cable to be guided and adjusted along a preset trajectory in the cavity, so that the cable path change is effectively controlled, avoiding disorderly swinging or loosening and tangling of the cable in the cavity, ensuring the predictability of the cable path change, and reducing the impact on other functional modules.
[0010] In one embodiment of the robotic arm joint disclosed herein, the sliding drive mechanism includes a base and an elastic element. The base is fixedly mounted on the second arm body, and the elastic element is connected to the base on one side along the deformation direction and to a sliding portion on the other side along the deformation direction. In response to deformation or recovery of the elastic element, the sliding portion guides the change in the path of the cable.
[0011] In the above technical solution, the driving force is provided by the deformation of the elastic element, eliminating the need for an additional motor or other external power equipment. This simplifies the complexity of the sliding drive mechanism and reduces manufacturing costs and energy consumption. The deformation force of the elastic element always acts on the sliding part, and the deformation and recovery process of the elastic element is natural and smooth. This combines passive elastic drive with active path guidance, further enhancing the cable management capability of the cable management assembly.
[0012] In one embodiment of the robotic arm joint disclosed herein, the elastic element is a spring.
[0013] In the above technical solution, the spring's elastic coefficient can be precisely designed using parameters such as material, number of coils, and diameter to adapt to the cable tension requirements under different robotic arm joint rotation angles. The spring exhibits longer fatigue resistance and service life, providing better stability during long-term deformation and reducing the impact of elastic decay on cable path guidance. Simultaneously, the spring has lower installation and maintenance costs, simplifies assembly processes, and reduces the overall manufacturing cost of the cable management assembly.
[0014] In one embodiment of the robotic arm joint disclosed herein, the sliding portion includes a guide rod portion, and the sliding drive mechanism includes a compression spring. Along the sliding direction of the sliding portion, the guide rod portion is located within the compression spring.
[0015] In the above technical solution, the guide rod is inserted into at least part of the compression spring, which serves as a rigid track to constrain the deformation direction of the compression spring, reducing the deformation of the compression spring due to force in the non-deformation direction, preventing the compression spring from bending or twisting laterally, and ensuring that the sliding part deforms or recovers its deformation along the set sliding direction, thereby ensuring the cable management effect of the cable management assembly.
[0016] In one embodiment of the robotic arm joint disclosed herein, the sliding drive mechanism includes a base. Along the sliding direction of the sliding portion, the base has an opening coaxial with the guide rod portion, and at least a portion of the compression spring is located in the opening.
[0017] In the above technical solution, the opening can serve as a mounting hole for connecting the compression spring and the base, facilitating the installation and connection between the base and the compression spring. At the same time, the opening provides rigid channel constraint and guides the deformation direction of the compression spring, reducing the deformation of the compression spring due to force in the non-deformation direction, preventing the compression spring from bending or twisting laterally, and ensuring that the sliding part slides along the set sliding direction, thereby ensuring the cable management effect of the cable management assembly.
[0018] In one embodiment of the robotic arm joint disclosed herein, a groove is provided on the sliding part, the opening direction of the groove is consistent with the sliding direction of the sliding part, and the cable passes through the groove.
[0019] In the above technical solution, the opening of the groove allows the cable to be directly inserted into the groove when it is being routed in the cavity, without the need to thread the cable or disassemble the sliding part, which simplifies the difficulty of routing the cable in the narrow space of the cavity. At the same time, the groove structure makes the cable slide more smoothly when the path changes, avoids the cable getting stuck when adjusting the path of the cable in the cavity, and improves the responsiveness to changes in the position of the first arm and the second arm.
[0020] In one embodiment of the robotic arm joint disclosed herein, the sliding portion further includes an extension portion that extends from the opening end of the groove and is located above the cable.
[0021] In the above technical solution, the elongated part retains the groove opening to facilitate cable installation, while forming a semi-closed structure by lengthening the opening, thus eliminating the risk of the cable in the cavity coming out of the groove during path changes.
[0022] A second aspect of this disclosure provides a robotic arm that includes the robotic arm joints of any of the above claims.
[0023] In the above technical solution, when the robotic arm adjusts its posture, the relative position of the robotic arm joints changes. The cable management component responds synchronously to the relative position change of the robotic arm joints, restricting and guiding the path changes of the cables within the robotic arm. This ensures that the cable path changes within the robotic arm are adjusted according to the planned path, preventing the cables from becoming loose and tangled within the robotic arm or swinging disorderly in the robotic arm joints, thus improving the reliability and flexibility of the robotic arm's posture adjustment.
[0024] A third aspect of this disclosure provides a cleaning device that includes the aforementioned robotic arm.
[0025] In the above technical solution, the robotic arm joints or the robotic arm itself are integrated into the cleaning equipment, which enhances the cleaning range and flexibility of the equipment, reduces manual intervention, and improves cleaning efficiency. The cable management components within the robotic arm joints prevent irregular movement of cables within the joints, preventing cables from becoming loose or tangled in other functional modules, thus avoiding interference with the normal operation of other functional modules of the cleaning equipment or the robotic arm.
[0026] In the disclosed robotic arm joint, robotic arm, and cleaning equipment, when the relative positions of the first and second arm bodies change, the cable management component synchronously responds to the changes in their relative positions, restricting and guiding the changes in the cable path. This ensures that the cable path within the cavity is adjusted according to the planned path, preventing the cable from becoming loose or tangled within the cavity or swinging disorderly within the robotic arm joint. This reduces interference from the cable to other functional modules, ensuring their normal operation. Simultaneously, the cable management component's constraint on the cable within the confined cavity space improves the reliability and flexibility when the relative positions of the robotic arm joints change. Attached Figure Description
[0027] To more clearly illustrate the technical solutions of 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 joint in one embodiment of the present disclosure;
[0029] Figure 2 This is a schematic diagram illustrating the relative position changes of the robotic arm joints in one embodiment of the present disclosure. Figure 1 ;
[0030] Figure 3 for Figure 2 Top view of the structure;
[0031] Figure 4 This is a schematic diagram illustrating the relative position changes of the robotic arm joints in one embodiment of the present disclosure. Figure 2 ;
[0032] Figure 5 for Figure 4 Top view of the structure;
[0033] Figure 6 This is a schematic diagram of the cable management assembly structure of the robotic arm joint in one embodiment of the present disclosure;
[0034] Figure 7 for Figure 3 A sectional view along the AA direction.
[0035] Component designation explanation:
[0036] 100. First arm body; 200. Second arm body; 210. Chamber; 220. Slide groove; 300. Cable; 400. Cable management assembly; 410. Sliding part; 411. Groove; 412. Slider; 413. Guide rod part; 414. Extension part; 420. Sliding drive mechanism; 421. Base; 422. Elastic element; 423. Opening; 500. Functional module; 600. Rotating shaft. Detailed Implementation
[0037] 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.
[0038] 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.
[0039] 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.
[0040] Please see Figures 1 to 7 The first aspect of this disclosure provides a robotic arm joint, which serves as a joint component for the movement of a robotic arm, enabling flexible movement of the robotic arm with multiple degrees of freedom. This robotic arm joint is suitable for various application scenarios, such as robots used in industrial automation production lines, or robotic arms in cleaning equipment, to control the robotic arm to achieve efficient and flexible cleaning operations. The cleaning equipment can be sweeping machines, floor scrubbers, vacuum cleaners, etc., or it can be a joint structure used in medical robotic arms, but is not limited to these applications.
[0041] For example, if the robotic arm joint is installed on a cleaning device, please refer to [link / reference]. Figure 1The robotic arm joint includes a first arm body 100, a second arm body 200, a cable 300, and a cable management assembly 400. The first arm body 100 is movably connected to the second arm body 200. The movable connection method between the first arm body 100 and the second arm body 200 is not limited; for example, it can be a sliding connection, a rotating connection, or a telescopic connection. It can be any suitable connection method that allows the relative position of the first arm body 100 and the second arm body 200 to change. The first arm body 100 can be a connection structure connected to the main body of the robotic arm, such as a joint, or it can be the main body of the robotic arm. The second arm body 200 can be a connection structure connected to the main body of the robotic arm, such as a joint, or it can be the end effector of the robotic arm, but it is not limited thereto. Specifically, in this embodiment, the first arm body 100 serves as a connection structure connected to the main body of the robotic arm and is rotatably connected to the second arm body 200. The second arm body 200 serves as a connection structure connected to the end effector and is rotatably connected to the first arm body 100 via a pivot 600. A drive mechanism (not shown) is also provided at the rotatable connection between the first arm 100 and the second arm 200. The drive mechanism drives the relative position change of the first arm 100 and the second arm 200. The drive mechanism can be a motor or other commonly used drive mechanism of existing robotic arms. The second arm 200 includes a chamber 210. A functional module 500 of the cleaning equipment is integrated on the second arm 200. The functional module 500 is rotatably mounted at the opening of the chamber 210. The rotation of the functional module 500 can close the opening of the chamber 210. The functional module 500 can be a camera module or a detection module of the cleaning equipment, or other module structures used to assist in the cleaning task of the cleaning equipment. Taking the functional module 500 as a camera module as an example, when the camera module rotates and opens the opening of the chamber 210, the camera module works with the actuator or gripper at the end of the second arm 200 to complete the cleaning task. When the camera module does not need to work, the camera module closes the opening of the chamber 210.
[0042] Please see Figure 1 Cable 300 is used for power supply and communication at the end of the robotic arm. One end of cable 300 is connected to the end effector of the second arm 200, and the other end extends through chamber 210 to the first arm 100, connecting to the power supply or communication module of the cleaning equipment. In response to a change in the relative position of the first arm 100 and the second arm 200, the cable 300 within chamber 210 undergoes a path change. Specifically, when the relative position of the first arm 100 and the second arm 200 changes, i.e., when the first arm 100 and the second arm 200 rotate relative to each other, the length of the cable 300 located in chamber 210 changes, i.e., the wiring path of the cable 300 within chamber 210 changes.
[0043] Please see Figure 1The cable management assembly 400 is installed in the chamber 210 and connected to the cable 300. The cable management assembly 400 responds to changes in the relative position of the first arm 100 and the second arm 200, guiding the cable 300 along its path. It should be noted that the relative position change of the first arm 100 and the second arm 200 can be caused by relative rotation between the two arms, or by relative sliding or extension between them, but is not limited to these. The change in the cable 300's path refers to the change in the cable's wiring path within the chamber 210. The connection method between the cable management assembly 400 and the cable 300 is not limited; it can be a slot connection, a clamp connection, etc., but is not limited to these, as long as a stable connection is achieved and the cable 300's path is guided. Specifically, when the relative positions of the first arm 100 and the second arm 200 change, the cables 300 within the chamber 210 also change. The cable management component 400 connects to the cables 300 within the chamber 210 and synchronously responds to the relative position changes of the first arm 100 and the second arm 200. It restricts and guides the path changes of the cables 300, ensuring that the path changes of the cables 300 within the chamber 210 are adjusted according to the planned path of the cable management component 400. This prevents the cables 300 from becoming loose and tangled within the chamber 210 or from swinging disorderly within the robotic arm joints, thereby reducing interference from the cables 300 to the functional module 500 at the opening of the chamber 210 and ensuring the normal rotation of the functional module 500. Simultaneously, the constraint of the cables 300 within the confined space of the chamber 210 by the cable management component 400 improves the reliability and flexibility when the relative positions of the robotic arm joints change.
[0044] Please see Figure 2 and Figure 4In one embodiment of the robotic arm joint disclosed herein, the cable management assembly 400 responds to changes in the relative position of the first arm 100 and the second arm 200, keeping the cable 300 within the chamber 210 taut. Specifically, taking the rotation of the first arm 100 around the second arm 200 as an example, the first arm 100 has a first position where it has not rotated relative to the second arm 200, and a second position where it has rotated relative to the second arm 200. The rotation angle of the first arm 100 relative to the second arm 200 is not limited, for example, it can be 30°, 60°, 90°, etc., but is not limited thereto. When the first arm 100 is in the first position, the cable 300 within the chamber 210 has a first wiring path; when the first arm 100 is in the second position, the cable 300 within the chamber 210 has a second wiring path. During the process of the cable 300 in chamber 210 changing from the first wiring path to the second wiring path, or when the cable 300 in chamber 210 is on either the first or second wiring path, the cable management component 400 keeps the cable 300 in chamber 210 taut at all times to constrain the degree of freedom of the cable 300. The cable management component 400 actively manages the change of the cable 300 from the first wiring path to the second wiring path in chamber 210, further preventing the slack cable 300 from becoming tangled or swinging disorderly in chamber 210. The taut cable 300 can respond promptly to the relative rotation of the first arm 100 and the second arm 200, so that the response speed of the cable 300 with the rotation of the robotic arm joint is synchronized with the movement of the robotic arm, improving the accuracy and dynamic performance of the robotic arm joint control. Meanwhile, the cable management component 400 keeps the cable 300 taut, allowing the excess length of the cable 300 to be stored in the chamber 210 in a timely manner, thus preventing the excess length of the cable 300 from affecting the first arm body 100 or other structural components.
[0045] Please see Figure 3 and Figure 6 In one embodiment of the robotic arm joint disclosed herein, the cable management assembly 400 includes a sliding part 410 and a sliding drive mechanism 420. The sliding part 410 is slidably installed within the chamber 210. The sliding installation method of the sliding part 410 within the chamber 210 can be a guide rail type sliding installation, a groove type sliding installation, a ball bearing type sliding installation, or a suspension type sliding installation. The connection method between the sliding part 410 and the cable 300 can be a slot connection, a clamp connection, or a hook connection, but is not limited thereto. Specifically, in this embodiment, the sliding part 410 is installed using a groove type. A groove 220 is provided at the bottom of the chamber 210, and a slider 412 adapted to the groove 220 is provided on the sliding part 410. The slider 412 is slidably installed in the groove 220. The groove type installation method has a simple sliding mechanism and does not require a complex sliding design.
[0046] Please see Figure 6The sliding drive mechanism 420 is installed inside the chamber 210 and responds to the relative positional changes of the first arm 100 and the second arm 200, driving the sliding part 410 to slide and adjust the wiring path of the cable 300 within the chamber 210. The sliding drive mechanism 420 can be a power-driven mechanism, such as a winding drive mechanism, a cylinder drive mechanism, or a gear and rack drive mechanism, or it can be a passive drive mechanism, such as a tension spring, a compression spring, a rubber, or an airbag mechanism, but is not limited thereto. Based on the relative positional changes of the first arm 100 and the second arm 200, the sliding drive mechanism 420 drives the sliding part 410 to slide directionally in the slide groove 220 in real time, forcing the cable 300 to adjust its wiring path along a preset trajectory within the chamber 210. This effectively controls the path changes of the cable 300, preventing disorderly swinging or loosening and tangling of the cable 300 within the chamber 210, ensuring the predictability of the cable path changes, and improving the cable management capability of the cable management assembly 400.
[0047] Please see Figure 6 In one embodiment of the robotic arm joint disclosed herein, the sliding drive mechanism 420 includes a base 421 and an elastic element 422. The base 421 is fixedly mounted on the second arm body 200 and located within the chamber 210. The elastic element 422 is fixedly connected to the base 421 on one side along the deformation direction and to a sliding portion 410 on the other side along the deformation direction. The sliding portion 410 slides within a groove 220 along the deformation direction of the elastic element 422 to move closer to or further away from the base 421. The elastic element 422 can be a material with elastic deformation capability and deformation recovery capability, such as a tension spring, compression spring, rubber, or airbag. In response to the deformation or recovery of the elastic element 422, the sliding portion 410 guides the change in the path of the cable 300. The driving force is provided by the deformation of the elastic element 422, eliminating the need for an additional motor or other external power equipment, simplifying the complexity of the sliding drive mechanism 420, and reducing manufacturing costs and energy consumption. The deformation force of the elastic element 422 always acts on the sliding part 410. The deformation and recovery process of the elastic element 422 is natural and smooth, which combines passive elastic drive with active path guidance, further enhancing the cable management capability of the cable management assembly 400.
[0048] Please see Figure 6In one embodiment of the robotic arm joint disclosed herein, the elastic element 422 is a spring, which can be a compression spring or a tension spring. One end of the spring is fixedly connected to the base 421, and the other end is fixedly connected to the sliding part 410. The spring's elastic coefficient can be precisely designed using parameters such as material, number of coils, and diameter to adapt to the tension requirements of the cable 300 under different robotic arm joint rotation angles. The spring has longer fatigue resistance and service life, providing better stability during long-term deformation and reducing the impact of elastic decay on the path changes of the guiding cable 300. At the same time, the spring has lower installation and maintenance costs, simplifies the assembly process, and reduces the overall manufacturing cost of the cable management assembly 400.
[0049] Please see Figure 6 and Figure 7 In one embodiment of the robotic arm joint disclosed herein, the sliding part 410 includes a guide rod part 413, and the elastic element 422 of the sliding drive mechanism 420 is a compression spring. The axial direction of the guide rod part 413 is consistent with the deformation direction of the compression spring, and the guide rod part 413 and the slider 412 are integrally formed. Along the sliding direction of the sliding part 410, the guide rod part 413 is inserted into the compression spring from one end. The guide rod part 413 is inserted into at least part of the compression spring, which can act as a rigid track to constrain the elastic element 422, i.e., the deformation direction of the compression spring, reducing the deformation of the compression spring due to force in the non-deformation direction, avoiding lateral bending or twisting of the compression spring, and ensuring that the sliding part 410 slides back and forth between the first position and the second position along the set sliding direction, thereby ensuring the cable management effect of the cable management assembly 400 on the cable 300.
[0050] Please see Figure 7 In one embodiment of the robotic arm joint disclosed herein, the sliding drive mechanism 420 includes a base 421. Along the sliding direction of the sliding portion 410, the base 421 has an opening 423 coaxial with the guide rod portion 413, and at least a portion of the compression spring is located in the opening 423. Specifically, in this embodiment, at least a portion of the end of the compression spring away from the sliding portion 410 is inserted into the opening 423 and is fixedly connected to the base 421 through the opening 423. The opening 423 can serve as a mounting hole for connecting the compression spring and the base 421, facilitating the installation connection between the base 421 and the compression spring. At the same time, the opening 423 provides a rigid channel to constrain the deformation direction of the compression spring, reducing the deformation of the compression spring due to force in the non-deformation direction, preventing the compression spring from bending or twisting laterally, ensuring that the sliding portion 410 deforms or recovers its deformation along the set sliding direction, thereby ensuring the cable management effect of the cable management assembly 400 on the cable 300.
[0051] Please see Figure 6In one embodiment of the robotic arm joint disclosed herein, a groove 411 is provided on the sliding part 410. The opening direction of the groove 411 is consistent with the sliding direction of the sliding part 410, and the opening direction of the groove 411 is opposite to that of the base 421. The cable 300 passes through the groove 411 and is engaged in the groove 411. The opening of the groove 411 allows the cable 300 to be directly engaged in the groove when wiring in the cavity 210 without threading or disassembling the sliding part 410, simplifying the wiring difficulty of the cable 300 in the narrow space of the cavity 210. At the same time, the groove opening of the groove 411 is a smooth arc surface, which makes the cable 300 slide more smoothly when the path changes, avoiding the cable 300 getting stuck when adjusting the path change in the cavity 210, and improving the responsiveness to the position changes of the first arm 100 and the second arm 200.
[0052] Please see Figure 6 In one embodiment of the robotic arm joint disclosed herein, the sliding portion 410 further includes an extension portion 414, which extends from the opening end of the groove 411 and is located above the cable 300. While retaining the opening of the groove 411 for easy installation of the cable 300, the extension portion 414 forms a semi-closed structure by lengthening the opening, reducing the risk of the cable 300 in the chamber 210 coming off the groove 411 during path changes.
[0053] A second aspect of this disclosure provides a robotic arm including the robotic arm joints described above. When the robotic arm adjusts its posture, the relative position of the robotic arm joints changes. The cable management component 400 synchronously responds to this change in relative position, limiting and guiding the path changes of the cable 300 within the robotic arm. This ensures that the cable 300's path changes within the robotic arm follow a planned path, preventing the cable 300 from becoming tangled or swaying disorderly within the robotic arm joints, thus improving the reliability and flexibility of the robotic arm's posture adjustments. 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.
[0054] A third aspect of this disclosure provides a cleaning device including the aforementioned robotic arm. The robotic arm joints or the robotic arm itself are integrated into the cleaning device, enhancing its cleaning range and flexibility, reducing manual intervention, and improving cleaning efficiency. The cable management component 400 within the robotic arm joint prevents irregular movement of the cable 300 within the joint, preventing the cable 300 from becoming loose or tangled in the functional module 500 at the opening of the chamber 210, thus avoiding interference with the integrated functional module 500 or the normal operation of the robotic arm. 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.
[0055] In the robotic arm joint, robotic arm, and cleaning equipment disclosed herein, when the relative positions of the first and second arm bodies change, the cable management component synchronously responds to the changes in their relative positions, restricting and guiding the changes in the cable path. This ensures that the cable path changes within the cavity follow a planned path, preventing the cable from becoming loose or tangled within the cavity or swinging disorderly within the robotic arm joint. This reduces interference from the cable to other functional modules, ensuring their normal operation. Simultaneously, the cable management component's constraint on the cable within the confined cavity space improves the reliability and flexibility when the relative positions of the robotic arm joints change. Therefore, this disclosure effectively overcomes some practical problems, thus possessing high utilization value and practical significance.
[0056] 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 joint, mounted on a cleaning device, characterized in that, include: First arm (100); The second arm (200) is movably connected to the first arm (100), and the second arm (200) includes a chamber (210); A cable (300) extends through the chamber (210) to the first arm (100), and the cable (300) within the chamber (210) undergoes a path change in response to a change in the relative position of the first arm (100) and the second arm (200); A cable management assembly (400) is installed in the chamber (210) and connected to the cable (300); the cable management assembly (400) guides the path change of the cable (300) in response to the relative position change of the first arm (100) and the second arm (200).
2. The robotic arm joint according to claim 1, characterized in that, In response to a change in the relative position of the first arm (100) and the second arm (200), the cable management assembly (400) keeps the cable (300) in the chamber (210) taut.
3. The robotic arm joint according to claim 1 or 2, characterized in that, The cable management assembly (400) includes a sliding part (410) and a sliding drive mechanism (420). The sliding part (410) is slidably installed in the chamber (210) and connected to the cable (300). The sliding drive mechanism (420) is installed in the chamber (210) and, in response to the relative position change of the first arm (100) and the second arm (200), drives the sliding part (410) to slide to guide the path change of the cable (300) in the chamber (210).
4. The robotic arm joint according to claim 3, characterized in that, The sliding drive mechanism (420) includes a base (421) and an elastic element (422). The base (421) is fixedly installed on the second arm (200). The elastic element (422) is connected to the base (421) on one side along the deformation direction and to the sliding part (410) on the other side along the deformation direction. In response to the deformation or recovery of the elastic element (422), the sliding part (410) guides the path change of the cable (300).
5. The robotic arm joint according to claim 4, characterized in that, The elastic element (422) is a spring.
6. The robotic arm joint according to claim 3, characterized in that, The sliding part (410) includes a guide rod part (413), and the sliding drive mechanism (420) includes a compression spring; along the sliding direction of the sliding part (410), the guide rod part (413) is located inside the compression spring.
7. The robotic arm joint according to claim 6, characterized in that, The sliding drive mechanism (420) includes a base (421). Along the sliding direction of the sliding part (410), the base (421) has an opening (423) coaxial with the guide rod part (413), and at least part of the compression spring is located in the opening (423).
8. The robotic arm joint according to claim 3, characterized in that, The sliding part (410) has a groove (411) with the opening direction of the groove (411) being consistent with the sliding direction of the sliding part (410), and the cable (300) passes through the groove (411).
9. The robotic arm joint according to claim 8, characterized in that, The sliding part (410) also includes an extension part (414) that extends from the opening end of the groove (411) and is located above the cable (300).
10. A robotic arm, characterized in that, The robotic arm joint included in any one of claims 1 to 9.
11. A cleaning device, characterized in that, Includes the robotic arm as described in claim 10.