Robotic arms and robots

Abstract

The present disclosure provides a mechanical arm and a robot, and relates to the field of robot technology. The mechanical arm includes: a first mechanical joint, a second mechanical joint and a driving assembly; the first mechanical joint includes a first fixed part and a first movable part that are rotatably connected; the second mechanical joint includes a second fixed part and a second movable part that are rotatably connected; in a first working mode, at least two driving sources can drive the second movable part to rotate relative to the second fixed part, and fix the position of the first movable part relative to the first fixed part; in a second working mode, the driving source drives the second movable part, the second fixed part and the first movable part to rotate relative to the first fixed part, and fixes the position of the second movable part relative to the second fixed part. The mechanical arm disclosed in the present disclosure can realize the coupled driving of multiple joints by at least two driving sources, thereby improving the utilization rate of the driving sources.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics technology, and in particular to a robotic arm and a robot. Background Art

[0002] With the development of robot technology and the expansion of its applicable fields, robots have gradually become irreplaceable tools in the fields of production, services, etc. Among them, articulated robots are based on the bionic design of human arms and are widely used due to their advantages such as flexible movements and compact structure.

[0003] In the related art, articulated robots usually adopt a tendon driven (or wire driven) solution, but each mechanical joint in this driving solution adopts an independent driving source, resulting in a complex structure of each mechanical joint of the robot and a large moment of inertia, which reduces the motion performance of the mechanical joints. Summary of the invention

[0004] The present disclosure provides a mechanical arm and a robot, which can solve the problems of complex structure of mechanical joints of the robot and large moment of inertia.

[0005] The technical solution is as follows:

[0006] In one aspect, a mechanical arm is provided, the mechanical arm comprising: a first mechanical joint, a second mechanical joint and a drive assembly;

[0007] The first mechanical joint comprises a first fixed part and a first movable part which are rotatably connected; the second mechanical joint comprises a second fixed part and a second movable part which are rotatably connected;

[0008] The second fixing member is connected to the first movable member;

[0009] The drive assembly includes at least two drive sources and at least two drive ropes;

[0010] Each of the at least two driving sources is connected to the first fixed member, the first movable member and the second movable member through at least one driving rope;

[0011] The at least two driving sources include a first working mode and a second working mode;

[0012] In the first working mode, the at least two driving sources can drive the second movable member to rotate relative to the second fixed member, and fix the position of the first movable member relative to the first fixed member;

[0013] In the second working mode, the at least two driving sources can drive the second movable member, the second fixed member and the first movable member to rotate relative to the first fixed member, and fix the position of the second movable member relative to the second fixed member.

[0014] On the other hand, a robot is provided, comprising the robotic arm described in the present disclosure.

[0015] The beneficial effects of the technical solution provided by the present disclosure include at least:

[0016] The mechanical arm disclosed in the present invention comprises a first mechanical joint, a second mechanical joint and a driving assembly, wherein the driving assembly comprises at least two driving sources and at least two driving ropes, wherein each of the at least two driving sources is connected to a first movable part of the first mechanical joint, a second movable part of the second mechanical joint, and a first fixed part of the first mechanical joint through at least one driving rope, and wherein the at least two driving sources can drive the second movable part to rotate relative to the second fixed part in a first working mode, and fix the position of the first movable part relative to the first fixed part; and can drive the second movable part, the second fixed part and the first movable part to rotate relative to the first fixed part in a second working mode, and fix the position of the second movable part relative to the second fixed part, thereby realizing coupled driving of multiple joints by at least two driving sources, improving the utilization rate of the driving sources, reducing the structural complexity of the mechanical joints, reducing the rotational inertia of the mechanical joints, and enhancing the motion performance of the mechanical joints. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 is a schematic diagram of the structure of a mechanical arm provided by an embodiment of the present disclosure;

[0019] Figure 2 is a schematic structural diagram of a robotic arm provided by another embodiment of the present disclosure;

[0020] Figure 3 yes Figure 2 A partial structural sectional view of the mechanical arm shown;

[0021] Figure 4 yes Figure 2 A schematic diagram of the local structure of the robotic arm shown;

[0022] Figure 5 yes Figure 2Another partial structural schematic diagram of the robotic arm shown;

[0023] Figure 6 is a schematic structural diagram of a robotic arm provided by another embodiment of the present disclosure;

[0024] Figure 7 yes Figure 1 Schematic diagram of the partial structure of the robotic arm shown.

[0025] The reference numerals in the figures represent respectively:

[0026] 001, first axis; 002, second axis; 003, third axis; 004, fourth axis;

[0027] 10. First mechanical joint; 20. Second mechanical joint; 30. Driving assembly;

[0028] 101, first fixing member; 102, first movable member; 103, third fixing member; 104, second connecting member;

[0029] 201, second fixed member; 202, second movable member; 203, third movable member;

[0030] 2021, first position; 2022, second position;

[0031] 2023, third position; 2024, fourth position;

[0032] 204, a first connecting member;

[0033] 301, driving source;

[0034] 3011, first elbow driving rope pulley; 3012, second elbow driving rope pulley;

[0035] 302, driving rope;

[0036] 3021, first elbow driving rope; 30211, first end; 30212, second end;

[0037] 3022, second elbow driving rope; 30221, third end; 30222, fourth end;

[0038] 4. Wrist-elbow connector; 41. Tactile sensor;

[0039] 5. Rotary encoder;

[0040] 6. Torque sensor. DETAILED DESCRIPTION

[0041] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0042] Unless otherwise defined, all technical terms used in the embodiments of the present disclosure have the same meanings as commonly understood by those of ordinary skill in the art.

[0043] In the related art, articulated robots usually adopt a closed-loop Tendon Driven (or wire drive) solution.

[0044] However, in the closed-loop rope drive scheme, each degree of freedom is driven by a driving source (such as a motor) in conjunction with two ropes. The driving source moves forward and reversely, pulling a rope respectively, driving the mechanical joint to move in the corresponding direction.

[0045] Each degree of freedom of a mechanical joint corresponds to a driving source. In actual applications, most degrees of freedom of a mechanical joint usually operate at a lower power level, so the utilization rate of the driving source corresponding to this part of the freedom is low, resulting in a large cost waste.

[0046] Each degree of freedom corresponds to a driving source, which will increase the mass of the mechanical joint, thereby increasing the moment of inertia of the mechanical joint and reducing the operating performance of the mechanical joint.

[0047] In addition, a redundant rope drive solution has also appeared in the prior art, that is, a solution using three motors to drive two degrees of freedom. This solution is based solely on the coordination of multiple drive ropes to enable the mechanical wrist joint to move in a desired direction, angle or position.

[0048] However, in the above redundant rope drive scheme, the number of drive sources is greater than that in the closed-loop rope drive scheme, resulting in lower operating performance of the mechanical joint.

[0049] Therefore, the present disclosure provides a robotic arm, which can drive the second movable part to rotate relative to the second fixed part in a first working mode; and can drive the second mechanical joint and the first movable part to rotate relative to the first fixed part in a second working mode, thereby realizing the coupled drive of multiple joints by at least two driving sources, improving the utilization rate of the driving sources, reducing the structural complexity of the mechanical joints, increasing the rotational inertia of the mechanical joints, and enhancing the motion performance of the mechanical joints.

[0050] It should be understood that the robotic arm provided in the present application can be applied to robot scenarios in the fields of cloud technology, artificial intelligence, smart transportation, etc., and can be used to realize human-computer interaction through robots and serve people's daily lives.

[0051] Artificial intelligence is the theory, method, technology and application system that uses a machine controlled by a mathematical computer or a digital computer to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to obtain the best results. In other words, artificial intelligence is a comprehensive technology in computer science that attempts to understand the essence of intelligence and produce a new intelligent machine that can respond in a similar way to human intelligence. Artificial intelligence is to study the design principles and implementation methods of various intelligent machines so that machines have the functions of perception, reasoning and decision-making.

[0052] Artificial intelligence is a comprehensive discipline that covers a wide range of fields, including both hardware-level and software-level technologies. The basic technologies of artificial intelligence generally include sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technology, operation / interaction systems, and mechatronics. Artificial intelligence software technology mainly includes computer vision technology, speech processing technology, natural language processing technology, and machine learning / deep learning.

[0053] It is understandable that the intelligent traffic system (ITS) used in the field of smart transportation is also called the intelligent transportation system (ITS), which effectively and comprehensively applies advanced science and technology (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operations research, artificial intelligence, etc.) to transportation, service control and vehicle manufacturing, strengthens the connection between vehicles, roads and users, and thus forms a comprehensive transportation system that ensures safety, improves efficiency, improves the environment and saves energy. In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the following will further describe the embodiments of the present disclosure in detail in conjunction with the accompanying drawings.

[0054] Figure 1 It is a schematic diagram of the structure of the robotic arm provided in an embodiment of the present disclosure.

[0055] On the one hand, combined with Figure 1 As shown, this embodiment provides a mechanical arm, which includes: a first mechanical joint 10 , a second mechanical joint 20 and a driving assembly 30 .

[0056] The first mechanical joint 10 includes a first fixed member 101 and a first movable member 102 rotatably connected; the second mechanical joint 20 includes a second fixed member 201 and a second movable member 202 rotatably connected; the second fixed member 201 is connected to the first movable member 102 .

[0057] The driving assembly 30 includes at least two driving sources 301 and at least two driving ropes 302 ; each of the at least two driving sources 301 is connected to the first fixed member 101 , the first movable member 102 and the second movable member 202 via at least one driving rope 302 .

[0058] At least two driving sources 301 include a first working mode and a second working mode;

[0059] In the first working mode, at least two driving sources 301 can drive the second movable member 202 to rotate relative to the second fixed member 201, and fix the position of the first movable member 102 relative to the first fixed member 101;

[0060] In the second working mode, at least two driving sources 301 can drive the second movable member 202 , the second fixed member 201 and the first movable member 102 to rotate relative to the first fixed member 101 , and fix the position of the second movable member 202 relative to the second fixed member 201 .

[0061] The mechanical arm disclosed in the present invention comprises a first mechanical joint 10, a second mechanical joint 20 and a driving assembly 30, wherein the driving assembly 30 comprises at least two driving sources 301 and at least two driving ropes 302, wherein each of the at least two driving sources 301 is connected to a first movable member 102 of the first mechanical joint 10, a second movable member 202 of the second mechanical joint 20, and a first fixed member 101 of the first mechanical joint 10 through at least one driving rope 302, and the at least two driving sources 301 can drive the second movable member 202 to move relative to the first mechanical joint 10 in a first working mode The second fixed part 201 rotates, and the position of the first movable part 102 relative to the first fixed part 101 is fixed; in the second working mode, the second movable part 202, the second fixed part 201 and the first movable part 102 can be driven to rotate relative to the first fixed part 101, and the position of the second movable part 202 relative to the second fixed part 201 is fixed, thereby realizing the coupled drive of at least two driving sources 301 to multiple joints, improving the utilization rate of the driving source 301, reducing the structural complexity of the mechanical joints, increasing the moment of inertia of the mechanical joints, and enhancing the motion performance of the mechanical joints.

[0062] In addition, in the present embodiment, when the second mechanical joint 20 moves independently (i.e., the second movable part 202 rotates relative to the second fixed part 201, but the position of the first movable part 102 relative to the first fixed part 101 is fixed), and when the first mechanical joint 10 drives the second mechanical joint 20 to move in coupling (i.e., the second movable part 202, the second fixed part 201 and the first movable part 102 rotate relative to the first fixed part 101, and the position of the second movable part 202 relative to the second fixed part 201 is fixed), it is driven by at least two driving sources 301 at the same time, that is, no matter which degree of freedom corresponds to the joint movement, it is driven by the power of at least two driving sources 301. Compared with the scheme in the related art that a single degree of freedom is driven by a single driving source 301, it can realize the coupled drive of a single movable part by at least two driving sources 301, and realize at least twice the traction drive, which is beneficial to improve the working performance of the movable part such as the torque and rotation speed.

[0063] In some possible implementations, the at least two driving sources 301 include a motor and a driving rope pulley, the motor and the driving rope pulley are connected via a transmission mechanism, and the motor drives the driving rope pulley to rotate via the transmission mechanism.

[0064] The driving rope 302 is wound around the driving rope pulley. When the driving rope pulley rotates, the driving rope 302 can be tightly wound around it, so that the driving rope 302 generates traction on at least one of the first fixed member 101, the first movable member 102 and the second movable member 202.

[0065] In some possible implementations, the transmission mechanism includes but is not limited to a belt transmission mechanism, a gear transmission mechanism, a worm gear transmission mechanism, and the like.

[0066] Exemplarily, the transmission mechanism is a belt drive, for example including a driving pulley, a transmission belt and a passive pulley, wherein the driving pulley is connected to the output shaft of the motor, the passive pulley is connected to the driving rope pulley, and the transmission belt is connected between the driving pulley and the passive pulley.

[0067] In another exemplary embodiment, the transmission mechanism is a belt drive, for example, further comprising a tensioning mechanism, the tensioning mechanism is close to the transmission belt, and the tensioning mechanism can be used to adjust the tension of the transmission belt.

[0068] In some possible implementations, the first operating mode and the second operating mode, for example, can be different operating modes formed according to whether the rotation directions of at least two driving sources 301 are different or the same; they can also be different operating modes formed according to whether the rotation speeds of at least two driving sources 301 are different or the same; they can also be different operating modes formed according to whether the rotation directions and rotation speeds of at least two driving sources 301 are different or the same.

[0069] In some embodiments, in the first working mode, at least two driving sources 301 rotate in the same direction, and in the second working mode, at least two driving sources 301 rotate in opposite directions.

[0070] Therefore, the robotic arm of this embodiment can control the independent movement of the second mechanical joint 20 and the coupled movement of the second mechanical joint 20 driven by the first mechanical joint 10 by controlling the rotation direction of the at least two driving sources 301, and has a simple structure and high coupling control efficiency.

[0071] In some embodiments, in the first working mode, at least two driving sources 301 rotate in opposite directions, and in the second working mode, at least two driving sources 301 rotate in the same direction.

[0072] In addition, illustratively, in the first working mode and the second working mode, the rotation speeds and output torques of at least two driving sources 301 are the same.

[0073] Exemplarily, the drive assembly 30 includes two motors, and the real-time output torques of the two motors are T and m1 and T m2 , the equivalent driving torques of the joints are τ1 and τ2 respectively, and the diameters of all the wire wheels are the same. According to the characteristics of the structure (ignoring the friction of the driving rope, that is, the force of the driving rope is equal everywhere), the relationship between the joint torque and the motor torque can be obtained as follows:

[0074]

[0075] Furthermore, for the driving torque T of each motor m1 and T m2 , assuming that its maximum output torque limit is:

[0076] max(abs(T m1 ),abs(T m2 ))≤T M (2)

[0077] According to the above formula (1), the maximum output torque of each joint is 2T M That is, through the coupled rope arrangement, the load capacity of a single degree of freedom in the mechanical joint can be increased to a maximum of 2 times.

[0078] The "several" and "at least one" mentioned in this article refer to one or more, and "multiple" and "at least two" refer to two or more. "And / or" describes the association relationship of the associated objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0079] Combination Figure 1 As shown, in some embodiments, at least two driving sources 301 are located on the side of the first fixed member 101 away from the first movable member 102, and at least two driving ropes 302 pass through the first fixed member 101 to be connected to the first movable member 102, and pass through the second fixed member 201 to be connected to the second movable member 202.

[0080] Thus, in the robotic arm of this embodiment, at least two driving sources 301 are arranged on the side of the first fixed part 101 away from the first movable part 102, the driving rope 302 passes through the first fixed part 101 and is connected to the first movable part 102, and passes through the second fixed part 201 and is connected to the second movable part 202. The mass of at least two driving sources 301 is concentrated on the side where the first fixed part 101 is located, and the mass of the side where the first movable part 102, the second fixed part 201 and the second movable part 202 are located is relatively small, which is beneficial to increase the moment of inertia of the side structure and improve its operating performance.

[0081] Combination Figure 2 As shown, in some embodiments, the first mechanical joint 10 is a mechanical shoulder joint, and the second mechanical joint 20 is a mechanical elbow joint; the first fixed member 101 and the first movable member 102 are rotationally connected along the first axis 001; the second fixed member 201 and the second movable member 202 are rotationally connected along the second axis 002.

[0082] In the first working mode, at least two driving sources 301 can drive the second movable part 202 to rotate around the second axis 002 relative to the second fixed part 201, and fix the position of the first movable part 102 relative to the first fixed part 101; in the second working mode, at least two driving sources 301 can drive the second mechanical joint 20 and the first movable part 102 to rotate around the first axis 001 relative to the first fixed part 101, and fix the position of the second movable part 202 relative to the second fixed part 201.

[0083] In the robotic arm of this embodiment, the first mechanical joint 10 is a mechanical shoulder joint, and the second joint is a mechanical elbow joint. In the first working mode, at least two driving sources 301 can drive the second movable part 202 of the mechanical elbow joint to rotate around the second axis 002 relative to the second fixed part 201 of the mechanical elbow joint, and the position of the first movable part 102 of the mechanical shoulder joint is fixed relative to the first fixed part 101 of the mechanical shoulder joint, thereby realizing independent movement of the mechanical elbow joint.

[0084] In the second working mode, at least two driving sources 301 can drive the first movable part 102 of the mechanical shoulder joint to drive the entire mechanical elbow joint (including the second fixed part 201 and the second movable part 202) to rotate around the first axis 001 relative to the first fixed part 101 of the mechanical shoulder joint, but the position of the second movable part 202 of the mechanical elbow joint relative to the second fixed part 201 of the mechanical elbow joint is fixed, thereby realizing the coupled movement of the mechanical elbow joint and the mechanical shoulder joint.

[0085] This embodiment uses a set of driving sources 301. By controlling the set of driving sources 301 to operate in different working modes, the mechanical elbow joint and the mechanical shoulder joint can be driven respectively. The degrees of freedom of the mechanical elbow joint and the mechanical shoulder joint can be driven by at least two driving sources 301, achieving at least twice the traction force drive, which is conducive to improving the working performance of the mechanical elbow joint and the mechanical shoulder joint, such as the torque and rotation speed.

[0086] In some possible implementations, the robotic arm further includes a mechanical wrist joint, a mechanical shoulder joint connected to a mechanical elbow joint, and a mechanical wrist joint connected to a mechanical elbow joint to form a complete robotic arm.

[0087] In some possible implementations, at least two driving sources 301 are located in the second movable member 202 , and are connected to the second movable member 202 , and move along with the second movable member 202 .

[0088] Combination Figure 2 As shown, in some embodiments, the first axis 001 and the second axis 002 intersect vertically. Thus, the first mechanical joint 10 (such as a mechanical shoulder joint) can drive the second mechanical joint 20 (such as a mechanical elbow joint) to rotate, simulating the movement of the forearm spinning in the human arm, and the second mechanical joint 20 can rotate in a wide range (such as 0-360°) in space, enriching the action scenes of the mechanical arm and improving the application range of the mechanical arm.

[0089] Combination Figure 2 As shown, in some embodiments, the first mechanical joint 10 further includes a third fixing member 103; the first fixing member 101 is rotatably connected to the third fixing member 103. Thus, the first mechanical joint 10 includes the third fixing member 103, the first fixing member 101 and the first movable member 102 which are rotatably connected in sequence.

[0090] In some possible implementations, the first fixing member 101 is driven by the shoulder driving assembly to rotate relative to the third fixing member 103, which can simulate the lifting movement of the shoulder joint of the human arm. The third fixing member 103 is fixedly connected to the robot's trunk or other supporting structure to play the role of fixing and supporting the entire robot arm.

[0091] Combination Figure 2As shown, in some embodiments, the second mechanical joint 20 further includes a first connecting member 204 , the second fixing member 201 is rotatably connected to the first connecting member 204 , and the first connecting member 204 is rotatably connected to the second movable member 202 .

[0092] Thus, in the robotic arm of this embodiment, the second fixed part 201 in the second mechanical joint 20 is rotatably connected to the second movable part 202 through the first connecting part 204, so that the second axis 002 can be set at a position farther away from the second fixed part 201, so that the angle at which the second movable part 202 can rotate relative to the second fixed part 201 is significantly expanded.

[0093] In addition, the robotic arm of this embodiment reduces the difficulty of wiring the drive rope 302 of the robotic elbow joint, which is helpful to reduce the difficulty of assembling and maintaining the robotic elbow joint.

[0094] Combination Figure 2-5 As shown, in some embodiments, at least two driving sources 301 include a first elbow driving pulley 3011 and a second elbow driving pulley 3012; the first elbow driving pulley 3011 and the second elbow driving pulley 3012 are connected to the first movable part 102; at least two driving ropes 302 include a first elbow driving rope 3021 and a second elbow driving rope 3022.

[0095] The first end 30211 of the first elbow driving rope 3021 is connected to the first fixed member 101 along the first rotation direction, and the second end 30212 is connected to the first fixed member 101 along the second rotation direction after passing through the first position 2021 of the second movable member 202, the first elbow active rope pulley 3011 and the second position 2022 of the second movable member 202; the third end 30221 of the second elbow driving rope 3022 is connected to the first fixed member 101 along the second rotation direction, and the fourth end 30222 is connected to the first fixed member 101 along the first rotation direction after passing through the first position 2021 of the second movable member 202, the second elbow active rope pulley 3012 and the second position 2022 of the second movable member 202.

[0096] The first position 2021 and the second position 2022 of the second movable member 202 are located at two sides of the second axis 002 respectively; the first rotation direction and the second rotation direction are two opposite rotation directions of the rotational connection between the first movable member 102 and the first fixed member 101 .

[0097] The robotic arm of this embodiment has at least two driving sources 301 including two elbow driving pulleys, which are installed in the first movable part 102. The two elbow driving pulleys can drive two elbow driving ropes 302 respectively. The two elbow driving ropes 302 are wound around the two elbow driving rope pulleys, which also realize the connection between the driving ropes 302 and the first movable part 102.

[0098] At least two drive ropes 302 include two elbow drive ropes 302, which are respectively connected to the first fixed member 101, the first movable member 102, and the second movable member 202, and are respectively connected to the first position 2021 and the second position 2022 of the second movable member 202, and are finally connected to the second movable member 202 along the opposite winding direction.

[0099] The specific working process of the robot arm of this embodiment is analyzed as follows:

[0100] First working mode:

[0101] When the first elbow active rope wheel 3011 and the second elbow active rope wheel 3012 rotate in the same direction, the first elbow driving rope 3021 and the second elbow driving rope 3022 respectively apply traction force toward the second fixed member 201 to the first position 2021 (or the second position 2022) of the second movable member 202, so that the second movable member 202 rotates around the second axis 002 toward the side where the first position 2021 (or the second position 2022) is located;

[0102] At this time, since the connection directions of the first elbow driving rope 3021 and the second elbow driving rope 3022 are opposite to the first fixed part 101, the traction forces of the first elbow driving rope 3021 and the second elbow driving rope 3022 on the first fixed part 101 cancel each other out, that is, the first movable part 102 maintains a state of force balance, and the first movable part 102 and the first fixed part 101 maintain a fixed relative position.

[0103] Second working mode:

[0104] When the first elbow active pulley 3011 and the second elbow active pulley 3012 rotate in opposite directions, the first elbow driving rope 3021 applies a traction force toward the second fixed member 201 toward the first position 2021 of the second movable member 202, and the second elbow driving rope 3022 applies a traction force toward the second fixed member 201 toward the second position 2022 of the second movable member 202 (it can also be that the first elbow driving rope 3021 applies a traction force toward the second fixed member 201 toward the second position 2022 of the second movable member 202, and the second elbow driving rope 3022 applies a traction force toward the second fixed member 201 toward the first position 2021 of the second movable member 202), the forces on both sides of the second axis 002 of the second movable member 202 offset each other, the second movable member 202 maintains a state of force balance, and the second movable member 202 and the second fixed member 201 maintain a fixed relative position.

[0105] At this time, since the connection directions of the first elbow driving rope 3021 and the second elbow driving rope 3022 are opposite to the first fixed member 101, when the first elbow driving rope 3021 and the second elbow driving rope 3022 are in opposite directions of movement, the traction forces on the first fixed member 101 are the same, so that the combined force of the traction forces of the first elbow driving rope 3021 and the second elbow driving rope 3022 on the first fixed member 101 is equal to the sum of the traction forces of the two. However, since the first fixed member 101 is a fixed end, the first movable member 102 is pushed back to move, so that the first movable member 102 drives the movement of the second mechanical joint 20.

[0106] Combination Figure 6 As shown, in some embodiments, the first mechanical joint 10 is a mechanical elbow joint, and the second mechanical joint 20 is a mechanical wrist joint; the first fixed member 101 and the first movable member 102 are rotationally connected along the third axis 003; the second fixed member 201 and the second movable member 202 are rotationally connected along the fourth axis 004.

[0107] In the first working mode, at least two driving sources 301 can drive the second movable member 202 to rotate relative to the second fixed member 201 around the fourth axis 004 and fix the position of the first movable member 102 relative to the first fixed member 101 .

[0108] In the second working mode, at least two driving sources 301 can drive the second mechanical joint 20 and the first movable member 102 to rotate relative to the first fixed member 101 around the third axis 003 and fix the position of the second movable member 202 relative to the second fixed member 201 .

[0109] In the robotic arm of this embodiment, the first mechanical joint 10 is a mechanical elbow joint, and the second joint is a mechanical wrist joint. In the first working mode, at least two driving sources 301 can drive the second movable part 202 of the mechanical wrist joint to rotate around the fourth axis 004 relative to the second fixed part 201 of the mechanical wrist joint, and the position of the first movable part 102 relative to the first fixed part 101 is fixed to realize independent movement of the mechanical wrist joint.

[0110] In the second working mode, at least two driving sources 301 can drive the first movable part 102 of the mechanical elbow joint to drive the entire mechanical wrist joint to rotate around the third axis 003 relative to the first fixed part 101 of the mechanical elbow joint, and the position of the second movable part 202 relative to the second fixed part 201 is fixed, thereby realizing the coupled movement of the mechanical wrist joint and the mechanical elbow joint.

[0111] This embodiment uses a set of driving devices (at least two driving sources 301), and by controlling the set of driving source devices to operate in different working modes, the mechanical wrist joint and the mechanical elbow joint can be driven respectively. The degrees of freedom of the mechanical wrist joint and the mechanical elbow joint can be driven by at least two driving sources 301, achieving at least twice the traction drive, which is conducive to improving the working performance of the mechanical wrist joint and the mechanical elbow joint, such as the torque and rotation speed.

[0112] In some possible implementations, the robotic arm further includes a mechanical shoulder joint, the mechanical shoulder joint is connected to a mechanical elbow joint, and the mechanical wrist joint is connected to the mechanical elbow joint to form a complete robotic arm.

[0113] In some possible implementations, at least two driving sources 301 are located in the mechanical shoulder joint and connected to the first fixing member 101 .

[0114] Combination Figure 6 As shown, in some embodiments, the third axis 003 and the fourth axis 004 intersect vertically. Thus, the first mechanical joint 10 (such as a mechanical elbow joint) can drive the second mechanical joint 20 (such as a mechanical wrist joint) to rotate, simulating the movement of the human elbow, and the second mechanical joint 20 can rotate in a wide range (such as 0-180°) in space, enriching the action scenes of the robotic arm and improving the application range of the robotic arm.

[0115] Combination Figure 6 As shown, in some embodiments, the first mechanical joint 10 further includes a second connecting member 104 , the first fixing member 101 is rotatably connected to the second connecting member 104 , and the second connecting member 104 is rotatably connected to the first movable member 102 .

[0116] Thus, in the robotic arm of this embodiment, the first fixed part 101 in the first mechanical joint 10 is rotatably connected to the first movable part 102 through the second connecting part 104, so that the third axis 003 can be set at a position farther away from the first fixed part 101, so that the angle at which the first movable part 102 can rotate relative to the first fixed part 101 is significantly expanded.

[0117] Combination Figure 6 As shown, in some embodiments, the second mechanical joint 20 further includes a third movable member 203; the third movable member 203 is rotatably connected to the second movable member 202 and the second fixed member 201 respectively.

[0118] Therefore, in the mechanical arm of this embodiment, the second fixed part 201 in the second mechanical joint 20 is connected to the second movable part 202 through the third movable part 203, and the second movable part 202 can rotate with the third movable part 203, thereby increasing the working direction of the second movable part 202.

[0119] In some possible implementations, the second movable member 202 includes a rotating shaft assembly, and at least two driving ropes 302 are respectively connected to the rotating shaft assembly, and the second movable member 202 is driven to rotate by driving the rotating shaft assembly.

[0120] Combination Figure 6 As shown, in some embodiments, at least two driving sources 301 include a first elbow driving pulley 3011 and a second elbow driving pulley 3012; the first elbow driving pulley 3011 and the second elbow driving pulley 3012 are connected to the first fixed member 101; at least two driving ropes 302 include a first elbow driving rope 3021 and a second elbow driving rope 3022.

[0121] The first end 30211 of the first elbow driving rope 3021 is connected to the second movable part 202 along the first rotation direction, and the second end 30212 is connected to the second movable part 202 along the second rotation direction after passing through the third position 2023 of the first movable part 102, the first elbow active rope pulley 3011 and the fourth position 2024 of the first movable part 102; the third end 30221 of the second elbow driving rope 3022 is connected to the second movable part 202 along the second rotation direction, and the fourth end 30222 is connected to the second movable part 202 along the first rotation direction after passing through the third position 2023 of the first movable part 102, the second elbow active rope pulley 3012 and the fourth position 2024 of the first movable part 102.

[0122] Among them, the third position 2023 and the fourth position 2024 of the first movable member 102 are respectively located on both sides of the third axis 003 of the rotational connection between the first movable member 102 and the first fixed member 101; the first rotation direction and the second rotation direction are two opposite rotation directions of the rotational connection between the second movable member 202 and the second fixed member 201.

[0123] The robotic arm of this embodiment has at least two driving sources 301 including two elbow driving pulleys, which are respectively connected to the first fixing member 101. The two elbow driving pulleys can respectively drive two elbow driving ropes 302. The two elbow driving ropes 302 are wound around the two elbow driving rope pulleys, which also realizes the connection between the driving ropes 302 and the first fixing member 101.

[0124] At least two driving ropes 302 include two elbow driving ropes, which are respectively connected to the first fixed member 101, the first movable member 102, and the second movable member 202, and are respectively connected to the third position 2023 and the fourth position 2024 of the first movable member 102, and are finally connected to the second movable member 202 along the opposite winding direction.

[0125] The specific working process of the robot arm of this embodiment is analyzed as follows:

[0126] First working mode:

[0127] When the first elbow driving pulley 3011 and the second elbow driving pulley 3012 rotate in the same direction, the first elbow driving rope 3021 and the second elbow driving rope 3022 respectively apply traction force toward the first fixed member 101 to the third position 2023 (or the fourth position 2024) of the first movable member 102, so that the first movable member 102 rotates around the third axis 003 toward the side where the third position 2023 (or the fourth position 2024) is located.

[0128] At this time, since the connection directions of the first elbow driving rope 3021 and the second elbow driving rope 3022 are opposite to the second movable part 202, the traction forces of the first elbow driving rope 3021 and the second elbow driving rope 3022 on the second movable part 202 cancel each other out, that is, the second movable part 202 maintains a state of force balance, and the second movable part 202 and the second fixed part 201 maintain a fixed relative position.

[0129] Second working mode:

[0130] When the first elbow active pulley 3011 and the second elbow active pulley 3012 rotate in opposite directions, the first elbow driving rope 3021 applies a traction force toward the first fixed member 101 toward the third position 2023 of the first movable member 102, and the second elbow driving rope 3022 applies a traction force toward the first fixed member 101 toward the fourth position 2024 of the first movable member 102 (it can also be that the first elbow driving rope 3021 applies a traction force toward the first fixed member 101 toward the fourth position 2024 of the first movable member 102, and the second elbow driving rope 3022 applies a traction force toward the first fixed member 101 toward the third position 2023 of the first movable member 102), the forces on both sides of the third axis 003 of the first movable member 102 offset each other, the first movable member 102 maintains a state of force balance, and the first movable member 102 and the first fixed member 101 maintain a fixed relative position.

[0131] At this time, since the connection directions of the first elbow driving rope 3021 and the second elbow driving rope 3022 are opposite to the second movable part 202, when the first elbow driving rope 3021 and the second elbow driving rope 3022 are in opposite directions of movement, the traction forces on the second movable part 202 are the same. Therefore, the resultant force of the traction forces of the first elbow driving rope 3021 and the second elbow driving rope 3022 on the second movable part 202 is equal to the sum of the traction forces of the two, thereby realizing the rotational movement of the second movable part 202 relative to the second fixed part 201.

[0132] Combination Figure 7As shown, in some embodiments, the robotic arm further includes a wrist-elbow connector 4; one end of the wrist-elbow connector 4 is connected to the first movable member 102, and the other end is connected to the second fixed member 201. The wrist-elbow connector 4 in this embodiment can increase the length between the first mechanical joint 10 and the second mechanical joint 20, so as to increase the range of action of the second mechanical joint 20 and improve the application range of the robotic arm.

[0133] Combination Figure 7 As shown, in some embodiments, the wrist-elbow connector 4 includes a tactile sensor 41, which is located on the outer surface of the wrist-elbow connector 4. The tactile sensor 41 is used to detect and provide feedback on whether the wrist-elbow connector 4 contacts other objects. Therefore, when a person touches the robotic arm of this embodiment from the outside, the safety control of the robotic arm can be triggered to avoid causing human harm.

[0134] Exemplarily, the tactile sensor 41 includes but is not limited to contact sensors, force-torque sensors, pressure sensors, and slip sensors, etc., wherein the contact sensor includes but is not limited to micro switches, conductive rubber, carbon sponge, carbon fiber, pneumatic reset devices, etc.

[0135] In some possible implementations, the outer surfaces of the first mechanical joint 10 and the second mechanical joint 20 of the robotic arm are both provided with tactile sensors 41, which can trigger safety control of the robotic arm when a person touches it from the outside to avoid causing harm to the human body.

[0136] Combination Figure 7 As shown, in some embodiments, the robotic arm also includes: at least one rotary encoder 5; at least one rotary encoder 5 is connected to the first mechanical joint 10 or the second mechanical joint 20, and is used to detect and feedback the rotation angle of the first mechanical joint 10 or the second mechanical joint 20.

[0137] Among them, the rotary encoder 5 can measure the rotation speed of the shaft of the mechanical joint, and through photoelectric conversion, it can convert mechanical quantities such as the angular displacement and angular velocity of the shaft into corresponding electrical pulses and output them in digital quantities.

[0138] Exemplarily, the rotary encoder 5 includes but is not limited to voltage output, open collector output, push-pull complementary output, long line drive output, and the like.

[0139] In the robotic arm of the present embodiment, a rotary encoder 5 is provided at the first mechanical joint 10 or the second mechanical joint 20, which can detect and feedback the rotation angle of the first mechanical joint 10 or the second mechanical joint 20 in real time, ensuring that the first mechanical joint 10 or the second mechanical joint 20 of the robotic arm accurately and reliably rotates to the target position, thereby improving the working accuracy of the robotic arm.

[0140] Combination Figure 7As shown, in some embodiments, the robotic arm also includes: at least one torque sensor 6; at least one torque sensor 6 is connected to the first mechanical joint 10 or the second mechanical joint 20, for detecting and feeding back the torque of the first mechanical joint 10 or the second mechanical joint 20.

[0141] In the robotic arm of the present embodiment, a torque sensor 6 is provided at the first mechanical joint 10 or the second mechanical joint 20, which can detect and feedback the working torque of the first mechanical joint 10 or the second mechanical joint 20 in real time, ensuring that the first mechanical joint 10 or the second mechanical joint 20 of the robotic arm accurately and reliably outputs the corresponding working torque, thereby improving the working safety and reliability of the robotic arm.

[0142] On the other hand, the present embodiment provides a robot, which includes the robotic arm of the present disclosure.

[0143] The robot of this embodiment adopts the robotic arm disclosed in this invention and has all the technical effects of the robotic arm disclosed in this invention.

[0144] It should be pointed out that in the description of the present disclosure, it should be explained that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0145] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more features. In the description of the present disclosure, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0146] It should be pointed out that, in the present disclosure, unless otherwise clearly stipulated and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0147] In the description of this specification, the description with reference to the terms "certain embodiments", "one embodiment", "some embodiments", "illustrative embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present disclosure.

[0148] The above descriptions are merely embodiments of the present disclosure and are not intended to limit the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A robotic arm, characterized in that: The mechanical arm comprises: a first mechanical joint (10), a second mechanical joint (20) and a driving component (30); The first mechanical joint (10) comprises a first fixed part (101) and a first movable part (102) which are rotatably connected; the second mechanical joint (20) comprises a second fixed part (201) and a second movable part (202) which are rotatably connected; The second fixing member (201) is connected to the first movable member (102); The driving assembly (30) comprises at least two driving sources (301) and at least two driving ropes (302); Each of the at least two driving sources (301) is connected to the first fixed member (101), the first movable member (102) and the second movable member (202) via at least one driving rope (302); The at least two driving sources (301) include a first working mode and a second working mode; In the first working mode, the at least two driving sources (301) are capable of driving the second movable member (202) to rotate relative to the second fixed member (201), and fixing the position of the first movable member (102) relative to the first fixed member (101); In the second working mode, the at least two driving sources (301) are capable of driving the second movable member (202), the second fixed member (201) and the first movable member (102) to rotate relative to the first fixed member (101), and fixing the position of the second movable member (202) relative to the second fixed member (201).

2. The robotic arm according to claim 1, characterized in that: In the first working mode, the at least two driving sources (301) rotate in the same direction, and in the second working mode, the at least two driving sources (301) rotate in opposite directions; or, In the first working mode, the at least two driving sources (301) rotate in opposite directions, and in the second working mode, the at least two driving sources (301) rotate in the same direction.

3. The robotic arm according to claim 1, characterized in that: The at least two driving sources (301) are located on a side of the first fixed member (101) away from the first movable member (102), and the at least two driving ropes (302) pass through the first fixed member (101) to be connected to the first movable member (102), and pass through the second fixed member (201) to be connected to the second movable member (202).

4. The robotic arm according to claim 1, characterized in that: The first mechanical joint (10) is a mechanical shoulder joint, and the second mechanical joint (20) is a mechanical elbow joint; The first fixed member (101) and the first movable member (102) are rotatably connected along a first axis (001); The second fixed member (201) and the second movable member (202) are rotationally connected along a second axis (002); In the first working mode, the at least two driving sources (301) are capable of driving the second movable member (202) to rotate relative to the second fixed member (201) around the second axis (002), and fixing the position of the first movable member (102) relative to the first fixed member (101); In the second working mode, the at least two driving sources (301) are capable of driving the second mechanical joint (20) and the first movable part (102) to rotate around the first axis (001) relative to the first fixed part (101), and fixing the position of the second movable part (202) relative to the second fixed part (201).

5. The robotic arm according to claim 2, characterized in that: The first mechanical joint (10) is a mechanical shoulder joint, and the second mechanical joint (20) is a mechanical elbow joint; The first fixed member (101) and the first movable member (102) are rotatably connected along a first axis (001); The second fixed member (201) and the second movable member (202) are rotationally connected along a second axis (002); In the first working mode, the at least two driving sources (301) are capable of driving the second movable member (202) to rotate relative to the second fixed member (201) around the second axis (002), and fixing the position of the first movable member (102) relative to the first fixed member (101); In the second working mode, the at least two driving sources (301) are capable of driving the second mechanical joint (20) and the first movable part (102) to rotate around the first axis (001) relative to the first fixed part (101), and fixing the position of the second movable part (202) relative to the second fixed part (201).

6. The robotic arm according to claim 4, characterized in that: The first axis (001) and the second axis (002) intersect each other perpendicularly.

7. The robotic arm according to claim 4, characterized in that: The first mechanical joint (10) further comprises a third fixing member (103); the first fixing member (101) is rotatably connected to the third fixing member (103); and / or, The second mechanical joint (20) further comprises a first connecting member (204), the second fixing member (201) is rotatably connected to the first connecting member (204), and the first connecting member (204) is rotatably connected to the second movable member (202).

8. The robotic arm according to claim 4, characterized in that: The at least two driving sources (301) include a first elbow driving rope pulley (3011) and a second elbow driving rope pulley (3012); the first elbow driving rope pulley (3011) and the second elbow driving rope pulley (3012) are connected to the first movable member (102); The at least two drive ropes (302) include a first elbow drive rope (3021) and a second elbow drive rope (3022); The first end (30211) of the first elbow driving rope (3021) is connected to the first fixed member (101) along a first rotation direction, and the second end (30212) is connected to the first fixed member (101) along a second rotation direction after passing through a first position (2021) of the second movable member (202), the first elbow active rope wheel (3011) and a second position (2022) of the second movable member (202); The third end (30221) of the second elbow driving rope (3022) is connected to the first fixed member (101) along the second rotation direction, and the fourth end (30222) is connected to the first fixed member (101) along the first rotation direction after passing through the first position (2021) of the second movable member (202), the second elbow active rope wheel (3012) and the second position (2022) of the second movable member (202); Wherein, the first position (2021) and the second position (2022) of the second movable member (202) are respectively located on two sides of the second axis (002); The first rotation direction and the second rotation direction are two opposite rotation directions of the rotational connection between the first movable member (102) and the first fixed member (101).

9. The mechanical arm according to any one of claims 1 to 3, characterized in that: The first mechanical joint (10) is a mechanical elbow joint, and the second mechanical joint (20) is a mechanical wrist joint; The first fixed member (101) and the first movable member (102) are rotatably connected along a third axis (003); The second fixed member (201) and the second movable member (202) are rotationally connected along a fourth axis (004); In the first working mode, the at least two driving sources (301) are capable of driving the second movable member (202) to rotate relative to the second fixed member (201) around the fourth axis (004), and fixing the position of the first movable member (102) relative to the first fixed member (101); In the second working mode, the at least two driving sources (301) are capable of driving the second mechanical joint (20) and the first movable part (102) to rotate around the third axis (003) relative to the first fixed part (101), and fixing the position of the second movable part (202) relative to the second fixed part (201).

10. The robot arm according to claim 9, characterized in that: The third axis (003) and the fourth axis (004) intersect each other perpendicularly.

11. The mechanical arm according to claim 9, characterized in that: The first mechanical joint (10) further comprises a second connecting member (104), the first fixing member (101) and the second connecting member (104) are rotatably connected, and the second connecting member (104) and the first movable member (102) are rotatably connected; and / or, The second mechanical joint (20) further comprises a third movable member (203); the third movable member (203) is rotatably connected to the second movable member (202) and the second fixed member (201) respectively.

12. The robotic arm according to claim 9, characterized in that: The at least two driving sources (301) include a first elbow driving rope pulley (3011) and a second elbow driving rope pulley (3012); the first elbow driving rope pulley (3011) and the second elbow driving rope pulley (3012) are connected to the first fixing member (101); The at least two drive ropes (302) include a first elbow drive rope (3021) and a second elbow drive rope (3022); The first end (30211) of the first elbow driving rope (3021) is connected to the second movable member (202) along a first rotation direction, and the second end is connected to the second movable member (202) along a second rotation direction after passing through a third position (2023) of the first movable member (102), the first elbow driving rope wheel (3011) and a fourth position (2024) of the first movable member (102); The third end (30221) of the second elbow driving rope (3022) is connected to the second movable member (202) along the second rotation direction, and the fourth end is connected to the second movable member (202) along the first rotation direction after winding around the third position (2023) of the first movable member (102), the second elbow driving rope wheel (3012) and the fourth position (2024) of the first movable member (102); Wherein, the third position (2023) and the fourth position (2024) of the first movable member (102) are respectively located on two sides of a third axis (003) on which the first movable member (102) and the first fixed member (101) are rotatably connected; The first rotation direction and the second rotation direction are two opposite rotation directions of the rotational connection between the second movable member (202) and the second fixed member (201).

13. The robotic arm according to claim 9, characterized in that: The mechanical arm also includes a wrist-elbow connection piece (4); One end of the wrist-elbow connecting member (4) is connected to the first movable member (102), and the other end is connected to the second fixed member (201).

14. The robot arm according to claim 13, characterized in that: The wrist-elbow connecting piece (4) comprises a tactile sensor (41), wherein the tactile sensor (41) is located on the outer surface of the wrist-elbow connecting piece (4), and the tactile sensor (41) is used to detect and provide feedback on whether the wrist-elbow connecting piece (4) contacts other objects.

15. The robotic arm according to any one of claims 1 to 8, characterized in that: The mechanical arm further comprises: at least one rotary encoder (5); the at least one rotary encoder (5) is connected to the first mechanical joint (10) or the second mechanical joint (20), and is used to detect and feed back a rotation angle of the first mechanical joint (10) or the second mechanical joint (20); and / or, The mechanical arm further comprises: at least one torque sensor (6); the at least one torque sensor (6) is connected to the first mechanical joint (10) or the second mechanical joint (20) and is used to detect and feed back the torque of the first mechanical joint (10) or the second mechanical joint (20).

16. The robotic arm according to claim 9, characterized in that: The mechanical arm further comprises: at least one rotary encoder (5); the at least one rotary encoder (5) is connected to the first mechanical joint (10) or the second mechanical joint (20), and is used to detect and feed back a rotation angle of the first mechanical joint (10) or the second mechanical joint (20); and / or, The mechanical arm further comprises: at least one torque sensor (6); the at least one torque sensor (6) is connected to the first mechanical joint (10) or the second mechanical joint (20) and is used to detect and feed back the torque of the first mechanical joint (10) or the second mechanical joint (20).

17. A robot, characterized in that: The robot comprises the robotic arm according to any one of claims 1-16.

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