Mechanical joint, mechanical arm, and cleaning device

Abstract

This invention provides a mechanical joint, a robotic arm, and a cleaning device. The mechanical joint includes a mounting base, a drive unit, a lead screw, a nut, and a rolling assembly. The mounting base is hinged to the joint arm of the robotic arm and connected to the drive unit. The lead screw is rolletably connected to the mounting base via the rolling assembly. The first end of the lead screw is located inside the mounting base and is poweredly connected to the drive unit. The second end of the lead screw passes through the nut and is threadedly connected to it. The nut is hinged to the base of the robotic arm. The drive unit drives the lead screw to rotate relative to the mounting base, causing relative movement between the lead screw and the nut to raise or lower the joint arm relative to the base.

Claims

1. A mechanical joint for a robotic arm, the mechanical joint comprising: The robotic arm comprises a mounting base, a drive unit, a lead screw, a nut, and a rolling assembly. The mounting base is hinged to the joint arm of the robotic arm and connected to the drive unit. The lead screw is rollably connected to the mounting base via the rolling assembly. The first end of the lead screw is located inside the mounting base and is poweredly connected to the drive unit. The second end of the lead screw passes through the nut and is threadedly connected to the nut. The nut is hinged to the base of the robotic arm. The drive unit drives the lead screw to rotate relative to the mounting base, causing the lead screw and the nut to move relative to each other, thereby raising or lowering the joint arm relative to the base.

2. The mechanical joint as described in claim 1, wherein, The lead screw is provided with a connecting boss located inside the mounting base. The rolling assembly includes two rolling modules, which are respectively arranged on two platforms of the connecting boss. The interior of the mounting base includes two walls corresponding to the two platforms, and the two platforms are respectively rolledly connected to the corresponding walls through the rolling modules.

3. The mechanical joint as described in claim 2, wherein, The rolling module includes a retainer, a rolling element, and a gasket. The retainer is used to support the rolling element and is mounted on the table surface. The rolling element is in contact with the table surface. The gasket is located between the retainer and the wall surface.

4. The mechanical joint as described in claim 3, wherein, The platform surface is provided with a receiving groove for accommodating the rolling element.

5. The mechanical joint as described in claim 3, wherein, The rolling assembly also includes a retaining ring inserted between adjacent wall surfaces and the gasket to limit axial movement of the lead screw relative to the mounting base.

6. The mechanical joint as described in claim 5, wherein, The two walls are a first wall and a second wall, the first wall being close to the drive unit, and the retaining spring being located between the second wall and the adjacent gasket.

7. The mechanical joint as described in claim 6, wherein, The first wall surface has a mounting hole and a clearance hole. The mechanical joint also includes a fastener. The fastener passes through the mounting hole and is connected to the housing of the drive unit. The clearance hole is used to avoid the output shaft of the drive unit. At least a portion of the gasket adjacent to the first wall surface contacts the fastener.

8. The mechanical joint as described in claim 3, wherein, The connecting boss is spaced apart from the first end of the lead screw, and the end face of the first end is provided with a connecting hole that matches the output shaft of the drive unit. The connecting hole is coaxially arranged with the connecting boss.

9. The mechanical joint as claimed in any one of claims 1 to 8, wherein, The outer wall of the mounting base is provided with a first cylindrical boss, and the mounting base is hinged to the articulated arm through the first cylindrical boss.

10. The mechanical joint as claimed in any one of claims 1 to 8, wherein, The outer wall of the nut is provided with a second cylindrical boss, and the nut is hinged to the base through the second cylindrical boss.

11. The mechanical joint as described in claim 10, further comprising: A connecting shaft, the axis of which is parallel to the axis of the second cylindrical boss and connected to the base; The end of the articulated arm near the base is sleeved on the outside of the connecting shaft and rotatably connected to the connecting shaft.

12. A robotic arm, comprising: The mechanical joint as described in any one of claims 1 to 11.

13. A cleaning device, comprising: The robotic arm as described in claim 12.

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