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CN-224223928-U - Mechanical arm joint, mechanical arm and cleaning equipment

CN224223928UCN 224223928 UCN224223928 UCN 224223928UCN-224223928-U

Abstract

The present disclosure provides a robot arm joint, a robot arm, and a cleaning apparatus. The mechanical arm joint is arranged on the cleaning equipment and comprises a first arm body, a second arm body, a cable and a wire arranging assembly. The second arm body is movably connected with the first arm body, and the second arm body comprises a cavity. The cable extends through the chamber to the first arm, and the cable within the chamber undergoes a path change in response to a change in the relative positions of the first arm and the second arm. The wire arrangement assembly is arranged in the cavity and connected with the cable. The wire management assembly is responsive to changes in the relative positions of the first arm and the second arm to guide changes in the path of the wire. The mechanical arm joint prevents cables from being loosened and wound in the cavity or irregularly swinging in the mechanical arm joint, so that interference of the cables to other functional modules is reduced, and reliability and flexibility of the mechanical arm joint in relative position change are improved.

Inventors

  • ZHAO ZHENHAO
  • LV XIAOMING
  • QIN HAITAO
  • CHU XIAOGANG
  • CHEN CHUNCHENG

Assignees

  • 麦悦未来智能科技(苏州)有限公司

Dates

Publication Date
20260512
Application Date
20250523

Claims (11)

  1. 1. A robotic arm joint for mounting to a cleaning apparatus, comprising: A first arm body (100); the second arm body (200) is movably connected with the first arm body (100), and the second arm body (200) comprises a cavity (210); -a cable (300) extending through the chamber (210) to the first arm (100), the cable (300) within the chamber (210) generating a path change in response to a change in the relative position of the first arm (100) and the second arm (200); And a wire arranging assembly (400) mounted to the chamber (210) and connected to the cable (300), the wire arranging assembly (400) guiding a path change of the cable (300) in response to a relative position change of the first arm (100) and the second arm (200).
  2. 2. The robotic arm joint of claim 1, wherein the wire management assembly (400) maintains the cable (300) within the chamber (210) in tension in response to a change in relative position of the first arm (100) and the second arm (200).
  3. 3. The mechanical arm joint according to claim 1 or 2, wherein the wire management assembly (400) comprises a sliding part (410) and a sliding driving mechanism (420), the sliding part (410) is slidably installed in the chamber (210) and is connected with the cable (300), and the sliding driving mechanism (420) is installed in the chamber (210) and drives the sliding part (410) to slide to guide the path change of the cable (300) in the chamber (210) in response to the relative position change of the first arm body (100) and the second arm body (200).
  4. 4. A mechanical arm joint according to claim 3, wherein the sliding driving mechanism (420) comprises a base (421) and an elastic member (422), the base (421) is fixedly mounted on the second arm (200), one side of the elastic member (422) along the deformation direction is connected with the base (421), the other side along the deformation direction is connected with the sliding portion (410), and the sliding portion (410) guides the path change of the cable (300) in response to the deformation or recovery deformation of the elastic member (422).
  5. 5. The mechanical arm joint according to claim 4, characterized in that the elastic member (422) is a spring.
  6. 6. A robot arm joint according to claim 3, wherein the sliding part (410) comprises a guide rod part (413), the sliding driving mechanism (420) comprises a compression spring, and the guide rod part (413) is located in the compression spring along the sliding direction of the sliding part (410).
  7. 7. The mechanical arm joint according to claim 6, wherein the sliding driving mechanism (420) includes a base (421), and an opening (423) coaxial with the guide rod portion (413) is formed in the base (421) along the sliding direction of the sliding portion (410), and at least a portion of the compression spring is located in the opening (423).
  8. 8. A mechanical arm joint according to claim 3, wherein the sliding portion (410) is provided with a groove (411), the opening direction of the groove (411) is consistent with the sliding direction of the sliding portion (410), and the cable (300) passes through the groove (411).
  9. 9. The robotic arm joint of claim 8, wherein the sliding portion (410) further comprises an elongated portion (414), the elongated portion (414) extending from the open end of the recess (411) and being located above the cable (300).
  10. 10. A robot arm comprising the robot arm joint according to any one of claims 1 to 9.
  11. 11. A cleaning apparatus comprising the robotic arm of claim 10.

Description

Mechanical arm joint, mechanical arm and cleaning equipment Technical Field The disclosure relates to the technical field of cleaning equipment, in particular to a mechanical arm joint, a mechanical arm and cleaning equipment. Background In a robot control system of a cleaning apparatus, a robot is generally used to perform a specific cleaning task to improve cleaning efficiency and coverage. The mechanical arm joint is an important part for realizing the change of the working pose of the mechanical arm, and the movement of the mechanical arm is mainly realized through the rotation of the mechanical arm joint. Cables are typically provided inside the robot arm joints for power and communication at the ends of the robot arm. Other functional modules of the cleaning equipment, such as a camera module, are integrated on part of the mechanical arm joints. However, when the relative positions of the first arm body and the second arm body of the mechanical arm joint change (such as rotation, expansion or sliding, etc.), irregular movement of the cable in the mechanical arm joint can be caused, so that the cable is loosened or wound on other functional modules, and normal operation of the other functional modules is affected. Disclosure of utility model In view of the above drawbacks, the present disclosure provides a mechanical arm joint, a mechanical arm and a cleaning device, so as to improve the technical problem that rotation of the existing mechanical arm joint can cause a cable to be loosened or wound inside the joint to other functional modules, affecting normal operation of the other functional modules. To achieve the above and other related objects, a first aspect of the present disclosure provides a robot arm joint mounted to a cleaning apparatus, the robot arm joint including a first arm body, a second arm body, a cable, and a wire management assembly. The second arm body is movably connected with the first arm body, and the second arm body comprises a cavity. The cable extends through the chamber to the first arm, and the cable within the chamber undergoes a path change in response to a change in the relative positions of the first arm and the second arm. The wire arrangement assembly is arranged in the cavity and connected with the cable. The wire management assembly is responsive to changes in the relative positions of the first arm and the second arm to guide changes in the path of the wire. In the technical scheme, when the relative positions of the first arm body and the second arm body change, the wire arranging assembly synchronously responds to the relative position change of the first arm body and the second arm body, and the path change generated by the wires is limited and guided, so that the path change of the wires in the cavity is guided and adjusted according to the planned path, the wires are prevented from being loosened and wound in the cavity or from swinging in disorder in the joints of the mechanical arm, the interference of the wires on other functional modules is reduced, and the normal operation of the other functional modules is ensured. Meanwhile, the wire arrangement assembly restrains the wires in a narrow cavity space, so that the reliability and flexibility of the mechanical arm joint during the relative position change are improved. In one embodiment of the disclosed robotic arm joint, the wire management assembly maintains the cable in the chamber in tension in response to a change in the relative positions of the first arm and the second arm. In the technical scheme, the cable management assembly enables the cable in the cavity to be in a forced tensioning state, and the degree of freedom of the cable is restrained. The wire arrangement assembly actively manages the path change of the cables in the cavity, further avoids loose cables from being wound in the cavity or from swinging out of order, and avoids affecting other functional modules. The cable in the tensioning state can timely respond to the relative position change of the first arm body and the second arm body, so that the response speed of the cable to the rotation of the mechanical arm joint is synchronous with the movement of the mechanical arm, signal transmission delay or power loss caused by cable looseness is avoided, and the precision and dynamic performance of mechanical arm joint control are improved. Simultaneously, reason line subassembly makes the cable keep tensioning state, makes the redundant length of cable in time accomodate in the cavity, avoids the redundant length of cable to cause the influence to the structural component in first arm body or other regions. In an embodiment of the mechanical arm joint of the present disclosure, the wire arranging assembly includes a sliding portion and a sliding driving mechanism, and the sliding portion is slidably mounted in the cavity and connected to the cable. The sliding driving mechanism is installed in the cavity and responds to the relative posit