robotic arms and robots

Abstract

This disclosure provides a robotic arm and robot, relating to the field of robotics technology. The robotic arm includes: at least one mechanical joint and a drive assembly; the at least one mechanical joint includes a fixed member and a movable member rotatably connected; the drive assembly includes at least two drive sources and at least two drive ropes; each of the at least two drive sources is connected to the movable member via at least one drive rope; the at least two drive sources can each apply a traction force in the same direction to the movable member via at least one drive rope, driving the movable member to rotate relative to the fixed member. In this robotic arm, at least two drive sources can simultaneously apply traction forces to the movable member, driving the movable member to rotate, achieving coupled drive of the movable member by at least two drive sources, improving the working performance of the movable member, such as rotational torque and rotational speed.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and in particular to a robotic arm and robot. Background Technology

[0002] With the development of robotics technology and the expansion of its application fields, robots have gradually become irreplaceable tools in production, service, and other sectors. Among them, articulated robots, based on the biomimetic design of the human arm, are widely used due to their advantages such as flexible movement and compact structure.

[0003] In related technologies, articulated robots typically employ a tethered drive (or wire drive) scheme. However, in this scheme, each joint uses a single drive source, and the speed, acceleration, and other performance characteristics of each joint depend entirely on the performance of that drive source, which is not conducive to improving the performance of the elbow joint. Summary of the Invention

[0004] This disclosure provides a robotic arm and robot that can solve the problem that the performance of each joint depends entirely on the performance of the drive source, which is not conducive to improving the performance of each joint.

[0005] The technical solution is as follows:

[0006] On the one hand, a robotic arm is provided, the robotic arm comprising: at least one mechanical joint and a drive assembly;

[0007] The at least one mechanical joint includes a fixed component and a movable component that are rotatably connected;

[0008] The drive assembly includes at least two drive sources and at least two drive ropes;

[0009] Each of the at least two drive sources is connected to the movable component via at least one drive rope;

[0010] The at least two drive sources can each apply a traction force in the same direction to the movable member through at least one of the drive ropes, driving the movable member to rotate relative to the fixed member.

[0011] On the other hand, a robot is provided, which includes the robotic arm described in this disclosure.

[0012] The beneficial effects of the technical solution provided in this disclosure include at least the following:

[0013] The robotic arm disclosed herein includes at least one mechanical joint and a drive assembly. The drive assembly includes at least two drive sources and at least two drive ropes. Each of the at least two drive sources is connected to a movable part of the mechanical joint via at least one drive rope. The at least two drive sources can simultaneously apply traction force to the movable part, driving the movable part to rotate. This achieves coupled drive of the movable part by at least two drive sources, improving the working performance of the movable part, such as rotational torque and rotational speed. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in 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 drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the working principle of the robotic arm provided in the embodiments of this disclosure;

[0016] Figure 2 This is a schematic diagram of the structure of the robotic arm provided in the embodiments of this disclosure;

[0017] Figure 3 This is a schematic diagram of the mechanical shoulder joint provided in an embodiment of this disclosure;

[0018] Figure 4 This is a schematic diagram of the mechanical elbow joint and drive assembly provided in the embodiments of this disclosure;

[0019] Figure 5 This is a schematic diagram of the mechanical wrist joint and drive assembly provided in the embodiments of this disclosure.

[0020] The reference numerals in the figure are respectively:

[0021] 10. Mechanical joint; 20. Drive assembly;

[0022] 001, First Axis;

[0023] 101. Fixed component; 102. Moving component; 1021. First position; 1022. Second position; 201. Drive source; 202. Drive rope;

[0024] 1. Mechanical shoulder joint; 11. Shoulder fixation component; 12. First shoulder movable component; 13. Second shoulder movable component; 14. First shoulder drive source; 15. First shoulder drive cable; 16. Second shoulder drive source; 17. Second shoulder drive cable;

[0025] 2. Mechanical elbow joint; 21. Elbow fixation component; 22. Elbow movable component; 23. Elbow connector; 24. Elbow drive source; 25. Elbow drive rope;

[0026] 3. Mechanical wrist joint; 31. Wrist fixation component; 32. Wrist movement component; 33. Wrist connector; 34. Wrist drive source; 35. Wrist drive cable;

[0027] 4. Wrist-elbow connector; 41. Tactile sensor;

[0028] 5. Rotary encoder;

[0029] 6. Torque sensor. Detailed Implementation

[0030] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0031] Unless otherwise defined, all technical terms used in the embodiments of this disclosure have the same meaning as commonly understood by one of ordinary skill in the art.

[0032] In related technologies, articulated robots typically include at least one mechanical joint (such as a mechanical shoulder joint, a mechanical elbow joint, and a mechanical wrist joint), which employs a closed-loop tethered drive (or wire drive) scheme.

[0033] However, in a closed-loop rope-driven system, each degree of freedom is driven by a single drive source (e.g., a motor) in conjunction with two ropes. The drive source moves in either the forward or reverse direction, pulling on a specific rope and causing the mechanical joint to move in the corresponding direction. Since each degree of freedom of the mechanical joint corresponds to a single drive source, its speed, acceleration, and other performance characteristics depend entirely on the performance of that drive source, which is detrimental to improving joint motion performance.

[0034] In addition, redundant rope drive schemes have emerged in the prior art, such as a scheme that uses three motors to drive two degrees of freedom. However, this scheme is based on the coordinated action of multiple drive ropes, which enables the mechanical joint to move in the desired direction, angle or position, but does not improve the motion performance of each degree of freedom or the entire mechanical joint.

[0035] Therefore, this disclosure provides a robotic arm in which at least two drive sources in at least one mechanical joint can simultaneously apply traction force to a movable part, driving the movable part to rotate, thereby realizing the coupled drive of the movable part by at least two drive sources, improving the motion performance of the movable part such as torque and rotation speed, and thus improving the working performance of the robotic arm.

[0036] It should be understood that the robotic arm provided in this application can be applied to robotic scenarios in fields such as cloud technology, artificial intelligence, and smart transportation, enabling human-computer interaction and serving people's daily lives through robots.

[0037] Artificial intelligence (AI) is the theory, methods, technology, and application systems that utilize mathematical or digital computers to simulate, extend, and expand human intelligence, enabling machines to perceive the environment, acquire knowledge, and use that knowledge to achieve optimal results. In other words, AI is a comprehensive technology within computer science that attempts to understand the essence of intelligence and produce new intelligent machines that can react in a way similar to human intelligence. AI studies the design principles and implementation methods of various intelligent machines, enabling them to possess perception, reasoning, and decision-making capabilities.

[0038] Artificial intelligence (AI) is a comprehensive discipline encompassing a wide range of fields, including both hardware and software technologies. Fundamental AI technologies generally include sensors, dedicated AI chips, cloud computing, distributed storage, big data processing, operating / interactive systems, and mechatronics. AI software technologies primarily include computer vision, speech processing, natural language processing, and machine learning / deep learning.

[0039] Understandably, the Intelligent Traffic System (ITS) used in the field of intelligent transportation, also known as the Intelligent Transportation System, effectively integrates advanced science and technology (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operations research, artificial intelligence, etc.) into transportation, service control, and vehicle manufacturing. It strengthens the connection between vehicles, roads, and users, thereby forming a comprehensive transportation system that ensures safety, improves efficiency, improves the environment, and saves energy.

[0040] To make the objectives, technical solutions, and advantages of this disclosure clearer, the embodiments of this disclosure will be described in further detail below with reference to the accompanying drawings.

[0041] Figure 1 This is a schematic diagram of the working principle of the robotic arm provided in the embodiments of this disclosure.

[0042] On the one hand, combined with Figure 1 As shown, this embodiment provides a robotic arm, which includes at least one mechanical joint 10 and a drive assembly 20.

[0043] At least one mechanical joint 10 includes a fixed member 101 and a movable member 102 rotatably connected; the drive assembly 20 includes at least two drive sources 201 and at least two drive ropes 202; each of the at least two drive sources 201 is connected to the movable member 102 via at least one drive rope 202; the at least two drive sources 201 are each capable of applying a traction force in the same direction to the movable member 102 via at least one drive rope 202, thereby driving the movable member 102 to rotate relative to the fixed member 101.

[0044] The robotic arm disclosed herein includes at least one mechanical joint 10 and a drive assembly 20. The drive assembly 20 includes at least two drive sources 201 and at least two drive ropes 202. Each of the at least two drive sources 201 is connected to the movable part 102 of the mechanical joint 10 through at least one drive rope 202. The at least two drive sources 201 can simultaneously apply traction force to the movable part 102, driving the movable part 102 to rotate, thereby realizing the coupled drive of the at least two drive sources 201 on the movable part 102 and improving the working performance of the movable part 102, such as torque and rotation speed.

[0045] In some possible implementations, at least two drive sources 201 include a motor and a drive pulley, which are connected by a transmission mechanism, and the motor drives the drive pulley to rotate through the transmission mechanism.

[0046] The drive rope 202 is wound around the drive pulley. When the drive pulley rotates, it can tighten the drive rope 202 around it, thereby generating a traction force on the moving part 102 through the drive rope 202.

[0047] In some possible implementations, the transmission mechanism includes, but is not limited to, belt drive mechanism, gear drive mechanism, worm gear drive mechanism, etc.

[0048] For example, the transmission mechanism is a belt drive, which includes a driving pulley, a transmission belt and a driven pulley, wherein the driving pulley is connected to the output shaft of the motor, the driven pulley is connected to the driving pulley, and the transmission belt is connected between the driving pulley and the driven pulley.

[0049] As another example, the transmission mechanism is a belt drive, and may also include a tensioning mechanism located near the transmission belt, which can be used to adjust the tension of the transmission belt.

[0050] In some possible implementations, the drive component 20 includes two motors, each outputting a real-time torque of T.m1 and T m2 The equivalent driving torques of the joints are τ1 and τ2, and all pulleys have the same diameter. Based on the structural characteristics (ignoring the friction of the driving rope, i.e., the force of the driving rope is equal everywhere), the relationship between the joint torque and the motor torque can be obtained as follows:

[0051]

[0052] Furthermore, for the driving torque T of each motor m1 and T m2 Assuming its maximum output torque is limited as follows:

[0053] max(abs(T m1 ),abs(T m2 ))≤T M (2)

[0054] According to equation (1) above, the maximum output torque of each joint is 2T. M That is, by using a coupled rope arrangement, the load capacity of a single degree of freedom in a mechanical joint can be increased by up to 2 times.

[0055] In this article, "several" and "at least one" refer to one or more, while "multiple" and "at least two" refer to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0056] Combination Figure 1 As shown, in some embodiments, each of the at least two drive sources 201 is connected to the movable member 102 via at least two drive ropes 202.

[0057] At least one of the at least two drive ropes 202 is connected to the first position 1021 of the movable member 102, and at least one of the remaining drive ropes 202 is connected to the second position 1022 of the movable member 102. The first position 1021 and the second position 1022 are located on both sides of the first axis 001 that rotatably connects the movable member 102 and the fixed member 101.

[0058] Each of the at least two drive sources 201 is capable of applying opposite traction forces to the movable member 102 via at least two drive ropes 202, driving the movable member 102 to rotate in different directions.

[0059] In the robotic arm of this embodiment, each drive source 201 in the at least one mechanical joint 10 is connected to the movable member 102 via at least two drive ropes 202, and the at least two drive ropes 202 are respectively connected to the first position 1021 and the second position 1022 of the movable member 102.

[0060] When the drive source 201 rotates in a certain direction, it can apply a traction force to one of the two positions through one of the drive ropes 202, thereby forming a torque in a specific direction on the movable member 102. Under the action of this torque, the movable member 102 can rotate around the first axis 001. At this time, the movable member 102 achieves unidirectional movement in a certain degree of freedom.

[0061] When the drive source 201 rotates in the opposite direction, a corresponding traction force is applied to the other of the two positions via another drive rope 202, thereby creating a torque symmetrical to a specific direction on the movable member 102. Under the action of this symmetrical torque, the movable member 102 rotates in the opposite direction around the first axis 001. At this time, the movable member 102 achieves a restoring motion toward that degree of freedom.

[0062] When the drive source 201 is controlled to rotate alternately in different directions, the moving part 102 can achieve reciprocating motion in that degree of freedom, thereby satisfying the basic motion function of the mechanical joint.

[0063] Combination Figure 1 As shown, in some embodiments, at least two drive sources 201 are located on the side of the fixed member 101 away from the movable member 102, and at least two drive ropes 202 pass through the fixed member 101 and are connected to the movable member 102.

[0064] In this embodiment, the movable part 102 of the robotic arm, as the end effector, needs to minimize its own mass, reduce its rotational inertia, and improve its dynamic performance. Therefore, at least two drive sources 201 are set on the side of the fixed part 101 away from the movable part 102. The drive rope 202 passes through the fixed part 101 and connects to the movable part 102. This can reduce the rotational inertia of the movable part 102 and give full play to the flexible arrangement advantage of the rope drive scheme.

[0065] Combination Figure 2 As shown, in some embodiments, at least one mechanical joint 10 includes: a mechanical shoulder joint 1, a mechanical elbow joint 2, and a mechanical wrist joint 3 connected in sequence; a drive assembly 20 is located within the mechanical shoulder joint 1.

[0066] The robotic arm of this embodiment includes at least three mechanical joints 10 connected in sequence: a mechanical shoulder joint 1, a mechanical elbow joint 2, and a mechanical wrist joint 3. Each mechanical joint 10 (such as the mechanical shoulder joint 1, the mechanical elbow joint 2, and the mechanical wrist joint 3) has at least one degree of freedom. This degree of freedom is coupled and driven by at least two drive sources 201 through the drive assembly 20, and has good motion performance.

[0067] In addition, the drive assembly 20 is preferably placed inside the mechanical shoulder joint 1, which can minimize the increase in rotational inertia of the mechanical elbow joint 2 or the mechanical wrist joint 3. The drive assembly 20 can take advantage of the flexible arrangement of the drive rope 202 to be poweredly connected to the mechanical elbow joint 2 or the mechanical wrist joint 3, so as to realize the coupled drive of a single degree of freedom in the mechanical elbow joint 2 or the mechanical wrist joint 3.

[0068] Combination Figure 3 As shown, in some embodiments, the mechanical shoulder joint 1 includes a shoulder fixation member 11, a first shoulder movable member 12, and a second shoulder movable member 13.

[0069] The second shoulder movable member 13 is rotatably connected to the first shoulder movable member 12, and the first shoulder movable member 12 is rotatably connected to the shoulder fixing member 11; the drive assembly 20 includes at least two first shoulder drive sources 14 and at least two first shoulder drive ropes 15; each of the at least two first shoulder drive sources 14 is connected to the first shoulder movable member 12 through at least one first shoulder drive rope 15; the at least two first shoulder drive sources 14 can respectively apply the same traction force to the first shoulder movable member 12 through at least one first shoulder drive rope 15, driving the first shoulder movable member 12 to rotate relative to the shoulder fixing member 11.

[0070] In the robotic arm of this embodiment, the mechanical shoulder joint 1 includes a shoulder fixing member 11, a first shoulder movable member 12, and a second shoulder movable member 13 that are rotatably connected in sequence.

[0071] The shoulder fixing member 11 is provided with at least two first shoulder drive sources 14. The at least two first shoulder drive sources 14 can couple and drive the first shoulder movable member 12 to rotate relative to the shoulder fixing member 11, so that the first shoulder movable member 12 can output a torque that matches the sum of the power of the at least two first shoulder drive sources 14, and has better motion performance.

[0072] Combination Figure 3 As shown, in some embodiments, the drive assembly 20 further includes at least one second shoulder drive source 16 and at least two second shoulder drive ropes 17; at least one second shoulder drive source 16 is connected to the second shoulder movable member 13 via at least two second shoulder drive ropes 17.

[0073] At least one second shoulder drive source 16 is capable of applying opposite traction forces to the second shoulder movable member 13 via at least two second shoulder drive ropes 17, driving the second shoulder movable member 13 to rotate relative to the first shoulder movable member 12.

[0074] In the robotic arm of this embodiment, in order to satisfy the rotational degree of freedom of the second shoulder movable member 13 relative to the first shoulder movable member 12, at least one second shoulder drive source 16 is provided in the first shoulder movable member 12. The at least one second shoulder drive source 16 can drive the second shoulder movable member 13 to rotate relative to the first shoulder movable member 12, so that the mechanical elbow joint 2 and the mechanical wrist joint 3 can rotate with the second shoulder movable member 13.

[0075] Combination Figure 4 As shown, in some embodiments, the mechanical elbow joint 2 includes an elbow fixation member 21, an elbow movement member 22, and an elbow connector 23.

[0076] The elbow fixing member 21 is connected to the second shoulder movable member 13; the elbow fixing member 21 is rotatably connected to the elbow connecting member 23, and the elbow connecting member 23 is rotatably connected to the elbow movable member 22.

[0077] The drive assembly 20 includes at least two elbow drive sources 24 and at least two elbow drive ropes 25; each of the at least two elbow drive sources 24 is connected to the elbow movable part 22 via at least one elbow drive rope 25.

[0078] At least two elbow drive sources 24 can each apply a traction force in the same direction to the elbow movable member 22 via at least one elbow drive rope 25, driving the elbow movable member 22 to rotate relative to the elbow fixed member 21.

[0079] In the robotic arm of this embodiment, the mechanical elbow joint 2 includes an elbow fixing member 21, an elbow connecting member 23, and an elbow movable member 22 that are rotatably connected in sequence.

[0080] Among them, at least two elbow drive sources 24 can couple and drive the elbow movable member 22 to rotate relative to the elbow fixed member 21, so that the elbow movable member 22 can output a torque that matches the sum of the power of the at least two elbow drive sources 24, and has better motion performance.

[0081] Combination Figure 4 As shown, in some embodiments, at least two elbow drive sources 24 are located within the second shoulder movable member 13, and at least two elbow drive ropes 25 extend from the second shoulder movable member 13 through the elbow fixing member 21 and are connected to the elbow movable member 22. This ensures that the mechanical elbow joint 2 has a smaller mass and a smaller moment of inertia, significantly improving the motion performance of the mechanical elbow joint 2.

[0082] For example, at least two elbow drive sources 24 are located within the mechanical shoulder joint 1, thereby enabling the mechanical elbow joint 2 to have a smaller moment of inertia and better motion performance.

[0083] Combination Figure 5 As shown, in some embodiments, the mechanical wrist joint 3 includes a wrist fixation member 31, a wrist movement member 32, and a wrist connector 33; the wrist movement member 32 and the wrist connector 33 are rotatably connected, and the wrist connector 33 and the wrist fixation member 31 are rotatably connected.

[0084] The drive assembly 20 includes at least two wrist drive sources 34 and at least two wrist drive ropes 35.

[0085] Each of the at least two wrist drive sources 34 is connected to the wrist movable member 32 via at least one wrist drive rope 35; the at least two wrist drive sources 34 are each able to apply a traction force in the same direction to the wrist movable member 32 via at least one wrist drive rope 35, driving the wrist movable member 32 to rotate relative to the wrist fixed member 31.

[0086] The mechanical wrist joint 3 of this embodiment includes a wrist fixation member 31, a wrist connector 33, and a wrist movable member 32, which are rotatably connected in sequence. The wrist movable member 32, under the action of the wrist connector 33, is cross-shapedly connected to the wrist fixation member 31, enabling at least two rotational degrees of freedom. Each of these at least two degrees of freedom can be coupled and driven by at least two wrist drive sources 34, allowing the wrist movable member 32 to output a torque matching the sum of the power from the at least two wrist drive sources 34, thus achieving better motion characteristics.

[0087] Combination Figure 5 As shown, in some embodiments, at least two wrist drive sources 34 are located within the second shoulder movement 13, and at least two wrist drive ropes 35 extend from the second shoulder movement 13 through the mechanical elbow joint 2 and the wrist fixation member 31 and are connected to the wrist movement 32.

[0088] This ensures that the mechanical wrist joint 3 has a smaller mass and a smaller moment of inertia, which can significantly improve the motion performance of the mechanical wrist joint 3.

[0089] Combination Figure 5 As shown, in some embodiments, the robotic arm also includes a wrist-elbow connector 4; one end of the wrist-elbow connector 4 is connected to an elbow movable member 22, and the other end is connected to a wrist fixing member 31; at least two wrist drive ropes 35 pass through the wrist-elbow connector 4.

[0090] In this embodiment, the wrist-elbow connector 4 can increase the length between the first mechanical joint 10 and the second mechanical joint 10, which facilitates increasing the working range of the second mechanical joint 10 and improving the applicability of the robotic arm.

[0091] For example, at least two wrist drive sources 34 are located within the mechanical elbow joint 2 or the mechanical shoulder joint 1, thereby enabling the mechanical wrist joint 3 to have a smaller moment of inertia and better motion performance.

[0092] Combination Figure 5 As shown, in some embodiments, the elbow connector 4 includes a tactile sensor 41 located on the outer surface of the elbow connector 4. The tactile sensor 41 is used to detect and provide feedback on whether the elbow connector 4 is in contact with other objects. Thus, in this embodiment, when a person touches the robotic arm from the outside, the robotic arm's safety control can be triggered to avoid causing injury to the human body.

[0093] For example, the tactile sensor 41 includes, but is not limited to, a touch sensor 41, a force-torque sensor, a pressure sensor, and a slip sensor, etc., wherein the touch sensor 41 includes, but is not limited to, a micro switch, conductive rubber, carbon sponge, carbon fiber, pneumatic reset device, etc.

[0094] In some possible implementations, the outer surface of the mechanical joints 10 of the robotic arm is equipped with tactile sensors 41. When a person comes into contact with them from the outside, the safety control of the robotic arm can be triggered to avoid causing injury to the human body.

[0095] Combination Figure 4 As shown, in some embodiments, the robotic arm further includes: at least one rotary encoder 5; the at least one rotary encoder 5 is connected to at least one mechanical joint 10 for detecting and feeding back the rotation angle of at least one mechanical joint 10.

[0096] Among them, the rotary encoder 5 can measure the rotational speed of the mechanical joint 10 shaft. Through photoelectric conversion, it can convert mechanical quantities such as angular displacement and angular velocity of the shaft into corresponding electrical pulses for digital output.

[0097] For example, the rotary encoder 5 includes, but is not limited to, voltage output, open collector output, push-pull complementary output, and long-line drive output, etc.

[0098] In this embodiment of the robotic arm, a rotary encoder 5 is provided at the mechanical joint 10, which can detect and provide feedback on the rotation angle of the mechanical joint 10 in real time, ensuring that the mechanical joint 10 of the robotic arm rotates to the target position accurately and reliably, thereby improving the working accuracy of the robotic arm.

[0099] Combination Figure 5 As shown, in some embodiments, the robotic arm further includes: at least one torque sensor 6; the at least one torque sensor 6 is connected to at least one mechanical joint 10 for detecting and feeding back the torque of at least one mechanical joint 10.

[0100] Among them, torque sensors are also known as torque sensors, torque meters, etc.

[0101] In the robotic arm of this embodiment, a torque sensor 6 is provided at at least one mechanical joint 10, which can detect and provide feedback on the working torque of the mechanical joint 10 in real time, ensuring that the mechanical joint 10 of the robotic arm outputs the corresponding working torque accurately and reliably, thereby improving the working safety and reliability of the robotic arm.

[0102] On the other hand, this embodiment provides a robot, which includes the robotic arm disclosed herein.

[0103] The robot in this embodiment uses the robotic arm disclosed herein and has all the technical effects of the robotic arm disclosed herein.

[0104] It should be noted that, in the description of this disclosure, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joint" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0105] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this disclosure, "a plurality of" means two or more, unless otherwise explicitly specified.

[0106] It should be noted that, in this disclosure, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" of the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0107] In the description of this specification, the references to the terms "certain embodiments", "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" refer to specific features, structures, materials, or characteristics described in connection with the embodiments or examples that are included in at least one embodiment or example of this disclosure.

[0108] The above description is merely an embodiment of this disclosure and is not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. A robot arm, characterized in that, The robotic arm includes at least one mechanical joint (10) and a drive assembly (20); The at least one mechanical joint (10) includes a fixed member (101) and a movable member (102) that are rotatably connected; The drive assembly (20) includes at least two drive sources (201) and at least two drive ropes (202); Each of the at least two drive sources (201) is connected to the movable part (102) via at least one drive rope (202); The at least two drive sources (201) can each apply a traction force in the same direction to the movable member (102) through at least one drive rope (202), driving the movable member (102) to rotate relative to the fixed member (101); The at least one mechanical joint (10) includes: a mechanical shoulder joint (1), a mechanical elbow joint (2), and a mechanical wrist joint (3) connected in sequence; The mechanical elbow joint (2) includes an elbow fixation member (21), an elbow movement member (22), and an elbow connector (23); the elbow fixation member (21) is rotatably connected to the elbow connector (23), and the elbow connector (23) is rotatably connected to the elbow movement member (22); The mechanical shoulder joint (1) includes a second shoulder movable member (13), and the elbow fixation member (21) is connected to the second shoulder movable member (13); The mechanical wrist joint (3) includes a wrist fixation component (31) and a wrist movement component (32). The wrist fixation component (31) is connected to the elbow movement component (22), and the wrist movement component (32) is movably connected to the wrist fixation component (31). The drive assembly (20) includes at least two wrist drive sources (34) and at least two wrist drive cords (35); The at least two wrist drive sources (34) are located on the second shoulder movement (13) and are positioned on opposite sides of the second shoulder movement (13). The at least two wrist drive ropes (35) extend from the second shoulder movement (13) through the mechanical elbow joint (2) and the wrist fixation member (31) and are connected to the wrist movement member (32).

2. The robot arm of claim 1, wherein, Each of the at least two drive sources (201) is connected to the movable part (102) via at least two drive ropes (202); At least one of the at least two drive ropes (202) is connected to a first position (1021) of the movable member (102), and at least one of the remaining drive ropes (202) is connected to a second position (1022) of the movable member (102). The first position (1021) and the second position (1022) are respectively located on both sides of a first axis (001) that rotatably connects the movable member (102) and the fixed member (101). Each of the at least two drive sources (201) is capable of applying opposite traction forces to the movable part (102) via the at least two drive ropes (202), driving the movable part (102) to rotate in different directions.

3. The robot arm of claim 2, wherein, The at least two drive sources (201) are located on the side of the fixed member (101) away from the movable member (102), and the at least two drive ropes (202) pass through the fixed member (101) and are connected to the movable member (102).

4. The robotic arm of claim 1, wherein, The mechanical shoulder joint (1) also includes a shoulder fixation component (11) and a first shoulder movable component (12); The second shoulder movable member (13) is rotatably connected to the first shoulder movable member (12), and the first shoulder movable member (12) is rotatably connected to the shoulder fixing member (11); The drive assembly (20) includes at least two first shoulder drive sources (14) and at least two first shoulder drive ropes (15); Each of the at least two first shoulder drive sources (14) is connected to the first shoulder movable member (12) via at least one first shoulder drive rope (15); The at least two first shoulder drive sources (14) can each apply a traction force in the same direction to the first shoulder movable member (12) through at least one first shoulder drive rope (15), driving the first shoulder movable member (12) to rotate relative to the shoulder fixed member (11).

5. The robot arm of claim 4, wherein, The drive assembly (20) further includes at least one second shoulder drive source (16) and at least two second shoulder drive ropes (17); The at least one second shoulder drive source (16) is connected to the second shoulder movable member (13) via the at least two second shoulder drive ropes (17); The at least one second shoulder drive source (16) is capable of applying opposite traction forces to the second shoulder movable member (13) via at least two second shoulder drive ropes (17), thereby driving the second shoulder movable member (13) to rotate relative to the first shoulder movable member (12).

6. The robotic arm of claim 4, wherein, The drive assembly (20) includes at least two elbow drive sources (24) and at least two elbow drive ropes (25); Each of the at least two elbow drive sources (24) is connected to the elbow movable element (22) via at least one elbow drive rope (25); The at least two elbow drive sources (24) can each apply a traction force in the same direction to the elbow movable member (22) through at least one elbow drive rope (25), driving the elbow movable member (22) to rotate relative to the elbow fixed member (21).

7. The robot arm of claim 6, wherein, The at least two elbow drive sources (24) are located within the second shoulder movement (13), and the at least two elbow drive ropes (25) extend from the second shoulder movement (13) through the elbow fixation member (21) and are connected to the elbow movement member (22).

8. The robotic arm of claim 6, wherein, The mechanical wrist joint (3) includes a wrist connector (33); The wrist movable part (32) and the wrist connecting part (33) are rotatably connected, and the wrist connecting part (33) and the wrist fixing part (31) are rotatably connected; Each of the at least two wrist drive sources (34) is connected to the wrist movement (32) via at least one wrist drive rope (35); The at least two wrist drive sources (34) are each able to apply the same traction force to the wrist movable member (32) via at least one wrist drive rope (35), thereby driving the wrist movable member (32) to rotate relative to the wrist fixed member (31).

9. The robot arm of claim 8, wherein, The robotic arm also includes a wrist-elbow connector (4); One end of the wrist-elbow connector (4) is connected to the elbow movable member (22), and the other end is connected to the wrist fixing member (31); the at least two wrist drive ropes (35) pass through the wrist-elbow connector (4).

10. The robotic arm of claim 9, wherein, The wrist-elbow connector (4) includes a tactile sensor (41) 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) is in contact with other objects.

11. The robot arm according to any of claims 1-10, characterized in that, The robotic arm further includes: at least one rotary encoder (5); the at least one rotary encoder (5) is connected to the at least one mechanical joint (10) and is used to detect and feedback the rotation angle of the at least one mechanical joint (10); and / or, The robotic arm further includes at least one torque sensor (6); the at least one torque sensor (6) is connected to the at least one mechanical joint (10) and is used to detect and feedback the torque of the at least one mechanical joint (10).

12. A robot, characterized in that, The robot includes the robotic arm according to any one of claims 1-11.

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