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CN-224223895-U - Mechanical arm driving structure, mechanical arm and cleaning equipment

CN224223895UCN 224223895 UCN224223895 UCN 224223895UCN-224223895-U

Abstract

The disclosure 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, wherein 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 to provide source power for the first power output end and the second power output end. The mechanical arm driving structure reduces the space occupation ratio of the narrow installation space of the plurality of driving devices in the cleaning equipment, so that the space layout of the cleaning equipment is more compact, the equipment volume is reduced, the whole space utilization rate of the cleaning equipment is improved, and meanwhile, the design and manufacturing cost of the mechanical arm can be reduced due to the application of a single driving device.

Inventors

  • ZHAO ZHENHAO
  • LV XIAOMING
  • QIN HAITAO
  • CHU XIAOGANG
  • LI HUICHAO

Assignees

  • 麦悦未来智能科技(苏州)有限公司

Dates

Publication Date
20260512
Application Date
20250528

Claims (11)

  1. 1. A mechanical arm driving structure, characterized by comprising: an arm body (300), The transmission part (400), the transmission part (400) comprises 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 with the arm body (300) to drive the arm body (300) to rotate around a first axis (10), and the second power output end (435) is connected with the arm body (300) to drive the arm body (300) to rotate around a second axis (20); And the output shaft of the driving device (500) is connected with the power input end so as to provide source power for the first power output end (422) and the second power output end (435).
  2. 2. The mechanical arm driving structure according to claim 1, further comprising a frame body (100) and a base body (200), wherein the base body (200) is rotatably mounted on the frame body (100), the arm body (300) is rotatably mounted on the base body (200), the first power output end (422) drives the arm body (300) to rotate around the first axis (10) relative to the base body (200), and the second power output end (435) is connected to the arm body (300) through the base body (200) to drive the base body (200) to rotate around the second axis (20) relative to the frame body (100).
  3. 3. The mechanical arm driving structure according to claim 1, wherein the transmission part (400) includes an input mechanism (410), a first output mechanism (420) and a second output mechanism (430), the input mechanism (410) includes the power input end, the first output mechanism (420) includes the first power output end (422), the second output mechanism (430) includes the 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. 4. A mechanical arm driving structure according to claim 3, wherein the input mechanism (410) further comprises a first transmission shaft (413), the power input end is a worm and gear assembly, the worm and gear assembly comprises a worm (411) and a worm wheel (412), the output shaft of the driving device (500) is fixedly connected with the worm (411), the worm (411) is in meshed connection with the worm wheel (412), and the worm wheel (412) transmits the power output by the driving device (500) to the first output mechanism (420) and the second output mechanism (430) through the first transmission shaft (413).
  5. 5. A mechanical arm driving structure according to claim 3, wherein the first output mechanism (420) has a first state of driving the arm body (300) to rotate about the first axis (10) and a second state of stopping the arm body (300) from rotating about the first axis (10), and the second output mechanism (430) has a third state of driving the arm body (300) to rotate about the second axis (20) and a fourth state of stopping the arm body (300) from rotating about the second axis (20).
  6. 6. The mechanical arm drive arrangement of claim 5, wherein the second output mechanism (430) enters the third state from the fourth state in response to the first output mechanism (420) entering the second state from the first state.
  7. 7. The mechanical arm driving structure according to claim 5, wherein the first output mechanism (420) further comprises a first cantilever (421), the input mechanism (410) drives the first cantilever (421) to rotate, a first hooking portion (423) is arranged on the first cantilever (421), a first groove (424) matched with the first hooking portion (423) is arranged on the first power output end (422), in the first state, the first cantilever (421) rotates, the first hooking portion (423) is slidably connected with the first groove (424) to drive the first power output end (422) to rotate, in the second state, the first hooking portion (423) is separated from the first groove (424), and the first cantilever (421) is idle to stop the first power output end (422) from rotating.
  8. 8. The mechanical arm driving structure according to claim 5, wherein the second output mechanism (430) further comprises a first gear (431), a second gear (432) and a second cantilever (434), the first gear (431) is in meshed connection 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), a second hooking portion (436) is arranged on the second cantilever (434), a second groove (437) which is matched with the second hooking portion (436) is arranged on the second power output end (435), in the third state, the second cantilever (434) rotates, the second hooking portion (436) is connected with the second groove (437) in a sliding mode so as to drive the second power output end (435) to rotate, in the fourth state, the second hooking portion (436) is connected with the second groove (434), and in the fourth state, the second cantilever (435) stops the second cantilever (437) from rotating.
  9. 9. The mechanical arm driving structure according to claim 8, wherein the second output mechanism (430) further comprises a transmission assembly (438), the transmission assembly (438) comprises 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) is in meshed connection with the first gear (431), and the fourth gear (4383) is in meshed connection with the second gear (432).
  10. 10. A robot arm comprising the robot arm driving structure according to any one of claims 1 to 9.
  11. 11. A cleaning apparatus comprising the robotic arm of claim 10.

Description

Mechanical arm driving structure, mechanical arm and cleaning equipment Technical Field The disclosure relates to the technical field of cleaning equipment, and in particular relates to a mechanical arm driving structure, a mechanical arm and cleaning equipment. Background In the robot arm control system of the cleaning apparatus, the robot arm is generally designed to be foldable to fit a limited space. When the robotic arm is in an unused state, it is typically folded into the robotic arm pocket of the cleaning device. When the mechanical arm executes a cleaning task, working pose conversion is realized through a plurality of driving devices. For example, the mechanical arm is converted from a horizontal state to a vertical state, and when the vertical state rotates around the gravity direction as an axis, two driving devices are usually required to realize the conversion of the motion state of the mechanical arm. Because the installation space of the cleaning apparatus is narrow, it is difficult to accommodate a plurality of driving devices, resulting in difficulty in improvement of the overall space utilization thereof. Disclosure of utility model In view of the above drawbacks, the present disclosure provides a mechanical arm driving structure, a mechanical arm and a cleaning apparatus, so as to improve the technical problem that the overall space utilization is low due to the fact that the existing cleaning apparatus controls the movement of different dimensions through a plurality of driving devices. To achieve the above and other related objects, a first aspect of the present disclosure provides a robot arm driving structure. The mechanical arm driving structure comprises an arm body, a transmission part and a driving device, wherein 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 to provide source power for the first power output end and the second power output end. In the above technical solution, the single driving device is used as a power source to provide stable power output for the first power output end and the second power output end of the transmission part. The first power output end driving arm body rotates around a first axis, and the second power output end driving arm body rotates around a second axis, so that the working pose conversion of the arm body is realized. The space occupied by the single driving device is relatively smaller, so that the whole mechanical arm driving structure is more flexible in space layout, the volume of the mechanical arm driving structure is reduced, and meanwhile, the design and manufacturing cost of the mechanical arm driving structure can be reduced by the single driving device. In an embodiment of the mechanical arm driving structure of the present disclosure, the mechanical arm driving structure further includes a frame body and a seat body, the seat body is rotatably mounted on the frame body, and the arm body is rotatably mounted on the seat body. The first power output end driving arm rotates around a first axis relative to the base body. The second power output end is connected with the arm body through the base body so as to drive the base body to rotate around the second axis relative to the frame body. In the above technical scheme, the support body provides firm support for the pedestal, and the pedestal is as the transfer connecting piece of connecting support body and arm body, combines the rotation of arm body around first axis and second axis with the fixed basis of support body. Under the drive of first power take off, the arm body realizes rotating around the first axis, under the drive of second power take off, and the pedestal realizes the rotation of arm body around the second axis for the arm body can adjust gesture and direction of motion in the complex environment in a flexible way, has increased the flexibility and the range of motion of arm body. In an embodiment of the mechanical arm driving structure of the present disclosure, the transmission part 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. In the technical scheme, the input mechanism receives the power from the driving device, the power input end is used as a starting point of power