Mechanical elbow joint, mechanical arm and robot

Abstract

The present disclosure provides a mechanical elbow joint, a mechanical arm and a robot, and relates to the field of robot technology. The mechanical elbow joint includes: a fixed part, a movable part, a connecting part and a driving assembly; the fixed part is rotatably connected to the first end of the connecting part, and the movable part is rotatably connected to the second end of the connecting part; the driving assembly includes at least two driving sources and at least two driving ropes; each of the at least two driving sources is connected to the movable part through at least one driving rope; the at least two driving sources can respectively apply traction forces in the same direction to the movable part through at least one driving rope, and drive the movable part to rotate around the second end of the connecting part. In the mechanical elbow joint disclosed in the present disclosure, at least two driving sources can simultaneously apply traction forces to the movable part, drive the movable part to rotate, realize the coupling drive of at least two driving sources to the movable part, and improve the working performance of the movable part such as the rotational torque and rotation speed.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics technology, and in particular to a mechanical elbow joint, a mechanical 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 related technologies, articulated robots usually include shoulder joints, elbow joints and wrist joints. The elbow joint adopts a closed-loop rope drive (Tendon Driven, or wire drive) scheme. However, in this drive scheme, the elbow joint adopts a single drive source. The speed, acceleration and other performance of the elbow joint completely depend on the performance of the drive source, which is not conducive to improving the performance of the elbow joint. Summary of the invention

[0004] The present disclosure provides a mechanical elbow joint, a mechanical arm and a robot, which can solve the problem that the performance of the elbow joint is completely dependent on the performance of a driving source, which is not conducive to performance improvement.

[0005] The technical solution is as follows:

[0006] In one aspect, a mechanical elbow joint is provided, the mechanical elbow joint comprising: a fixed part, a movable part, a connecting part and a driving assembly;

[0007] The fixing member is rotatably connected to the first end of the connecting member, and the movable member is rotatably connected to the second end of the connecting member;

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

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

[0010] The at least two driving sources can respectively apply traction forces in the same direction to the movable member through at least one driving rope, so as to drive the movable member to rotate around the second end of the connecting member.

[0011] On the other hand, a mechanical arm is provided, characterized in that the mechanical arm comprises the mechanical elbow joint described in the present disclosure, as well as a mechanical shoulder joint and a mechanical wrist joint;

[0012] The mechanical shoulder joint is connected to the fixed part, and the mechanical wrist joint is connected to the movable part; the at least two driving sources are located in the mechanical shoulder joint.

[0013] On the other hand, a robot is provided, characterized in that it adopts the mechanical elbow joint described in the present disclosure, or the mechanical arm described in the present disclosure.

[0014] The beneficial effects of the technical solution provided by the present disclosure include at least:

[0015] The mechanical elbow joint disclosed in the present invention comprises a fixed part, a movable part and a driving assembly, wherein the driving assembly comprises at least two driving sources and at least two driving ropes, each of the at least two driving sources is connected to the movable part through at least one driving rope, and the at least two driving sources can simultaneously apply traction to the movable part to drive the movable part to rotate, thereby realizing coupled drive of the at least two driving sources to the movable part, and improving the working performance of the movable part such as the rotational torque and the rotational speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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.

[0017] Figure 1 is a schematic diagram of the structure of a mechanical elbow joint provided by an embodiment of the present disclosure;

[0018] Figure 2 is a side view of a local structure of a mechanical elbow joint provided by an embodiment of the present disclosure;

[0019] Figure 3 It is a schematic diagram of the structure of a mechanical elbow joint equipped with a first driving rope provided by an embodiment of the present disclosure;

[0020] Figure 4 It is a schematic diagram of the structure of a mechanical elbow joint equipped with a second driving rope provided by an embodiment of the present disclosure;

[0021] Figure 5 It is a schematic diagram of the assembly of the fixed parts, movable parts and connecting parts provided in the embodiment of the present disclosure;

[0022] Figure 6 is a schematic diagram of the structure of a mechanical arm provided by an embodiment of the present disclosure;

[0023] Figure 7 It is a schematic diagram of the partial structure of the robotic arm provided in an embodiment of the present disclosure.

[0024] The reference numerals in the figures represent respectively:

[0025] 10. Mechanical elbow joint; 20. Mechanical shoulder joint; 30. Mechanical wrist joint;

[0026] 001, first axis; 002, second axis;

[0027] 1. Fixing member; 101. third position; 102. fourth position;

[0028] 11. Fixed body; 12. Third passive rope wheel; 13. Fourth passive rope wheel; 14. Seventh passive rope wheel; 15. Eighth passive rope wheel; 16. Second connecting seat body; 17. Second curved portion;

[0029] 2. movable part; 201. first position; 202. second position;

[0030] 21. movable body; 22. first passive rope wheel; 23. second passive rope wheel; 24. fifth passive rope wheel; 25. sixth passive rope wheel; 26. first connecting seat body; 27. first curved portion;

[0031] 3. Connecting piece; 31. Bottom plate; 32. Side plate; 33. Weight reduction hole;

[0032] 4. Drive components;

[0033] 41. driving source; 411. first driving rope pulley; 412. second driving rope pulley;

[0034] 42, driving rope; 421, first driving rope; 422, second driving rope;

[0035] 5. Auxiliary rope;

[0036] 6. Coupling sheave; 61. Rope winding surface;

[0037] 7. Rope pulley base; 71. Rope winding bracket;

[0038] 8. Driving bracket;

[0039] 9. Sheave bearing. DETAILED DESCRIPTION

[0040] 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.

[0041] 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.

[0042] In the related art, an articulated robot generally includes a mechanical shoulder joint, a mechanical elbow joint and a mechanical elbow joint, and the mechanical elbow joint adopts a closed-loop rope drive (Tendon Driven, or wire drive) solution.

[0043] 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 elbow joint to move in the corresponding direction.

[0044] Each degree of freedom of the mechanical elbow joint corresponds to a driving source, and its speed, acceleration and other performances are completely dependent on the performance of the driving source, which is not conducive to improving the joint movement performance.

[0045] 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. However, this solution is only based on the coordination of multiple drive ropes to enable the mechanical elbow joint to move in the desired direction, angle or position, and cannot improve the movement performance of each degree of freedom.

[0046] Therefore, the present disclosure provides a mechanical elbow joint, in which at least two first driving sources can simultaneously apply traction to the movable part to drive the movable part to rotate, thereby realizing coupled drive of the movable part by at least two first driving sources and improving the working performance of the movable part such as rotational torque and rotation speed.

[0047] It should be understood that the mechanical elbow joint provided in the present application can be applied to robotic arms and robot scenarios in the fields of cloud technology, artificial intelligence, smart transportation, etc., to realize human-computer interaction through robotic arms and serve people's daily lives.

[0048] 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.

[0049] 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.

[0050] It is understandable that the intelligent traffic system (ITS) used in the field of smart transportation is also called the intelligent transportation system (Intelligent Transportation System), 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 embodiments of the present disclosure will be further described in detail in conjunction with the accompanying drawings.

[0051] Figure 1 It is a schematic diagram of the structure of the mechanical elbow joint provided in an embodiment of the present disclosure.

[0052] On the one hand, combined with Figure 1 As shown, this embodiment provides a mechanical elbow joint 10, which includes: a fixed part 1, a movable part 2, a connecting part 3 and a driving component 4.

[0053] The fixed member 1 is rotationally connected to the first end of the connecting member 3, and the movable member 2 is rotationally connected to the second end of the connecting member 3; the driving assembly 4 includes at least two driving sources 41 and at least two driving ropes 42; each of the at least two driving sources 41 is connected to the movable member 2 through at least one driving rope 42.

[0054] The at least two driving sources 41 can respectively apply traction forces in the same direction to the movable member 2 through at least one driving rope 42 , so as to drive the movable member 2 to rotate around the second end of the connecting member 3 .

[0055] The mechanical elbow joint 10 disclosed in the present invention comprises a fixed part 1, a movable part 2 and a driving assembly 4, wherein the driving assembly 4 comprises at least two driving sources 41 and at least two driving ropes 42, wherein each of the at least two driving sources 41 is connected to the movable part 2 via at least one driving rope 42, and the at least two driving sources 41 can simultaneously apply traction to the movable part 2 to drive the movable part 2 to rotate, thereby realizing the coupled drive of the at least two driving sources 41 to the movable part 2, and improving the working performance of the movable part 2 such as the torque and rotation speed.

[0056] The mechanical wrist joint 30 provided in this embodiment adopts a coupled driving mode of at least two first driving sources 41. The first driving source 41 with a larger mass can be far away from the end actuator (such as the movable part 2). Through reasonable arrangement, the inertia of the end actuator is reduced and its dynamic performance is improved.

[0057] At least two driving sources 41 transmit power through driving ropes 42. The driving ropes 42 are flexibly arranged and occupy less assembly space, which is very suitable for mechanical wrist joints 30 with small space and more degrees of freedom.

[0058] In addition, at least two driving sources 41 transmit power through driving ropes 42, which is consistent with the transmission principle of human tendons, meets the background and requirements of bionic design, and is conducive to designing the mechanical wrist joint 30 closer to the human elbow joint, thereby better replacing manual labor in various tasks.

[0059] In the mechanical elbow joint 10 of this embodiment, the fixed part 1 and the movable part 2 are bridged by the connecting part 3, and the distance between the fixed part 1 and the movable part 2 is relatively large, so that the space for the movable part 2 to rotate around the fixed part 1 is relatively large.

[0060] Exemplarily, the number of the driving sources 41 is, for example, two, three, four, etc. Optionally, the number of the driving sources 41 is two.

[0061] In another exemplary embodiment, the number of the drive ropes 42 is, for example, two, three, four, etc. Optionally, the number of the drive ropes 42 is two.

[0062] For example, when there are two driving sources 41 and two driving ropes 42 , each driving source 41 is connected to the movable member 2 via one driving rope 42 .

[0063] For another example, when there are two driving sources 41 and three driving ropes 42 , one driving source 41 is connected to the movable part 2 via two driving ropes 42 , and the other driving source 41 is connected to the movable part 2 via one driving rope 42 .

[0064] For another example, when the number of the driving sources 41 is two and the number of the driving ropes 42 is four, each driving source 41 is connected to the movable part 2 via two driving ropes 42 .

[0065] In some possible implementations, the at least two driving sources 41 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.

[0066] The driving rope 42 is wound around the driving rope pulley. When the driving rope pulley rotates, the driving rope 42 can be tightly wound around it, so that traction is generated on the movable part 2 through the driving rope 42.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] In some possible implementations, the drive assembly 4 includes two motors, and the real-time output torques of the two motors are T 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:

[0071]

[0072] Furthermore, for the driving torque T of each motor m1 and T m2 , assuming that its maximum output torque limit is:

[0073] max(abs(T m1 ),abs(T m2 ))≤T M (2)

[0074] According to the above formula (1), the maximum output torque of each joint can be obtained as 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.

[0075] 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.

[0076] Combination Figure 2 As shown, in some embodiments, each of the at least two driving sources 41 is connected to the movable member 2 via at least two driving ropes 42 .

[0077] At least one of the at least two driving ropes 42 is connected to the first position 201 of the movable part 2, and at least one of the remaining driving ropes 42 is connected to the second position 202 of the movable part 2. The first position 201 and the second position 202 are respectively located on both sides of the first axis 001 of the rotational connection between the movable part 2 and the connecting part 3.

[0078] Each of the at least two driving sources 41 can apply traction forces in opposite directions to the movable member 2 through at least two driving ropes 42, so as to drive the movable member 2 to rotate in different directions.

[0079] In the mechanical elbow joint 10 of this embodiment, each driving source 41 is connected to the movable part 2 through at least two driving ropes 42, and the at least two driving ropes 42 are respectively connected to the first position 201 and the second position 202 of the movable part 2.

[0080] When the driving source 41 rotates in a certain direction, a traction force can be applied to one of the two positions through one of the driving ropes 42, thereby forming a torque in a specific direction on the movable member 2, and the movable member 2 can rotate around the first axis 001 under the action of the torque. At this time, the movable member 2 realizes unidirectional movement in a certain degree of freedom.

[0081] When the driving source 41 rotates in the opposite direction, a traction force is applied to the other of the two positions through another driving rope 42, thereby forming a torque symmetrical to a specific direction on the movable member 2. Under the action of this symmetrical torque, the movable member 2 rotates in the opposite direction around the first axis 001. At this time, the movable member 2 realizes the restoring motion toward this degree of freedom.

[0082] When the driving source 41 is controlled to rotate alternately in different directions, the movable part 2 can realize the reciprocating motion of this degree of freedom, thereby satisfying the basic motion function of the mechanical elbow joint 10 .

[0083] Combination Figure 1 As shown, in some embodiments, at least two driving sources 41 are located on a side of the fixed member 1 away from the movable member 2 , and at least two driving ropes 42 pass through the fixed member 1 and are connected to the movable member 2 .

[0084] In the mechanical elbow joint 10 of this embodiment, the movable part 2 serves as the end execution structure and needs to reduce its own mass as much as possible, reduce its rotational inertia, and improve dynamic performance. Therefore, at least two first driving sources 41 are arranged on the side of the base member away from the movable part 2, and the driving rope 42 passes through the fixed member 1 and is connected to the movable part 2. This can reduce the rotational inertia of the movable part 2 and give full play to the advantage of the flexible arrangement of the rope driving scheme.

[0085] Combination Figure 3 , 4As shown in 2, in some embodiments, the movable part 2 includes a movable body 21, a first passive rope pulley 22 and a second passive rope pulley 23; the first passive rope pulley 22 and the second passive rope pulley 23 are coaxially symmetrically arranged on both sides of the movable body 21; the positions of the first passive rope pulley 22 and the second passive rope pulley 23 correspond to the first position 201 or the second position 202.

[0086] At least two driving sources 41 include a first active rope pulley 411 and a second active rope pulley 412; at least two driving ropes 42 include a first driving rope 421 and a second driving rope 422; the first driving rope 421 connects the first active rope pulley 411 and the first passive rope pulley 22, and the second driving rope 422 connects the second active rope pulley 412 and the second passive rope pulley 23.

[0087] The mechanical elbow joint 10 is configured such that when the first active sheave 411 and the second active sheave 412 rotate, the traction force applied by the first drive rope 421 to the first passive sheave 22 and the traction force applied by the second drive rope 422 to the second passive sheave 23 have the same direction.

[0088] In the mechanical elbow joint 10 of the present embodiment, the first active pulley 411 and the second active pulley 412 can respectively apply traction forces in the same direction to the corresponding first position 201 or second position 202 on the movable part 2 through the first drive rope 421 and the second drive rope 422, so that the movable body 21 obtains the sum of the power of the two drive sources 41, and the working performance of the movable part 2 such as the torque and rotation speed is significantly improved.

[0089] Exemplarily, the positions of the first driven rope sheave 22 and the second driven rope sheave 23 correspond to the first position 201 , or the positions of the first driven rope sheave 22 and the second driven rope sheave 23 correspond to the second position 202 .

[0090] Combination Figure 3 , 4 As shown, in some embodiments, the fixing member 1 includes a fixing body 11 , a third passive rope pulley 12 and a fourth passive rope pulley 13 ; the third passive rope pulley 12 and the fourth passive rope pulley 13 are coaxially and symmetrically arranged on both sides of the fixing body 11 .

[0091] The first driving rope 421 connects the first active rope wheel 411 , the first passive rope wheel 22 and the third passive rope wheel 12 , and the second driving rope 422 connects the second active rope wheel 412 , the second passive rope wheel 23 and the fourth passive rope wheel 13 .

[0092] The mechanical elbow joint 10 is configured such that, when the first active pulley 411 pulls the first passive pulley 22 and the third passive pulley 12 toward each other via the first drive rope 421, and / or the second active pulley 412 pulls the second passive pulley 23 and the fourth passive pulley 13 toward each other via the second drive rope 422, the connecting member 3 and the movable member 2 rotate relative to the fixed member 1, and the movable member 2 rotates relative to the connecting member 3.

[0093] refer to Figure 2 As described above, the positions of the third passive rope pulley 12 and the fourth passive rope pulley 13 correspond to the third position 101 of the fixed body 11 , and the third position 101 is symmetrically arranged with respect to the first position 201 .

[0094] In the mechanical elbow joint 10 of the present embodiment, the fixed part 1 and the movable part 2 have similar structures, and the first driving rope 421 is wound around the first passive rope pulley 22 and the third passive rope pulley 12 at the same time. When the first active rope pulley 411 drives the first driving rope 421 to be tightened, the first passive rope pulley 22 and the third passive rope pulley 12 are pulled closer to each other by the first driving rope 421. At this time, combined with the rotational connection relationship among the fixed part 1, the connecting part 3 and the movable part 2, the movable part 2 and the connecting part 3 will rotate relative to the fixed part 1, and at the same time, the movable part 2 will also rotate relative to the connecting part 3.

[0095] Correspondingly, the second driving rope 422 is wound around the second passive rope pulley 23 and the fourth passive rope pulley 13 at the same time. When the second active rope pulley 412 drives the second driving rope 422 to be tightened, the second passive rope pulley 23 and the fourth passive rope pulley 13 approach each other under the traction of the first driving rope 421. At this time, the movable part 2 and the connecting part 3 will rotate relative to the fixed part 1, and the movable part 2 will rotate relative to the connecting part 3.

[0096] Combination Figure 3 As shown, in some embodiments, the movable part 2 also includes a fifth passive rope pulley 24 and a sixth passive rope pulley 25; the fifth passive rope pulley 24 and the sixth passive rope pulley 25 are coaxially symmetrically arranged on both sides of the movable body 21; the positions of the first passive rope pulley 22 and the second passive rope pulley 23 correspond to the first position 201, and the positions of the fifth passive rope pulley 24 and the sixth passive rope pulley 25 correspond to the second position 202.

[0097] In some possible implementations, the first end of the first drive rope 421 is connected to the first passive rope pulley 22, and the second end is connected to the fifth passive rope pulley 24 after passing through the first active rope pulley 411; the first active rope pulley 411 rotates in a certain direction, and can pull one of the first passive rope pulley 22 and the fifth passive rope pulley 24 to move toward the direction close to the first active rope pulley 411; the first active rope pulley 411 rotates in the opposite direction, and can pull the other of the first passive rope pulley 22 and the fifth passive rope pulley 24 to move toward the direction close to the first active rope pulley 411.

[0098] In some other possible implementations, the first end of the second drive rope 422 is connected to the second passive rope pulley 23, and the second end is connected to the sixth passive rope pulley 25 after passing through the second active rope pulley 412; the second active rope pulley 412 rotates in a certain direction, and can pull one of the second passive rope pulley 23 and the sixth passive rope pulley 25 to move toward the direction close to the second active rope pulley 412; the second active rope pulley 412 rotates in the opposite direction, and can pull the other of the second passive rope pulley 23 and the sixth passive rope pulley 25 to move toward the direction close to the second active rope pulley 412.

[0099] In the mechanical elbow joint 10 of this embodiment, the movable part 2 is provided with two sets of passive rope pulleys at the first position 201 and the second position 202. The positions of the first passive rope pulley 22 and the second passive rope pulley 23 correspond to the first position 201, and the positions of the fifth passive rope pulley 24 and the sixth passive rope pulley 25 correspond to the second position 202.

[0100] The first driving rope 421 is connected to the first passive rope wheel 22, the first driving rope wheel 411 and the fifth passive rope wheel 24 in sequence, so that when the first driving rope wheel 411 rotates in a certain direction, the part of the first driving rope 421 connected to the first passive rope wheel 22 is tightened, and the corresponding part of the first driving rope 421 connected to the fifth passive rope wheel 24 is loosened. The movable member 2 has a tendency to make the first passive rope wheel 22 approach the first driving rope wheel 411, and as the first driving rope wheel 411 continues to rotate, the movable member 2 will rotate in this direction. On the contrary, when the movable member 2 has a tendency to make the fifth passive rope wheel 24 approach the first driving rope wheel 411, the movable member 2 will rotate in the opposite direction.

[0101] The second driving rope 422 is connected to the second passive rope wheel 23, the second active rope wheel 412 and the sixth passive rope wheel 25 in sequence, so that when the second active rope wheel 412 rotates in a certain direction, the part of the second driving rope 422 connected to the second passive rope wheel 23 is tightened, and the corresponding part of the second driving rope 422 connected to the sixth passive rope wheel 25 is loosened, and then the movable member 2 has a tendency to make the second passive rope wheel 23 approach the second active rope wheel 412, and as the second active rope wheel 412 continues to rotate, the movable member 2 is rotated in this direction. On the contrary, the movable member 2 has a tendency to make the sixth passive rope wheel 25 approach the second active rope wheel 412, and the movable member 2 is rotated in this direction.

[0102] Combination Figure 3 As shown, in some embodiments, the first end of the first driving rope 421 is connected to the first passive rope pulley 22, and the second end is connected to the fifth passive rope pulley 24 after being wound around the third passive rope pulley 12 and the first active rope pulley 411.

[0103] Combination Figure 4 As shown, in some embodiments, the first end of the second drive rope 422 is connected to the second passive rope pulley 23, and the second end is connected to the sixth passive rope pulley 25 after winding around the fourth passive rope pulley 13 and the second active rope pulley 412.

[0104] The first driving rope 421 and the second driving rope 422 of this embodiment are respectively connected between the movable part 2 and the fixed part 1, and can pull the movable part 2 and the fixed part 1 to rotate relative to each other as the first active rope pulley 411 or the second active rope pulley 412 is driven to rotate.

[0105] Combination Figure 3 As shown, in some embodiments, the fixing member 1 also includes a seventh passive rope pulley 14 and an eighth passive rope pulley 15; the third passive rope pulley 12 and the fourth passive rope pulley 13 are coaxially symmetrically arranged on both sides of the fixed body 11; the second end of the first driving rope 421 is wrapped around the third passive rope pulley 12 and the first active rope pulley 411, and then wrapped around the fifth passive rope pulley 24 and the seventh passive rope pulley 14.

[0106] refer to Figure 2 As shown, the seventh driven rope pulley 14 and the eighth driven rope pulley 15 correspond to the fourth position 102 of the fixed body 11, and the fourth position 102 and the second position 202 are symmetrical.

[0107] Combination Figure 4 As shown, in some embodiments, the second end of the second drive rope 422 is wound around the fourth passive rope pulley 13 and the second active rope pulley 412, and then around the sixth passive rope pulley 25 and the eighth passive rope pulley 15.

[0108] Thus, in the mechanical elbow joint 10 of the present embodiment, the fixed part 1 and the movable part 2 have similar structures, and the first driving rope 421 can realize a bidirectional traction connection between the movable part 2 and the fixed part 1 by winding around the first passive rope pulley 22, the third passive rope pulley 12, the fifth passive rope pulley 24 and the seventh passive rope pulley 14. In the process of the first active rope pulley 411 driving the first driving rope 421, the first driving rope 421 can transmit traction force to the movable part 2 and the fixed part 1 through the above four rope pulleys, thereby increasing the maximum torque of the rope driving force and realizing a larger driving torque.

[0109] Combination Figure 2 As shown, in some embodiments, the second axis 002 on which the fixed member 1 and the movable member 2 are rotationally connected is parallel to the first axis 001, the first passive rope pulley 22, the second passive rope pulley 23, the third passive rope pulley 12 and the fourth passive rope pulley 13 are located on one side of the plane defined by the first axis 001 and the second axis 002, and the fifth passive rope pulley 24, the sixth passive rope pulley 25, the seventh passive rope pulley 14 and the eighth passive rope pulley 15 are located on the other side of the plane defined by the first axis 001 and the second axis 002.

[0110] In the mechanical elbow joint 10 of this embodiment, the first axis 001 and the second axis 002 are parallel, the first passive rope wheel 22, the second passive rope wheel 23, the third passive rope wheel 12 and the fourth passive rope wheel 13 are located on one side of the plane defined by the two axes, and the fifth passive rope wheel 24, the sixth passive rope wheel 25, the seventh passive rope wheel 14 and the eighth passive rope wheel 15 are located on the other side of the plane defined by the two axes. This ensures that when the two driving ropes 42 are pulling and driving the passive rope wheels at different positions, the forces on the movable part 2 and the fixed part 1 are balanced, which is conducive to improving the movement accuracy and stability of the mechanical elbow joint 10.

[0111] Combination Figure 2 As shown, in some embodiments, the movable body 21 includes a first connecting seat body 26 and a first curved surface portion 27, and the center of the first curved surface portion 27 is located at the first axis 001; the fixed body 11 includes a second connecting seat body 16 and a second curved surface portion 17, and the center of the second curved surface portion 17 is located at the second axis 002 where the fixed part 1 and the movable part 2 are rotatably connected.

[0112] In the mechanical elbow joint 10 of the present embodiment, the movable body 21 and the fixed body 11 have corresponding structures, and the first curved surface portion 27 corresponds to the second curved surface portion 17, thereby ensuring that the movable body 21 and the fixed body 11 avoid collision and interference during relative rotation, thereby improving the activity stability of the mechanical elbow joint 10.

[0113] Combination Figure 2As shown, in some embodiments, the mechanical elbow joint 10 also includes two auxiliary ropes 5, which are cross-symmetrically connected between the first curved surface portion 27 and the second curved surface portion 17, and the two auxiliary ropes 5 are configured to make the rotation angles of the first curved surface portion 27 and the second curved surface portion 17 consistent.

[0114] In order to ensure that the rotation angles of the movable body 21 and the fixed body 11 are consistent, the mechanical elbow joint 10 of this embodiment has two auxiliary ropes 5 cross-symmetrically arranged between the first curved surface portion 27 and the second curved surface portion 17, which can play a role of mutual traction and mutual restriction during the movement of the mechanical elbow joint 10.

[0115] Combination Figure 5 As shown, in some embodiments, the connecting member 3 includes a bottom plate portion 31 and at least one side plate portion 32; the bottom plate portion 31 is located in a rotation direction of the movable member 2, and the two ends of the bottom plate portion 31 correspond to the fixed member 1 and the movable member 2 respectively, and are used to provide a limit for the movable member 2 to rotate in the rotation direction; at least one side plate portion 32 is connected to the bottom plate portion 31, and the fixed member 1 and the movable member 2 are respectively rotatably connected to the two ends of at least one side plate portion 32.

[0116] The connecting member 3 of this embodiment can increase the distance between the movable member 2 and the fixed member 1, thereby improving the range of motion of the movable member 2. The connecting member 3 includes a bottom plate portion 31 and at least one side plate portion 32, and the bottom plate portion 31 provides a limit for the movable member 2 in a certain rotation direction. When the movable member 2 rotates, the two ends of the bottom plate portion 31 can abut against the movable member 2 and the fixed member 1, thereby achieving the limit of the rotation angle.

[0117] Exemplarily, the number of the side plate parts 32 is, for example, one or two. Optionally, the number of the side plate parts 32 is two, and the two side plate parts 32 are respectively arranged at two axial ends of the first axis 001 or the second axis 002 .

[0118] In some possible implementations, weight-reducing holes 33 are provided on the bottom plate portion 31 and at least one side plate portion 32 to reduce the mass of the connecting member 3 .

[0119] On the other hand, combined Figure 6 As shown, this embodiment provides a robotic arm, which includes the mechanical elbow joint 10 disclosed in the present invention, as well as a mechanical shoulder joint 20 and a mechanical wrist joint 30; the mechanical shoulder joint 20 is connected to the fixed part 1, and the mechanical wrist joint 30 is connected to the movable part 2; at least two driving sources 41 are located in the mechanical shoulder joint 20.

[0120] The mechanical arm of this embodiment adopts the mechanical elbow joint 10 disclosed in the present invention and has all the technical effects of the mechanical elbow joint 10 disclosed in the present invention.

[0121] In addition, the robotic arm of the present embodiment includes a robotic shoulder joint 20, a robotic elbow joint 10, and a robotic wrist joint 30 that are connected in sequence, and can imitate human arm movements to help people complete various tasks.

[0122] At least two drive sources 41 are placed in the mechanical shoulder joint 20, which can avoid increasing the rotational inertia of the mechanical elbow joint 10 as much as possible. The flexible arrangement of the drive rope 42 can be used to connect the mechanical elbow joint 10 with power to achieve a coupled drive of a single degree of freedom in the mechanical elbow joint 10.

[0123] Combination Figure 7 As shown, in some embodiments, the mechanical shoulder joint 20 includes: a coupling pulley 6, a pulley base 7 and a driving bracket 8; the fixing member 1 and the driving bracket 8 are respectively connected to the pulley base 7, and the pulley base 7 is rotationally connected to the coupling pulley 6; at least two driving sources 41 are located in the driving bracket 8; at least two driving ropes 42 are respectively connected to the coupling pulley 6.

[0124] The robotic arm is configured such that at least two driving sources 41 apply traction forces in the same direction to the movable part 2 through at least one driving rope 42, and the movable part 2 rotates around the second end of the connecting part 3; at least two driving sources 41 apply traction forces in opposite directions to the movable part 2 through at least one driving rope 42, and the pulley base 7 drives the mechanical elbow joint 10 and the driving bracket 8 to rotate around the coupling pulley 6.

[0125] Exemplarily, in the robotic arm of this embodiment, at least two driving sources 41 have a first working mode and a second working mode:

[0126] In the first working mode, at least two driving sources 41 can drive the movable member 2 to rotate relative to the fixed member 1 and fix the position of the sheave base 7 relative to the coupling sheave 6.

[0127] In the second working mode, at least two driving sources 41 can drive the movable member 2, the fixed member 1 and the sheave base 7 to rotate relative to the coupling sheave 6, and fix the position of the movable member 2 relative to the fixed member 1.

[0128] This embodiment uses a set of driving sources 41. By controlling the set of driving sources 41 to operate in different working modes, the mechanical elbow joint 10 and the mechanical shoulder joint 20 can be driven respectively, thereby improving the utilization rate of the set of driving sources 41.

[0129] In addition, the mechanical elbow joint 10 and the mechanical shoulder joint 20 can be driven by superimposed traction of at least two driving sources 41 to achieve at least twice the traction force drive, which is beneficial to improving the working performance of the mechanical elbow joint 10 and the mechanical shoulder joint 20, such as the torque and rotation speed.

[0130] Combination Figure 7As shown, in some embodiments, the mechanical shoulder joint 20 also includes a pulley bearing 9; the coupling pulley 6 is connected to the outer ring of the pulley bearing 9, and the pulley base 7 is connected to the inner ring of the pulley bearing 9; the pulley base 7 also includes a rope winding bracket 71, and the rope winding bracket 71 is used to wind the drive rope 42 into or out of the rope winding surface 61 of the coupling pulley 6 when the pulley base 7 drives the fixed part 1 and the driving bracket 8 to rotate around the coupling pulley 6.

[0131] Thus, in the robotic arm of this embodiment, a part of the mechanical shoulder joint 20 is connected to the coupling pulley 6, and the other part is connected to the pulley base 7, which is in turn connected to the fixing part 1 of the mechanical elbow joint 10. The pulley base 7 is rotationally connected to the coupling pulley 6 through the pulley bearing 9. The structure is simple, and at least two driving sources 41 can achieve different driving effects in different working modes, thereby improving the utilization rate of the driving source 41 and reducing the rotational inertia of the robotic arm.

[0132] Combination Figure 7 As shown, in some embodiments, the first end of the first drive rope 421 is connected and wound around the coupling sheave 6 along the first circumferential direction, and the second end is connected and wound around the coupling sheave 6 along the second circumferential direction after passing through the third passive sheave 12, the first passive sheave 22, the first active sheave 411, the seventh passive sheave 14 and the fifth passive sheave 24; the first end of the second drive rope 422 is connected and wound around the coupling sheave 6 along the second circumferential direction, and the second end is connected and wound around the coupling sheave 6 along the first circumferential direction after passing through the fourth passive sheave 13, the second passive sheave 23, the second active sheave 412, the eighth passive sheave 15 and the sixth passive sheave 25; wherein the first circumferential direction and the second circumferential direction are two opposite directions along the circumference of the coupling sheave 6.

[0133] The mechanical arm of this embodiment is combined with Figure 7 , 3 , 4, the specific work process analysis is as follows:

[0134] First working mode:

[0135] When the first active rope wheel 411 and the second active rope wheel 412 rotate in the same direction, the first driving rope 421 and the second driving rope 422 respectively apply traction force toward the fixed member 1 to the first position 201 where the first passive rope wheel 22 and the second passive rope wheel 23 of the movable member 2 are located (or the second position 202 where the fifth passive rope wheel 24 and the sixth passive rope wheel 25 are located), so that the movable member 2 rotates around the first axis 001 toward the side where the first passive rope wheel 22 and the second passive rope wheel 23 are located (or the fifth passive rope wheel 24 and the sixth passive rope wheel 25);

[0136] At this time, since the connection directions of the first drive rope 421 and the second drive rope 422 are opposite to the coupling sheave 6, the traction forces of the first drive rope 421 and the second drive rope 422 on the coupling sheave 6 cancel each other out, that is, the pulley base 7 maintains a state of force balance, and the pulley base 7 and the coupling sheave 6 maintain a fixed relative position.

[0137] Second working mode:

[0138] When the first active pulley 411 and the second active pulley 412 rotate in opposite directions, the first driving rope 421 applies a traction force toward the fixed member 1 toward the first position 201 where the first passive pulley 22 and the second passive pulley 23 of the movable member 2 are located, and the second driving rope 422 applies a traction force toward the fixed member 1 toward the second position 202 where the fifth passive pulley 24 and the sixth passive pulley 25 of the movable member 2 are located (it can also be that the first driving rope 421 applies a traction force toward the second position 202 where the fifth passive pulley 24 and the sixth passive pulley 25 of the movable member 2 are located, and the second driving rope 422 applies a traction force toward the first position 201 where the first passive pulley 22 and the second passive pulley 23 of the movable member 2 are located), the forces on the two sides of the axis of the movable member 2 offset each other, the movable member 2 maintains a state of force balance, and the movable member 2 and the fixed member 1 maintain a fixed relative position.

[0139] At this time, since the connection directions of the first drive rope 421 and the second drive rope 422 are opposite to the coupling rope 6, when the first drive rope 421 and the second drive rope 422 move in opposite directions, the traction forces on the coupling rope 6 are the same, so that the resultant force of the traction forces of the first drive rope 421 and the second drive rope 422 on the coupling rope 6 is equal to the sum of the traction forces of the two. However, since the coupling rope 6 is a fixed end, the rope base 7 is pushed back to achieve the movement of the rope base 7 driving the mechanical elbow joint 10.

[0140] On the other hand, the present embodiment provides a robot using the mechanical elbow joint 10 of the present disclosure, or the mechanical arm of the present disclosure.

[0141] The robot of this embodiment adopts the mechanical elbow joint 10 or the mechanical arm disclosed in the present invention, and has all the technical effects of the mechanical elbow joint 10 or the mechanical arm disclosed in the present invention.

[0142] 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.

[0143] 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.

[0144] 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.

[0145] 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.

[0146] 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.

[0147] 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 mechanical elbow joint (10), a mechanical shoulder joint (20) and a mechanical wrist joint (30); The mechanical elbow joint (10) comprises: a fixed part (1), a movable part (2), a connecting part (3) and a driving component (4); The fixing member (1) is rotatably connected to a first end of the connecting member (3), and the movable member (2) is rotatably connected to a second end of the connecting member (3); The driving assembly (4) comprises at least two driving sources (41) and at least two driving ropes (42); Each of the at least two driving sources (41) is connected to the movable member (2) via at least one driving rope (42); The mechanical shoulder joint (20) is connected to the fixed part (1), and the mechanical wrist joint (30) is connected to the movable part (2); the at least two driving sources (41) are located in the mechanical shoulder joint (20); The mechanical shoulder joint (20) comprises: a coupling rope pulley (6), a rope pulley base (7) and a driving bracket (8); The rope pulley base (7) passes through the coupling rope pulley (6) in the axial direction, the fixing member (1) and the driving bracket (8) are respectively located on both sides of the axial direction of the coupling rope pulley (6), and the fixing member (1) and the driving bracket (8) are respectively connected to the rope pulley base (7), and the rope pulley base (7) is rotatably connected to the coupling rope pulley (6); the at least two driving sources (41) are located in the driving bracket (8), and each of the driving sources (41) comprises a motor (413, 414) and a driving rope pulley; the positions of two adjacent motors (413, 414) are staggered, and the output shafts face opposite directions; the at least two driving ropes (42) are respectively connected to the coupling rope pulley (6); The mechanical arm is configured such that the at least two driving sources (41) apply traction forces in the same direction to the movable part (2) through at least one driving rope (42), and the movable part (2) rotates around the second end of the connecting part (3); the at least two driving sources (41) apply traction forces in opposite directions to the movable part (2) through at least one driving rope (42), and the pulley base (7) drives the mechanical elbow joint (10) and the driving bracket (8) to rotate around the coupling pulley (6).

2. The robotic arm according to claim 1, characterized in that: Each of the at least two driving sources (41) is connected to the movable member (2) via at least two driving ropes (42); At least one of the at least two driving ropes (42) is connected to a first position (201) of the movable member (2), and at least one of the remaining driving ropes (42) is connected to a second position (202) of the movable member (2), the first position (201) and the second position (202) being respectively located on two sides of a first axis (001) of rotational connection between the movable member (2) and the connecting member (3); Each of the at least two driving sources (41) can apply traction forces in opposite directions to the movable part (2) through the at least two driving ropes (42), thereby driving the movable part (2) to rotate in different directions.

3. The robotic arm according to claim 1, characterized in that: The at least two driving sources (41) are located on a side of the fixed part (1) away from the movable part (2), and the at least two driving ropes (42) pass through the fixed part (1) and are connected to the movable part (2).

4. The robotic arm according to claim 1, characterized in that: The movable member (2) comprises a movable body (21), a first passive rope wheel (22) and a second passive rope wheel (23); the first passive rope wheel (22) and the second passive rope wheel (23) are coaxially symmetrically arranged on both sides of the movable body (21); the positions of the first passive rope wheel (22) and the second passive rope wheel (23) correspond to a first position (201) or a second position (202), and the first position (201) and the second position (202) are respectively located on both sides of a first axis (001) on which the movable member (2) and the connecting member (3) are rotatably connected; The at least two driving sources (41) include a first driving rope pulley (411) and a second driving rope pulley (412); The at least two driving ropes (42) include a first driving rope (421) and a second driving rope (422); The first driving rope (421) connects the first active rope wheel (411) and the first passive rope wheel (22), and the second driving rope (422) connects the second active rope wheel (412) and the second passive rope wheel (23); The mechanical elbow joint (10) is configured such that, when the first active rope pulley (411) and the second active rope pulley (412) rotate, the traction force applied by the first driving rope (421) to the first passive rope pulley (22) and the traction force applied by the second driving rope (422) to the second passive rope pulley (23) are in the same direction.

5. The robotic arm according to claim 4, characterized in that: The fixing member (1) comprises a fixing body (11), a third passive rope wheel (12) and a fourth passive rope wheel (13); the third passive rope wheel (12) and the fourth passive rope wheel (13) are coaxially symmetrically arranged on both sides of the fixing body (11); The first driving rope (421) connects the first active rope wheel (411), the first passive rope wheel (22) and the third passive rope wheel (12), and the second driving rope (422) connects the second active rope wheel (412), the second passive rope wheel (23) and the fourth passive rope wheel (13); The mechanical elbow joint (10) is configured such that when the first active rope pulley (411) pulls the first passive rope pulley (22) and the third passive rope pulley (12) toward each other via the first driving rope (421), and / or when the second active rope pulley (412) pulls the second passive rope pulley (23) and the fourth passive rope pulley (13) toward each other via the second driving rope (422), the connecting member (3) and the movable member (2) rotate relative to the fixed member (1), and the movable member (2) rotates relative to the connecting member (3).

6. The robotic arm according to claim 5, characterized in that: The movable part (2) further comprises a fifth passive rope wheel (24) and a sixth passive rope wheel (25); the fifth passive rope wheel (24) and the sixth passive rope wheel (25) are coaxially symmetrically arranged on both sides of the movable body (21); the positions of the first passive rope wheel (22) and the second passive rope wheel (23) correspond to the first position (201), and the positions of the fifth passive rope wheel (24) and the sixth passive rope wheel (25) correspond to the second position (202); The first end of the first driving rope (421) is connected to the first passive rope wheel (22), and the second end is connected to the fifth passive rope wheel (24) after passing through the first active rope wheel (411); the first active rope wheel (411) rotates in a certain direction, and can pull one of the first passive rope wheel (22) and the fifth passive rope wheel (24) to move in a direction close to the first active rope wheel (411); the first active rope wheel (411) rotates in the opposite direction, and can pull the other of the first passive rope wheel (22) and the fifth passive rope wheel (24) to move in a direction close to the first active rope wheel (411); and / or, The first end of the second driving rope (422) is connected to the second passive rope pulley (23), and the second end is connected to the sixth passive rope pulley (25) after passing through the second active rope pulley (412); the second active rope pulley (412) rotates in a certain direction, and can pull one of the second passive rope pulley (23) and the sixth passive rope pulley (25) to move in a direction close to the second active rope pulley (412); the second active rope pulley (412) rotates in the opposite direction, and can pull the other of the second passive rope pulley (23) and the sixth passive rope pulley (25) to move in a direction close to the second active rope pulley (412).

7. The robot arm according to claim 6, characterized in that: The first end of the first driving rope (421) is connected to the first passive rope wheel (22), and the second end is connected to the fifth passive rope wheel (24) after winding around the third passive rope wheel (12) and the first active rope wheel (411); and / or, The first end of the second driving rope (422) is connected to the second passive rope pulley (23), and the second end is connected to the sixth passive rope pulley (25) after winding around the fourth passive rope pulley (13) and the second active rope pulley (412).

8. The robot arm according to claim 7, characterized in that: The fixing member (1) further comprises a seventh passive rope pulley (14) and an eighth passive rope pulley (15); the third passive rope pulley (12) and the fourth passive rope pulley (13) are coaxially and symmetrically arranged on both sides of the fixing body (11); The second end of the first driving rope (421) is wound around the third passive rope wheel (12) and the first active rope wheel (411), and then around the fifth passive rope wheel (24) and the seventh passive rope wheel (14); and / or, The second end of the second driving rope (422) is wound around the fourth passive rope pulley (13) and the second active rope pulley (412), and then around the sixth passive rope pulley (25) and the eighth passive rope pulley (15).

9. The robot arm according to claim 8, characterized in that: The second axis (002) on which the fixed part (1) and the movable part (2) are rotatably connected is parallel to the first axis (001); the first passive rope pulley (22), the second passive rope pulley (23), the third passive rope pulley (12) and the fourth passive rope pulley (13) are located on one side of a plane defined by the first axis (001) and the second axis (002); the fifth passive rope pulley (24), the sixth passive rope pulley (25), the seventh passive rope pulley (14) and the eighth passive rope pulley (15) are located on the other side of the plane defined by the first axis (001) and the second axis (002).

10. The robot arm according to claim 5, characterized in that: The movable body (21) comprises a first connecting seat body (26) and a first curved surface portion (27), the center of which is located on the first axis (001); the fixed body (11) comprises a second connecting seat body (16) and a second curved surface portion (17), the center of which is located on the second axis (002) on which the fixed part (1) and the movable part (2) are rotatably connected.

11. The mechanical arm according to claim 10, characterized in that: The mechanical elbow joint (10) further comprises two auxiliary ropes (5), wherein the two auxiliary ropes (5) are cross-symmetrically connected between the first curved surface portion (27) and the second curved surface portion (17), and the two auxiliary ropes (5) are configured so that the rotation angles of the first curved surface portion (27) and the second curved surface portion (17) are consistent.

12. The robot arm according to any one of claims 1 to 11, characterized in that: The connecting member (3) comprises a bottom plate portion (31) and at least one side plate portion (32); the bottom plate portion (31) is located in a rotation direction of the movable member (2), and two ends of the bottom plate portion (31) respectively correspond to the fixed member (1) and the movable member (2), and are used to provide a limit for the movable member (2) to rotate in the rotation direction; The at least one side plate portion (32) is connected to the bottom plate portion (31), and the fixed component (1) and the movable component (2) are rotatably connected to the two ends of the at least one side plate portion (32).

13. The robot arm according to any one of claims 1 to 11, characterized in that: The mechanical shoulder joint (20) further comprises a sheave bearing (9); the coupling sheave (6) is connected to the outer ring of the sheave bearing (9), and the sheave base (7) is connected to the inner ring of the sheave bearing (9); The rope pulley base (7) also includes a rope winding bracket (71), which is used to wind the drive rope (42) into or out of the rope winding surface (61) of the coupling rope pulley (6) when the rope pulley base (7) drives the fixing member (1) and the driving bracket (8) to rotate around the coupling rope pulley (6).

14. The robot arm according to any one of claims 8 to 9, characterized in that: The first end of the first driving rope (421) is connected to and wound around the coupling rope wheel (6) along a first circumferential direction, and the second end is connected to and wound around the coupling rope wheel (6) along a second circumferential direction after winding around the third passive rope wheel (12), the first passive rope wheel (22), the first active rope wheel (411), the seventh passive rope wheel (14) and the fifth passive rope wheel (24); The first end of the second driving rope (422) is connected to and wound around the coupling rope wheel (6) along the second circumferential direction, and the second end is connected to and wound around the coupling rope wheel (6) along the first circumferential direction after winding around the fourth passive rope wheel (13), the second passive rope wheel (23), the second active rope wheel (412), the eighth passive rope wheel (15) and the sixth passive rope wheel (25); Wherein, the first circumferential direction and the second circumferential direction are two opposite directions along the circumference of the coupling sheave (6).

15. A robot, characterized in that: A robotic arm as claimed in any one of claims 1 to 14 is used.

Images