robotic arm mechanisms, robots, and vehicles

Abstract

This invention discloses a robotic arm mechanism, a robot, and a vehicle. The robotic arm mechanism includes a drive component, a robotic arm, and a limiting structure. The robotic arm is connected to the drive component and can be driven to rotate by the drive component. The limiting structure includes a controller and a limiting member. The controller controls the drive component to drive the robotic arm to rotate within a preset rotation angle, and the limiting member stops the robotic arm when it has rotated at least to the preset rotation angle. The technical solution of this invention improves the reliability of the robotic arm's rotation operation, enabling the robot to work normally and stably.

Description

Technical Field

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

[0002] Robots are a common term for automated machines, including those that can mimic human behavior and thought, or the behavior of other living beings. As robots have developed, the types have also increased, including industrial robots and vehicle-mounted robots, among others. In practical applications, regardless of the type of robot, the robotic arm mechanism is a crucial component. The robot needs the robotic arm mechanism to rotate and perform its required actions.

[0003] However, in the current robotics industry, there is generally no design for limiting the rotation of robotic arm mechanisms. This can lead to uncontrolled rotation of the robotic arm mechanism, resulting in the robot being unable to work normally and stably. Summary of the Invention

[0004] The main objective of this invention is to provide a robotic arm mechanism that improves the reliability of the robotic arm's rotational operation, so that the robot can work normally and stably.

[0005] To achieve the above objectives, the robotic arm mechanism proposed in this invention includes:

[0006] Drive components;

[0007] A robotic arm, connected to and capable of being driven to rotate by the drive; and

[0008] A limiting structure is provided, comprising a controller and a limiting member. The controller is used to control the drive member to drive the robotic arm to rotate within a preset rotation angle, and the limiting member is used to stop the robotic arm when it has rotated at least to the preset rotation angle.

[0009] Optionally, the robotic arm is provided with an abutment portion, and when the robotic arm rotates to the preset rotation angle, or rotates to a position outside the preset angle, the limiting member can block and stop the abutment portion.

[0010] Optionally, the robotic arm is defined to have a first rotation direction and a second rotation direction that are arranged in opposite directions, and the limiting member has a first stop surface and a second stop surface;

[0011] When the robotic arm rotates along the first rotation direction to the preset rotation angle, or rotates to a position outside the preset rotation angle, the first stop surface can block and stop the abutment portion; when the robotic arm rotates along the second rotation direction to the preset rotation angle, or rotates to a position outside the preset rotation angle, the second stop surface can block and stop the abutment portion.

[0012] Optionally, the robotic arm mechanism further includes a rotating ring, which surrounds the outside of the robotic arm, and the rotating ring is provided with a first contact body and a second contact body;

[0013] The first contact body and the abutment portion are located on opposite sides of the rotation axis of the robotic arm, and the second contact body is located between the first stop surface and the second stop surface;

[0014] The robotic arm can drive the rotating ring to rotate through the contacting part and the first contact body. When the robotic arm rotates to the preset rotation angle or rotates to a position outside the preset angle, the first stop surface or the second stop surface can block and stop the second contact body.

[0015] Optionally, the abutting portion protrudes from the circumferential surface of the robotic arm, and the first contact body protrudes from the end face of the rotating ring;

[0016] And / or, the second contact body protrudes from the circumferential surface of the rotating ring, the limiting member extends along the circumferential direction of the rotating ring into an unclosed annular structure, and is arranged around the outside of the rotating ring, and the limiting member has the first stop surface and the second stop surface formed at both ends in its extension direction, respectively.

[0017] And / or, the contact part and the robotic arm are integrally formed;

[0018] And / or, the first contact body, the second contact body, and the rotating ring are integrally formed;

[0019] And / or, at least one of the abutting portion and the first contact body is provided with a first buffer pad, the first buffer pad being used to buffer the collision between the abutting portion and the first contact body;

[0020] And / or, at least one of the second contact body and the limiting member is provided with a second buffer pad, the second buffer pad being used to buffer the collision between the second contact body and the limiting member;

[0021] And / or, the robotic arm structure further includes a bearing, the bearing being sleeved on the outside of the robotic arm, and the rotating ring being sleeved on the outside of the bearing;

[0022] And / or, when the robotic arm rotates to a position beyond the preset angle, and the first stop surface or the second stop surface can block and stop the second contact body, the preset rotation angle of the robotic arm is defined as X°, the rotation angle of the abutting part to abut the first contact body along the first rotation direction and the second rotation direction is Y°, and the rotation angle of the second contact body to abut the first stop surface or the second stop surface is Z°, satisfying the relationship: 0 < (Y + ZX) / X ≤ 0.1.

[0023] Optionally, the robotic arm mechanism further includes a mounting carrier, on which the robotic arm is rotatably mounted, and the mounting carrier and the robotic arm together form a noise reduction cavity;

[0024] The contact portion is located inside the noise reduction cavity, and the limiting member is disposed on the mounting carrier and located inside the noise reduction cavity.

[0025] Optionally, the robotic arm includes:

[0026] A first connector, connected to the driving member and capable of being driven to rotate by the driving member, wherein the abutment portion is provided on the first connector; and

[0027] A second connector, one end of which is detachably connected to the end of the first connector away from the drive member.

[0028] Optionally, the first connector is provided with a first snap-fit ​​portion, and the second connector is provided with a second snap-fit ​​portion. The second connector can rotate relative to the first connector about the rotation axis of the first connector until the second snap-fit ​​portion and the first snap-fit ​​portion are engaged or disengaged.

[0029] The robotic arm also includes an elastic element disposed on the first connecting member. When the second engaging portion engages with the first engaging portion, the elastic element elastically abuts against the second connecting member, so that the second engaging portion is limited to the state of engaging with the first engaging portion. The elastic force direction of the elastic element is parallel to the rotation axis of the first connecting member.

[0030] The present invention also proposes a robot including the robotic arm mechanism described above.

[0031] The present invention also proposes a vehicle comprising the robot described above.

[0032] The robotic arm mechanism of this invention, when in use, can be powered by a drive component to rotate the robotic arm, thereby completing the actions required by the robot. Furthermore, the robotic arm mechanism of this invention also includes a limiting structure. A controller within the limiting structure can control the drive component to rotate the robotic arm within a preset rotation angle. That is, when the robotic arm rotates to the preset rotation angle, the controller can stop the drive component, causing the robotic arm to stop rotating. Further, the limiting structure also includes a stop component, which can be used to stop the robotic arm after it has rotated at least to the preset rotation angle. In other words, even if the controller fails to control the rotation of the robotic arm 20, the stop component can still stop the robotic arm, preventing further excessive rotation.

[0033] Therefore, the robotic arm mechanism in this solution, by setting up a limiting structure including a controller and limiting components, achieves initial limiting of the robotic arm's rotation process through the controller, while the limiting components provide secondary limiting. This dual limiting of the robotic arm's rotation process is achieved both in terms of program control and mechanical structure, effectively reducing the possibility of uncontrolled rotation during operation. In other words, the structural design of the robotic arm mechanism in this solution improves the reliability of the robotic arm's rotation, ensuring the robot operates normally and stably. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the structure of an embodiment of the robotic arm mechanism of the present invention;

[0036] Figure 2 for Figure 1 An exploded structural diagram of the robotic arm mechanism;

[0037] Figure 3 for Figure 2 Another perspective of the exploded structure of the robotic arm mechanism;

[0038] Figure 4 for Figure 1 A cross-sectional schematic diagram of the robotic arm mechanism;

[0039] Figure 5 for Figure 1A partial structural diagram of the robotic arm mechanism;

[0040] Figure 6 for Figure 5 A schematic diagram of a partial structure of the robotic arm mechanism from another perspective;

[0041] Figure 7 for Figure 5 A schematic diagram of a partial structure of the robotic arm mechanism from another perspective;

[0042] Figure 8 for Figure 3 A schematic diagram of the structure of the second housing of the robotic arm mechanism;

[0043] Figure 9 for Figure 1 Another cross-sectional view of the robotic arm mechanism;

[0044] Figure 10 for Figure 1 A partial structural diagram of the robotic arm mechanism;

[0045] Figure 11 for Figure 1 A schematic diagram of the structure of the robotic arm in the medium-sized robotic arm mechanism;

[0046] Figure 12 for Figure 11 A schematic diagram of the exploded structure of a robotic arm;

[0047] Figure 13 for Figure 12 Another perspective of the exploded structure of the robotic arm;

[0048] Figure 14 for Figure 11 A cross-sectional schematic diagram of a robotic arm;

[0049] Figure 15 for Figure 12 A schematic diagram of the structure of the first connecting component of the robotic arm;

[0050] Figure 16 for Figure 15 A magnified view of a portion of point A in the middle.

[0051] Explanation of icon numbers:

[0052] label name label name 100 robotic arm mechanism 257 Second connecting ring 10 Drive components 259 Inner baffle 20 robotic arm 27 elastic element 21 Butt part 30 Limiting structure 23 First connector 31 controller 231 First card connection part 33 Limiting components 232 Card slot 331 First stopping surface 233 First Import and Export 333 Second stop surface 234 First trench wall 40 Rotating ring 235 Second trench wall 41 First contact body 236 Blocking part 411 First buffer pad 237 Third trench wall 43 Second contact body 238 Limiting groove 431 Second cushioning pad 239 slot 50 bearings 240 Second Import / Export 60 Installation carrier 241 First connecting body 61 Noise reduction cavity 242 First connecting ring 611 Sound absorbing parts 243 Outer ring body 63 Mounting Case 244 Mounting slot 631 First shell 25 Second connector 633 Second shell 251 Second connector 65 Enclosure panel 253 Card Block 70 damper 255 Second connecting body

[0053] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0054] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0055] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0056] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0057] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the word "and / or" throughout the text means including three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of a person skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0058] Robots, commonly known as automated control machines, include machines that can mimic human behavior and thought, or those of other living beings. With the continuous development of robots, the types of robots are also increasing, including industrial robots and automotive robots. Industrial robots can be used in industrial production to automatically process, fix, or transfer workpieces, thereby improving industrial production efficiency. Automotive robots, on the other hand, can be used in vehicles to enable human-machine interaction with users inside the vehicle, facilitating various functions such as navigation, communication, listening to music, and checking the weather, thus avoiding the significant safety hazards associated with manual operation while driving. It is evident that robots bring numerous conveniences to humanity, giving them a very wide range of applications. In practical applications, regardless of the type of robot, the robotic arm mechanism is a crucial component. The robot needs this mechanism to rotate and perform the required actions.

[0059] However, in the current robotics industry, there is a general lack of design considerations for limiting the rotation of robotic arm mechanisms. This can lead to uncontrolled rotation during operation, resulting in the robotic arm failing to perform actions at the precise position, colliding with and being damaged by other objects, or being unable to calculate the subsequent actual rotation position. In other words, uncontrolled rotation during robotic arm operation will prevent the robot from working normally and stably.

[0060] Therefore, based on the above considerations, in order to solve the problem of limiting the rotation process of the robotic arm mechanism, this application proposes a novel robotic arm mechanism. This robotic arm mechanism innovatively incorporates a limiting structure including a controller and limiting components. The controller controls the drive component to drive the robotic arm to rotate within a preset rotation angle, and the limiting components further stop the robotic arm after it has rotated at least to the preset rotation angle. Thus, this limiting structure achieves dual limiting of the robotic arm's rotation process, improving the reliability of the robotic arm's rotation and facilitating the normal and stable operation of the robot.

[0061] It should be noted that the robotic arm mechanism proposed in this application is not limited to any type of robot; it can be used in industrial robots or vehicle-mounted robots, as long as it involves rotational limiting.

[0062] The robotic arm mechanism proposed in this application will be explained and described below with specific embodiments. In one embodiment of this application, please refer to the reference. Figures 1 to 9The robotic arm mechanism 100 proposed in this application includes a drive member 10, a robotic arm 20, and a limiting structure 30. The robotic arm 20 is connected to the drive member 10 and can be driven to rotate by the drive member 10; the limiting structure 30 includes a controller 31 and a limiting member 33. The controller 31 is used to control the drive member 10 to drive the robotic arm 20 to rotate within a preset rotation angle, and the limiting member 33 is used to stop the robotic arm 20 when it has rotated to at least the preset rotation angle.

[0063] The drive component 10 provides power to rotate the robotic arm 20 and perform the actions required by the robot. The drive component 10 can be a motor, or it can be a rotary cylinder. This application does not specifically limit the type of drive component 10, as long as it can drive the robotic arm 20 to rotate. Furthermore, the drive component 10 can directly drive the robotic arm 20 to rotate, or it can indirectly drive the robotic arm 20 through a transmission mechanism such as a gear set, belt, or pulley combination; this application does not specifically limit this approach.

[0064] The robotic arm 20 has one end that can be connected to the drive unit 10, while the other end can be adaptively connected to the required object depending on the type of robot. For example, when the robot is an industrial robot, since the robot needs to transfer or process workpieces, the end of the robotic arm 20 away from the drive unit 10 can be connected to a picking mechanism (vacuum suction cup or gripper, etc.) or a processing mechanism (welding head or drilling machine, etc.). When the robot is a vehicle-mounted robot, the end of the robotic arm 20 away from the drive unit 10 can be connected to the robot body, which can be used for human-machine interaction with users inside the vehicle to perform various operations such as navigation, communication, listening to music, and checking the weather. In addition, the robotic arm 20 can be a linear structure, an arc structure, or an L-shaped structure formed by two arms set at an angle. This application does not specifically limit the shape and structure of the robotic arm 20, and it can be adaptively set according to the actual use scenario. In addition, the robotic arm 20 can be driven by the drive component 10 to rotate in one direction, or it can be driven by the drive component 10 to rotate in two directions. The specific settings can be adapted to the actual application scenario.

[0065] The limiting structure 30 can be used to limit the rotation process of the robotic arm 20 to reduce the possibility of uncontrolled rotation. Specifically, the limiting structure 30 includes a controller 31 and a limiting member 33. The controller 31 can be in the form of a circuit board, on which a program is stored to control the robotic arm 20 to rotate only within a preset rotation angle. For example, the controller 31 can control the robotic arm 20 to rotate within a unidirectional preset rotation angle of 0° to 30°, 60°, 90°, 120°, 150°, and 180° (i.e., the rotation range in one direction from the initial position), or it can control the robotic arm 20 to rotate within a bidirectional preset rotation angle of -30° to 30°, -60° to 60°, -90° to 90°, -120° to 120°, -150° to 150°, and -180° to 180° (i.e., the rotation range in two opposite directions from the initial position). In other words, this application does not specifically limit the preset rotation angle of the robotic arm 20. It can be a preset rotation angle range for unidirectional rotation or bidirectional rotation, and can be adaptively set according to the required rotation angle and direction during actual use. When the controller 31 detects through the angle detector that the drive unit 10 has driven the robotic arm 20 to rotate at least to the preset rotation angle, which can also be considered the limit position during rotation, the controller 31 can control the drive unit 10 to stop working when the preset rotation angle is between -180° and 180°. This means that when the robotic arm 20 rotates to 180° in one direction and to -180° in the opposite direction, these are the limit positions during rotation. The controller 31 can then control the drive unit 10 to stop working, thereby stopping the robotic arm 20's rotation and achieving the limit. In short, the controller 31 implements program control for limiting the rotation of the robotic arm 20. At this point, using the controller 31 for program control can usually achieve the limit of the robotic arm 20's rotation; however, the controller 31 may still experience program malfunctions during use. Therefore, to further ensure more reliable control over the rotation of the robotic arm 20, the limiting member 33 in the limiting structure 30 needs to stop the robotic arm 20 when the controller 31 malfunctions, preventing it from rotating excessively and affecting subsequent robot operations. The limiting member 33's action of stopping the robotic arm 20 when it has rotated to at least the preset rotation angle includes two scenarios. The first scenario is that when the robotic arm 20 rotates to the preset rotation angle, the limiting member 33 can stop it. For example, when the preset rotation angle is between -180° and 180°, if the robotic arm 20 rotates to 180° in one direction or to -180° in another direction, the limiting member 33 can stop it.The second stopping situation is as follows: when the robotic arm 20 rotates beyond the preset rotation angle, the limiting member 33 can stop the robotic arm 20. For example, when the preset rotation angle is between -180° and 180°, if the robotic arm 20 rotates more than 180° in one direction or more than -180° in another direction, the limiting member 33 can stop the robotic arm 20. In this case, since the limiting member 33 stops the robotic arm 20 only after it has rotated beyond the preset rotation angle, the limiting effect of the limiting member 33 will not overlap with the limiting effect of the controller 31. The limiting effect only occurs after the controller 31 loses control of the drive unit 10, thus facilitating the full utilization of both the controller 31 and the limiting member 33. Meanwhile, there is no possibility of collision between the robotic arm 20 and the limiting member 33 when the controller 31 controls the robotic arm 20 to stop rotating to the preset rotation angle. This helps to reduce noise during normal rotation of the robotic arm 20 and improve its operational stability. Furthermore, when the limiting member 33 is in the second stopping condition, it should be noted that the limiting member 33 can stop the robotic arm 20 when it rotates to any angle exceeding the preset rotation angle of 1°, 2°, 3°, 4°, 5°, 6°, 7°, 8°, 9°, 10°, 11°, 12°, 13°, 14°, 15°, 16°, 17°, 18°, 19°, or 20°. This application does not specifically limit the range of angles allowed by the limiting member 33 for the robotic arm 20 to exceed the preset rotation angle; this exceeding angle value can be adaptively set according to the needs of the robot in actual use. In summary, regardless of whether the limiting member 33 adopts the first or second stopping method, the limiting structure 30, through the controller 31 and the limiting member 33, can respectively achieve the initial and secondary limiting of the rotation process of the robotic arm 20, thus effectively limiting the rotation of the robotic arm 20 and reducing the possibility of the robotic arm 20 going out of control during rotation. Furthermore, it should be noted that the limiting member 33 can limit and stop the robotic arm 20 in the following ways: it can be a blocking stop (including direct and indirect blocking stops) or a clamping stop. This application does not limit this method; the key is to limit the robotic arm 20 and prevent it from continuing to rotate.

[0066] In use, the robotic arm mechanism 100 of this application provides power through the drive member 10 to drive the robotic arm 20 to rotate, thereby completing the actions required by the robot. Furthermore, the robotic arm mechanism 100 also includes a limiting structure 30. The controller 31 within the limiting structure 30 can control the drive member 10 to drive the robotic arm 20 to rotate within a preset rotation angle. That is, when the robotic arm 20 rotates to the preset rotation angle, the controller 31 can control the drive member 10 to stop working, thus stopping the robotic arm 20 from rotating. Moreover, the limiting structure 30 also includes a limiting member 33, which can be used to stop the robotic arm 20 after it has rotated to at least the preset rotation angle. In other words, even if the controller 31 fails to control the rotation of the robotic arm 20, the limiting member 33 can still stop the robotic arm 20, preventing further excessive rotation.

[0067] Therefore, the robotic arm mechanism 100 in this solution, by setting a limiting structure 30 including a controller 31 and a limiting member 33, achieves initial limiting of the rotation process of the robotic arm 20 through the controller 31, and secondary limiting of the rotation process of the robotic arm 20 through the limiting member 33. This achieves dual limiting of the rotation process of the robotic arm 20 in both program control and mechanical structure, thereby effectively reducing the possibility of uncontrolled rotation of the robotic arm 20 during rotation. In other words, the structural design of the robotic arm mechanism 100 in this solution can improve the reliability of the rotation operation of the robotic arm 20, ensuring the normal and stable operation of the robot.

[0068] Please refer to the reference. Figures 4 to 9 In one embodiment of this application, the robotic arm 20 is provided with an abutment portion 21. When the robotic arm 20 rotates to a preset rotation angle or rotates to a position outside the preset rotation angle, the limiting member 33 can block and stop the abutment portion 21.

[0069] The abutment portion 21 can be used to stop the robotic arm 20 from rotating further when it rotates to a preset rotation angle or beyond that angle, by being blocked by the limiting member 33. The abutment portion 21 can protrude from the circumferential surface of the robotic arm 20 or be located on its end face. The abutment portion 21 can be a block structure, a column structure, or a plate structure, etc. Therefore, this application does not limit the location or shape of the abutment portion 21, as long as it can directly or indirectly block the limiting member 33 and be stopped by it. In this case, the limiting member 33 can be fixed, and its structure can be any shape such as a block, column, or plate, capable of directly or indirectly blocking the abutment portion 21 on the robotic arm 20 when it rotates to or beyond the preset rotation angle.

[0070] In this embodiment, by providing an abutment portion 21 on the robotic arm 20, which rotates with the robotic arm 20, the limiting member 33 blocks and stops the abutment portion 21, thus achieving the stopping and limiting of the robotic arm 20. Using a blocking and stopping method, on the one hand, simplifies the structure of the limiting member 33, thereby improving the ease of manufacturing the robotic arm 20. On the other hand, the limiting member 33 can apply a blocking force to the abutment portion 21 in the opposite direction of the rotation of the robotic arm 20. This blocking force maximizes the limiting effect of the abutment portion 21, thereby improving the stopping effect of the limiting member 33 on the robotic arm 20. Of course, it should be noted that in other embodiments, when the limiting member 33 uses the method of clamping and stopping the robotic arm 20 for limiting, the limiting member 33 may include two clamping members. When the robotic arm 20 rotates to a preset rotation angle or rotates to a position other than the preset rotation angle, the two clamping members can approach each other and clamp the robotic arm 20 under the action of a power component such as a cylinder, so as to drive the robotic arm 20 to stop mechanical rotation.

[0071] Please refer to the reference. Figures 4 to 9 In one embodiment of this application, the robotic arm 20 is defined to have a first rotation direction and a second rotation direction arranged in opposite directions, and the limiting member 33 has a first stop surface 331 and a second stop surface 333; when the robotic arm 20 rotates along the first rotation direction to a preset rotation angle, or rotates to a position other than the preset rotation angle, the first stop surface 331 can block and stop the abutment portion 21; when the robotic arm 20 rotates along the second rotation direction to a preset rotation angle, or rotates to a position other than the preset rotation angle, the second stop surface 333 can block and stop the abutment portion 21.

[0072] The robotic arm 20 has a first rotation direction and a second rotation direction, meaning that the robotic arm 20 has a preset rotation angle in two opposite directions, such as -60° to 60°, -120° to 120°, -180° to 180°, and similar situations. The first stop surface 331 and the second stop surface 333 can respectively block the abutment portion 21 to stop its continued rotation when the robotic arm 20 rotates to the preset rotation angle (e.g., -60° and 60°, or -120° and 120°, or -180° to 180°) or rotates beyond the preset rotation angle (above -60° and 60°, or above -120° and 120°, or above -180° to 180°) in the two rotation directions. The first stop surface 331 and the second stop surface 333 can be flat surfaces, or they can be curved surfaces; this application does not specifically limit this, as long as it can achieve direct or indirect abutment and blocking of the abutment portion 21. The limiting member 33 can be a single integral structure, in which case the first stop surface 331 and the second stop surface 333 can be located at both ends of the limiting member 33. Of course, the limiting member 33 can also be two separate structures, in which case the first stop surface 331 and the second stop surface 333 are respectively provided on the two separate structures.

[0073] In this embodiment, the limiting member 33 is provided with a first stop surface 331 and a second stop surface 333, which allows the robotic arm 20 to rotate in two opposite directions, thus enriching the rotation directions of the robotic arm 20. This diversifies the actions of the robotic arm mechanism 100, enhancing its functionality by better executing the required actions. For example, when the robot is a vehicle-mounted robot, since the robotic arm 20 in the robotic arm mechanism 100 has a first rotation direction and a second rotation direction, the vehicle-mounted robot can rotate towards the user in the driver's seat or towards the user in the passenger seat, enabling human-machine interaction with both the driver and passenger. However, this application is not limited to this. In other embodiments, when the robotic arm 20 needs to rotate in one direction, for example, when the vehicle-mounted robot only needs to rotate towards the user in the driver's seat or the passenger seat, the limiting member 33 may only have a first stop surface 331 or a second stop surface 333.

[0074] Please refer to the reference. Figures 4 to 9In one embodiment of this application, the robotic arm mechanism 100 further includes a rotating ring 40, which surrounds the outer side of the robotic arm 20. The rotating ring 40 is provided with a first contact body 41 and a second contact body 43. The first contact body 41 and the abutment portion 21 are located on opposite sides of the robotic arm 20 at the rotation axis of the robotic arm 20, and the second contact body 43 is located between the first stop surface 331 and the second stop surface 333. The robotic arm 20 can drive the rotating ring 40 to rotate through the abutment portion 21 and the first contact body 41. When the robotic arm 20 rotates to a preset rotation angle or rotates to a position other than the preset rotation angle, the first stop surface 331 or the second stop surface 333 can block and stop the second contact body 43.

[0075] The rotating ring 40 can serve as an intermediate transition structure to inherit the rotation of the robotic arm 20. That is, since the abutment portion 21 on the robotic arm 20 and the first contact body 41 on the rotating ring 40 are located on opposite sides of the robotic arm 20, after the robotic arm 20 rotates a certain angle from its initial position, it can rotate until the abutment portion 21 can contact the first contact body 41 on the rotating ring 40. At this point, through the abutment of the abutment portion 21 and the first contact body 41, the robotic arm 20 can drive the rotating ring 40 to rotate accordingly. When the robotic arm 20 rotates to a preset rotation angle, or rotates beyond a preset rotation angle, the rotating ring 40 driven by the robotic arm 20 can be stopped by the first stop surface 331 or the second stop surface 333, thus achieving the indirect blocking and stopping of the robotic arm 20 by the limiting member 33 as described above. It should be noted that although the rotating ring 40 surrounds the outer side of the robotic arm 20, during rotation, the robotic arm 20 can only drive the rotating ring 40 through the abutment portion 21 on the robotic arm 20, and cannot drive the rotating ring 40 through other parts of the robotic arm 20. Furthermore, the first contact body 41 can be located on the circumference of the rotating ring 40 or on its end face; this application does not specifically limit this. The first contact body 41 can be a block, plate, or column; this application does not specifically limit the shape or structure of the first contact body 41. The fact that the first contact body 41 and the abutment portion 21 are on opposite sides of the robotic arm 20's rotation axis means that when the robotic arm 20 is in its initial position, the first contact body 41 and the abutment portion 21 are arranged opposite each other. Figure 9As shown. However, after the robotic arm mechanism 100 is used, the position of the abutment part 21 may deviate from its initial position after the robotic arm 20 stops rotating. Therefore, after use, the first contact body 41 and the abutment part 21 are no longer located on opposite sides of the rotation axis of the robotic arm 20. In other words, when the robotic arm mechanism 100 is initially manufactured, the first contact body 41 and the abutment part 21 are located on opposite sides of the rotation axis of the robotic arm 20. During use, the robotic arm 20 may be shut down at any position during its rotation to a preset rotation angle, thus changing the relative positional relationship between the first contact body 41 and the abutment part 21. The second contact body 43 can be located on the circumference of the rotating ring 40, or it can be located on the end face of the rotating ring 40; this application does not specifically limit this. The structural form of the second contact body 43 can be a block, a plate, or a column; this application does not specifically limit the shape and structure of the second contact body 43. In order to ensure that the preset rotations of the robotic arm 20 in the first and second rotation directions are identical, the second contact body 43 can be positioned at the midpoint between the first stop surface 331 and the second stop surface 333. Of course, in other embodiments, when the preset rotation angles in the two rotation directions are inconsistent, the second contact body 43 can be positioned closer to either the first stop surface 331 or the second stop surface 333.

[0076] In this embodiment, by setting a rotating ring 40, it is convenient to achieve the blocking and stopping of the robotic arm 20 when both the first and second rotation directions of the robotic arm 20 have large preset rotation angles (for example, in order to realize the function of taking pictures of road conditions, the vehicle robot needs to rotate from the initial state facing backward to the shooting state facing forward, so the preset rotation angle needs to be set to 180° along the first rotation direction and -180° along the second rotation direction). Specifically, since the abutment part 21 and the limiting member 33 both have thickness in the rotation direction of the robotic arm 20, it is impossible to achieve a large rotation angle such as 180° and -180° simultaneously in two opposite directions by simply using the abutment and blocking cooperation of the abutment part 21 and the limiting member 33 on the robotic arm 20. Therefore, the rotating ring 40 is cleverly used for transitional transmission, allowing the robotic arm 20 to initially have a relatively large rotation angle range when the abutment portion 21 contacts the first contact body 41 on the rotating ring 40, which is opposite to the abutment portion 21. Then, through the abutment engagement between the first contact body 41 and the abutment portion 21, the rotating ring 40 can be driven to continue rotating within a relatively small rotation angle range. That is, the larger preset rotation angle is cleverly divided between the abutment portion 21 and the first contact body 41, and between the second contact body 43 and the first stop surface 331 and the second stop surface 333 of the limiting member 33. Thus, through the superposition of the rotation angle ranges in these two parts, the robotic arm 20 can have a large preset rotation angle in both rotation directions. It should be noted that when the preset rotation angle is relatively small, for example, less than 90°, the rotating ring 40 may not be required; the limiting member 33 can directly abut and stop the abutment portion 21 on the robotic arm 20.

[0077] Please refer to the reference. Figure 6 and Figure 7 In one embodiment of this application, the abutment portion 21 protrudes from the circumferential surface of the robotic arm 20, and the first contact body 41 protrudes from the end face of the rotating ring 40.

[0078] In this embodiment, the abutment part 21 is disposed on the circumferential surface of the robotic arm 20, and the first contact body 41 is disposed on the end face. This allows the abutment part 21 and the first contact body 41 to come into contact more easily, thereby simplifying the structural design and improving the ease of manufacturing.

[0079] Please refer to reference 6. Figure 8 as well as Figure 9In one embodiment of this application, the second contact body 43 protrudes from the circumferential surface of the rotating ring 40, and the limiting member 33 extends along the circumferential direction of the rotating ring 40 to form an unclosed annular structure and is arranged around the outside of the rotating ring 40. The limiting member 33 has a first stop surface 331 and a second stop surface 333 formed at both ends in its extension direction.

[0080] In this embodiment, the second contact 43 is disposed on the circumferential surface of the rotating ring 40, and the limiting member 33 is an annular structure surrounding the outside of the rotating ring 40. This arrangement allows the second contact 43 to make convenient and stable contact with the first stop surface 331 and the second stop surface 333, improving manufacturing convenience. Furthermore, this arrangement allows the limiting member 33 and the rotating ring 40 to be distributed very compactly, reducing the overall volume of the robotic arm mechanism 100 and improving the ease of subsequent installation in limited space. Moreover, the limiting member 33 is a single integral structure, giving it greater strength and improving the service life of the blocking effect.

[0081] In one embodiment of this application, the contact part 21 and the robotic arm 20 are integrally formed.

[0082] In this embodiment, the abutment portion 21 and the robotic arm 20 are integrated into a single structure, allowing them to be manufactured as a single piece, thereby improving production efficiency. This arrangement also provides a strong connection between the abutment portion 21 and the robotic arm 20, thus enhancing the overall strength of this component. However, it should be noted that this application is not limited to this; in other embodiments, the abutment portion 21 and the robotic arm 20 can be separate components, with the abutment portion 21 then fixed to the robotic arm 20 using screws or glue.

[0083] In one embodiment of this application, the first contact body 41, the second contact body 43, and the rotating ring 40 are integrally formed.

[0084] In this embodiment, the first contact body 41, the second contact body 43, and the rotating ring 40 are configured as an integral structure, allowing them to be manufactured through integral molding, thereby improving production efficiency. Simultaneously, this configuration also ensures a strong connection between the first contact body 41, the second contact body 43, and the rotating ring 40, thus enhancing the overall strength of this component. However, it should be noted that this application is not limited to this; in other embodiments, the first contact body 41 and the second contact body 43 may be separately configured from the rotating ring 40, and the first contact body 41 and the second contact body 43 may be fixed to the rotating ring 40 by screws or glue.

[0085] Please refer to Figure 5In one embodiment of this application, at least one of the abutting portion 21 and the first contact body 41 is provided with a first buffer pad 411, which is used to buffer the collision between the abutting portion 21 and the first contact body 41.

[0086] The first buffer pad 411 serves a cushioning function to prevent large impacts between the abutting portion 21 and the first contact body 41. Specifically, the first buffer pad 411 can be provided on at least the surface of the abutting portion 21 that abuts against the first contact body 41; alternatively, a first buffer ring can be provided on at least the surface of the first contact body 41 that abuts against the abutting portion 21; or, the first buffer pad 411 can be provided on both the abutting portion 21 and the first contact body 41, as long as it effectively cushions the impact between the abutting portion 21 and the first contact body 41. The first buffer pad 411 can be made of a material with a certain degree of elasticity, such as silicone or rubber.

[0087] In this embodiment, by providing the first buffer pad 411, the collision between the abutting part 21 and the first contact body 41 can be buffered, which helps to eliminate the impact noise between the abutting part 21 and the first contact body 41, and also protects the abutting part 21 and the first contact body 41.

[0088] Furthermore, since the first contact body 41 can protrude from the end face of the rotating ring 40, the first buffer pad 411 can be sleeved and installed on the first contact body 41. At this time, while satisfying the function of buffering the collision between the abutment portion 21 and the first contact body 41, the number of first buffer pads 411 can be reduced to save manufacturing costs. At the same time, the ease of installation of the first buffer pad 411 can be greatly improved.

[0089] Please refer to Figure 6 In one embodiment of this application, at least one of the second contact body 43 and the limiting member 33 is provided with a second buffer pad 431, which is used to buffer the collision between the second contact body 43 and the limiting member 33.

[0090] The second buffer pad 431 serves a cushioning function to prevent large impacts between the second contact body 43 and the limiting member 33. Specifically, the second buffer pad 431 can be provided on at least the surfaces of the second contact body 43 that abut against the first stop surface 331 and the second stop surface 333 of the limiting member 33; alternatively, a second buffer ring can be provided on the first stop surface 331 and the second stop surface 333 of the limiting member 33; or, the second buffer pad 431 can be provided on both the second contact body 43 and the first stop surface 331 and the second stop surface 333 of the limiting member 33, as long as it can effectively cushion the impact between the second contact body 43 and the limiting member 33. The material of the second buffer pad 431 can be a material with a certain degree of elasticity, such as silicone or rubber.

[0091] In this embodiment, by providing a second buffer pad 431, the collision between the second contact body 43 and the limiting member 33 can be buffered, thereby helping to eliminate the impact noise between the second contact body 43 and the limiting member 33, and also protecting the second contact body 43 and the limiting member 33.

[0092] Furthermore, since the second contact body 43 can protrude from the circumferential surface of the rotating ring 40, the second buffer pad 431 can be sleeved and installed on the second contact body 43. At this time, while satisfying the requirement of buffering the collision between the second contact body 43 and the limiting member 33, the number of second buffer pads 431 can be reduced to save manufacturing costs. At the same time, the ease of installation of the second buffer pad 431 can be greatly improved.

[0093] Please refer to the reference. Figure 2 and Figure 5 In one embodiment of this application, the robotic arm 20 structure further includes a bearing 50, which is sleeved on the outside of the robotic arm 20, and a rotating ring 40 is sleeved on the outside of the bearing 50.

[0094] In this embodiment, by providing a bearing 50 structure between the robotic arm 20 and the rotating ring 40, the robotic arm 20 and the rotating ring 40 can rotate more smoothly, thereby improving the smoothness of the robotic arm mechanism 100 in performing corresponding actions. Moreover, wear is less likely to occur, which helps to extend the service life of the robotic arm 20 and the rotating ring 40.

[0095] Please refer to Figure 9In one embodiment of this application, when the robotic arm 20 rotates to a position beyond a preset rotation angle, and the first stop surface 331 or the second stop surface 333 can block and stop the second contact body 43, the preset rotation angle of the robotic arm 20 is defined as X°, the rotation angle of the contact portion 21 to the first contact body 41 along the first rotation direction and the second rotation direction is Y°, and the rotation angle of the second contact body 43 to the first stop surface 331 or the second stop surface 333 is Z°, satisfying the relationship: 0 < (Y + ZX) / X ≤ 0.1.

[0096] In this embodiment, (Y+ZX) is the angle range within which the limiting member 33 allows the robotic arm 20 to exceed the preset rotation angle, and X is the angle range within the preset rotation angle of the robotic arm 20. For example, if the preset rotation angle X of the robotic arm 20 in the first rotation direction and the second rotation direction is 180°, the rotation angle Y of the abutting part 21 when it rotates along the first rotation direction and the second rotation direction to abut the first contact body 41 is 148°, and the rotation angle Z of the second contact body 43 when it rotates to abut the first stop surface 331 or the second stop surface 333 is 42°, then it can be calculated that the angle value within the limiting member 33 allows the robotic arm 20 to exceed the preset rotation angle is 10°. At this point, setting (Y+ZX) / X to be greater than 0 and less than or equal to 0.1 allows the robotic arm 20 to be adjusted to exceed the preset rotation angle range based on the preset rotation angle. For example, when the preset rotation angle is relatively large, the allowable angle range for the robotic arm 20 to exceed the preset rotation angle by the limiting member 33 can be set relatively large; conversely, when the preset rotation angle is relatively small, the allowable angle range for the robotic arm 20 to exceed the preset rotation angle by the limiting member 33 can be set relatively small. This ensures that the limiting member 33 maintains the robotic arm 20 within a relatively suitable range exceeding the preset rotation angle according to different application scenarios of the robot, thus adaptively limiting and stopping it.

[0097] Please refer to the reference. Figure 1 and Figure 4 In one embodiment of this application, the robotic arm mechanism 100 further includes a mounting carrier 60, the robotic arm 20 is rotatably disposed on the mounting carrier 60, and the mounting carrier 60 and the robotic arm 20 enclose a noise reduction cavity 61; the abutment portion 21 is located inside the noise reduction cavity 61, and the limiting member 33 is disposed on the mounting carrier 60 and located inside the noise reduction cavity 61.

[0098] The mounting carrier 60 serves to provide mounting functionality for installing the robotic arm 20. It can also be used to set the limiting member 33, improving the ease of setting the limiting member 33. Furthermore, the mounting carrier 60 and the robotic arm 20 can form a noise reduction cavity 61 to reduce noise from the contact point 21 and the limiting member 33 during contact. The mounting carrier 60 can be any shape, such as square or circular.

[0099] In this embodiment, by providing the mounting carrier 60, the stability of the robotic arm 20 and the convenience of setting the limiting member 33 can be improved. On the other hand, by enclosing and forming a noise reduction cavity 61, the noise generated when the contact part 21 collides with the limiting member 33 is less likely to be transmitted to the outside, further improving the noise reduction effect of the robotic arm mechanism 100. When the robotic arm mechanism 100 includes a rotating ring 40 and a bearing 50, both the rotating ring 40 and the bearing 50 are also located within the noise reduction cavity 61.

[0100] Please refer to Figure 4 In one embodiment of this application, at least one of the walls of the noise reduction cavity 61 is provided with a sound-absorbing element 611.

[0101] In this embodiment, by providing a sound-absorbing component 611, the noise generated by the collision between the robotic arm 20 and the limiting component 33 can be further absorbed, thereby improving the noise reduction effect of the robotic arm mechanism 100. The sound-absorbing component 611 can be provided on one wall of the noise reduction cavity 61, on two walls, or on all walls of the noise reduction cavity 61; this application does not impose a specific limitation. The sound-absorbing component 611 can be made of foam, a sound-absorbing board, or other materials.

[0102] Please refer to the reference. Figures 1 to 4 In one embodiment of this application, the mounting carrier 60 includes a mounting shell 63 and a surrounding plate 65. The driving member 10, the robotic arm 20 are connected to one end of the driving member 10, and the controller 31 is disposed inside the mounting shell 63. The end of the robotic arm 20 away from the driving member 10 extends through the mounting shell 63 to the outside. The surrounding plate 65 is connected to the mounting shell 63 and is located inside the mounting shell 63. The surrounding plate 65, the mounting shell 63, and the robotic arm 20 surround and form a noise reduction cavity 61. The limiting member 33 is disposed on the mounting shell 63 or the surrounding plate 65.

[0103] In this embodiment, the mounting carrier 60 is configured to include a mounting shell 63 and an enclosure plate 65. On the one hand, the mounting shell 63 can accommodate the drive component 10, the robotic arm 20, and the controller 31, thereby improving the protection of this part of the structure. On the other hand, since the noise reduction cavity 61 is formed by the enclosure plate 65, the mounting shell 63, and the robotic arm 20, the noise reduction cavity 61 can be formed by several relatively simple structures, thereby improving the convenience of processing and shaping the noise reduction cavity 61.

[0104] Please refer to the reference. Figure 1 and Figure 4 In one embodiment of this application, the mounting housing 63 may further include a first housing 631 and a second housing 633, which together form a space for accommodating the drive member 10, the robotic arm 20 connected to one end of the drive member 10, and the controller 31. This allows the first housing 631 and the second housing 633 to be manufactured independently before being assembled together, thereby improving the ease of processing and shaping the mounting housing 63. The enclosing plate 65 may be disposed on one of the first housing 631 and the second housing 633, or the enclosing plate 65 may also be divided into two parts, respectively disposed on the first housing 631 and the second housing 633. Furthermore, the first housing 631 and the second housing 633 may be detachably connected (e.g., screw connection or magnetic fixation), improving the convenience of maintenance and replacement of the controller 31 and the drive member 10 located within the mounting housing 63.

[0105] Please refer to Figure 3 In one embodiment of this application, the robotic arm mechanism 100 further includes a damper 70, which can provide a certain damping effect to the drive member 10 so that the drive member 10 can have a buffering effect when starting and stopping, avoiding large shaking of the drive member 10 due to excessively fast start and stop, so as to improve the working stability of the robotic arm mechanism 100.

[0106] Please refer to the reference. Figures 10 to 14 In one embodiment of this application, the robotic arm 20 includes a first connector 23 and a second connector 25. The first connector 23 is connected to the drive member 10 and can be driven to rotate by the drive member 10. The abutment portion 21 is provided on the first connector 23. One end of the second connector 25 is detachably connected to the end of the first connector 23 away from the drive member 10.

[0107] The first connector 23 can be used to connect to the drive component 10, so that the robotic arm 20 can be driven to rotate by the drive component 10. The second connector 25 can be used to connect to the required objects according to the type of robot. For example, when the robot is an industrial robot, since the robot needs to transfer or process workpieces, the end of the second connector 25 away from the first connector 23 can be connected to a picking mechanism (vacuum suction cup or gripper, etc.) or a processing mechanism (welding head or drilling machine, etc.). When the robot is a vehicle-mounted robot, the end of the second connector 25 away from the first connector 23 can be connected to the robot body, which can be used for human-machine interaction with users inside the vehicle to perform various functions such as navigation, communication, listening to music, and checking the weather. Furthermore, since the second connector 25 is detachably connected to the first connector 23, the picking mechanism, processing mechanism, or robot body connected to the second connector 25 can also be removed accordingly. The connection between the second connector 25 and the first connector 23 can be fixed by snap-fit, screw connection, or magnetic attraction, etc. This application does not make specific limitations on this.

[0108] In this embodiment, by making the second connector 25 and the first connector 23 detachably connected, it is convenient to subsequently repair and replace the picking mechanism, processing mechanism, or robot body connected to the second connector 25. By placing the abutment part 21 on the first connector 23, this part of the structure is not affected by disassembly and installation, thus preventing continuous positional adjustments and ensuring the relative positional relationship between the abutment part 21 and the limiting member 33. Furthermore, when the robotic arm mechanism 100 includes a rotating ring 40 and a bearing 50, both the rotating ring 40 and the bearing 50 can be disposed on the first connector 23. When the robotic arm 20 structure includes a mounting carrier 60, the second connector 25 rotatably passes through the mounting carrier 60, and the noise reduction cavity 61 can be formed by the mounting carrier 60 and the first connector 23.

[0109] Please refer to the reference. Figures 12 to 15 In one embodiment of this application, the first connector 23 is provided with a first engaging portion 231, and the second connector 25 is provided with a second engaging portion 251. The second connector 25 can rotate relative to the first connector 23 about the rotation axis of the first connector 23 so that the second engaging portion 251 and the first engaging portion 231 engage or disengage. The robotic arm 20 also includes an elastic member 27, which is provided on the first connector 23. When the second engaging portion 251 engages with the first engaging portion 231, the elastic member 27 elastically abuts against the second connector 25, so that the second engaging portion 251 is limited to the state of engaging with the first engaging portion 231. The elastic force direction of the elastic member 27 is parallel to the rotation axis of the first connector 23.

[0110] The first engaging portion 231 can be used to engage with the second engaging portion 251. The first engaging portion 231 can be in the form of a locking block 253, a locking hook, or a locking hole or slot 232; this application does not limit the specific form of the first engaging portion 231. The second engaging portion 251 can be used to engage with the first engaging portion 231. The second engaging portion 251 can be in the form of a locking block 253, a locking hook, or a locking hole or slot 232; this application does not limit the specific form of the second engaging portion 251. It should be noted that in actual use, the engagement form between the second engaging part 251 and the first engaging part 231 can be the engagement form of the locking block 253 and the locking groove 232 as described below, or it can be the engagement form of the locking block 253 and the locking block 253, or the engagement form of the locking block 253 and the locking hook, or the engagement form of the locking hook and the locking groove 232, or the engagement form of the locking hook and the locking hole (in this case, the locking hole can be a through hole structure, and the buckle can slide or rotate after passing through the locking hole to abut against the inner wall surface with the locking hole to complete the engagement). That is, this application does not limit the specific engagement form between the second engaging part 251 and the first engaging part 231, as long as the engagement or disengagement can be completed during the rotation process of the second connecting member 25 relative to the first connecting member, and during the engagement and disengagement process, there is no need for elastic deformation between the second engaging part 251 and the first engaging part 231. The elastic element 27 can be used to undergo elastic deformation when compressed during the rotation of the second connector 25 relative to the first connector 23. This allows it to elastically abut against the second connector 25 when the second engaging portion 251 engages with the first engaging portion 231. This ensures that although there is no elastic deformation between the second engaging portion 251 and the first engaging portion 231, they can still be stably engaged under the elastic abutment of the elastic element 27. The elastic element 27 can be abutting against the second engaging portion 251 of the second connector 25, or it can be abutting against other parts of the second connector 25; this application does not specifically limit this. Furthermore, the elastic element 27 can be a rubber or silicone element as described below, or it can be a spring; it can be made of any elastic material.

[0111] In this embodiment, the second connector 25 is mounted on the first connector 23 via a rotational snap-fit ​​mechanism. This allows the second snap-fit ​​portion 251 and the first snap-fit ​​portion 231 to be engaged or disengaged without undergoing elastic deformation. Instead, the second connector 25, during its rotation relative to the first connector 23, compresses the elastic element 27, causing it to deform and stably limit the second snap-fit ​​portion 251 to be engaged with or disengaged from the first snap-fit ​​portion 231. Compared to traditional elastic snap-fit ​​methods, the rotational snap-fit ​​mechanism combined with the elastic element 27 in this solution simplifies both the engagement and disengagement processes of the first connector 23 and the second connector 25. This effectively simplifies the connection structure of the robot body and significantly improves the ease of assembling and disassembling the second connector 25.

[0112] Please refer to the reference. Figures 12 to 16 In one embodiment of this application, the first engaging portion 231 is a slot 232, which extends along the rotation direction of the first connector 23. At one end of the slot 232 in the rotation direction of the first connector 23 (i.e., the first rotation direction or the second rotation direction mentioned above), a first inlet and outlet 233 is formed for the second engaging portion 251 to enter and exit. In the direction of the elastic force applied by the elastic member 27 to the second connector 25, the slot 232 has a first groove wall 234 and a second groove wall 235 that are sequentially distributed and arranged opposite to each other. The second engaging portion 251 is a block 253. When the block 253 engages with the slot 232, the block 253 and the first groove wall 234 are spaced apart and abut against the second groove wall 235.

[0113] The slot 232 extends along the rotation direction of the second connector 25, meaning the slot 232 can be arc-shaped to correspond to the movement trajectory of the block 253 during rotation. The first inlet / outlet 233 at one end of the slot 232 allows the block 253 to enter and exit. Specifically, when the second connector 25 rotates relative to the first connector 23 in one direction, the block 253 can enter the slot 232 from the first inlet / outlet 233. When the second connector 25 rotates relative to the first connector 23 in the opposite direction, the block 253 can disengage from the first outlet. The elastic force applied by the elastic member 27 to the second connector 25 is directed from bottom to top when the first connector 23 is below and the second connector 25 is above. The first groove wall 234 and the second groove wall 235 are correspondingly distributed in this upward direction. When the locking block 253 is engaged in the slot 232, the locking block 253 and the first slot wall 234 are spaced apart and abut against the second slot wall 235. This allows the second connecting member 25 to be pressed along the direction of the second slot wall 235 towards the first slot wall 234, thereby squeezing the elastic member 27. After the locking block 253 is rotated into the slot 232, the elastic member 27 can reset after the force on the second connecting member 25 is released, and drive the second connecting member 25 to move along the direction of the first slot wall 234 towards the second slot wall 235, so that the locking block 253 is engaged with the second slot wall 235, thereby realizing the engagement of the second connecting member 25 and the first connecting member 23. When it is necessary to disassemble the second connector 25, the locking block 253 and the first groove wall 234 are spaced apart so that the second connector 25 can still be pressed. This allows the locking block 253 to move toward the first groove wall 234 and separate from the second groove wall 235. Then, by rotating the second connector 25, the locking block 253 can be removed from the first inlet / outlet 233 of the slot 232, thus completing the disassembly of the second connector 25.

[0114] In this embodiment, the first engaging portion 231 is configured as a slot 232, and the second engaging portion 251 is configured as a block 253. This simplifies the structure of the second engaging portion 251 and reduces the complexity of the first engaging portion 231, thus improving the ease of manufacturing the robotic arm 20. Furthermore, the first engaging portion 231 accommodates the second engaging portion 251, thereby concealing the connection between them and enhancing the protection of the engaging portions of the second connecting member 25 and the first connecting member 23. It should be noted that this application is not limited to this; in other embodiments, the first engaging portion 231 can be configured as a protruding hook. After the second connecting member 25 rotates relative to the first connecting member 23 into position, the second engaging portion 251 engages with the inner side of the hook to complete the engagement.

[0115] Please refer to the reference. Figure 15 and Figure 16 In one embodiment of this application, the second groove wall 235 is provided with a blocking part 236, which extends along the direction facing the first groove wall 234; the slot 232 also has a third groove wall 237 opposite to the first inlet and outlet 233, and the opposite ends of the third groove wall 237 are respectively connected to the first groove wall 234 and the second groove wall 235. The blocking part 236, the second groove wall 235 and the third groove wall 237 surround to form a limiting groove 238. When the card block 253 is engaged in the slot 232, the card block 253 is accommodated in the limiting groove 238.

[0116] The blocking part 236 can be used to abut and limit the locking block 253 that is engaged with the second groove wall 235, thereby reducing the possibility that the locking block 253 may detach from the first inlet / outlet 233 of the groove 232 when the second connector 25 is not disassembled and pressed. The blocking part 236 can be a block structure, a column structure, or a plate structure. This application does not limit the specific structure of the blocking part 236, as long as it can be used to enclose and form a limiting groove 238 for accommodating the locking block 253 with the second groove wall 235 and the third groove wall 237. Furthermore, it should be noted that the locking block 253 can be positioned close to the first inlet / outlet 233, in which case the first inlet / outlet 233 can be formed by the blocking part 236 and the first groove wall 234. Of course, the first inlet / outlet 233 can also be formed by the first groove wall 234 and the second groove wall 235.

[0117] In this embodiment, by providing the blocking part 236, the locking block 253 can enter the blocking part 236, the second groove wall 235, and the limiting groove 238 formed by the elastic member 27 after the elastic member 27 elastically drives the second connector 25. The limiting groove 238 can then provide a more stable limiting for the locking block 253, thereby improving the stability of the locking of the locking block 253 and the second groove wall 235.

[0118] Please refer to the reference. Figure 12 , Figure 13 as well as Figure 15 In one embodiment of this application, the first connector 23 is provided with a slot 239, one end of which is connected to the first inlet / outlet 233, and the other end extends along the direction of the elastic force applied by the elastic member 27 to the second connector 25, and has a second inlet / outlet 240 that penetrates the first connector 23, the second inlet / outlet 240 being used for the card block 253 to enter and exit.

[0119] The slot 239 can be combined with the aforementioned card slot 232 to form an L-shaped structure. The cross section of the slot 239 in the direction of elastic force perpendicular to the elastic member 27 can be opposite to the shape of the card block 253. Thus, when the second connector 25 is pressed and assembled onto the first connector 23, the card block 253 can enter the slot 239 from the second inlet / outlet 240. After the second connector 25 rotates relative to the first connector 23, it enters the card slot 232 from the slot 239.

[0120] In this embodiment, by providing a slot 239, the locking block 253 on the second connector 25 needs to be installed correspondingly with the slot 239. This alignment between the locking block 253 and the slot 239 improves the convenience and accuracy of assembling the second connector 25 and the first connector 23. However, this application is not limited to this. In other embodiments, it is also possible to provide only a slot 232 on the arc-shaped wall of the first connector 23 along the rotation trajectory of the locking block 253, without providing a slot 239.

[0121] Please refer to the reference. Figures 12 to 14 In one embodiment of this application, the first connector 23 includes a first connecting body 241 and a first connecting ring 242. The first connecting body 241 is connected to the driving member 10 and can be driven to rotate by the first driving member 10. The first connecting ring 242 protrudes from the first connecting body 241. The second connector 25 includes a second connecting body 255 and a second connecting ring 257. The second connecting ring 257 protrudes from the second connecting body 255 and is sleeved or inserted into the first connecting ring 242. A slot 232 and a groove 239 are provided on the wall surface of the first connecting ring 242 facing the second connecting ring 257. A locking block 253 is provided on the wall surface of the second connecting ring 257 facing the first connecting ring 242. An elastic member 27 is provided on the first connecting body 241 or the first connecting ring 242 and elastically abuts against the second connecting body 255 or the second connecting ring 257. An abutting part 21 is provided on the outer wall surface of the first connecting body 241.

[0122] The first connecting body 241 of the first connector 23 can be used to connect to the driving component 10, thereby enabling the robotic arm 20 to rotate under the drive component 10. The projection of the first connecting body 241 onto a projection plane perpendicular to the rotation axis of the robotic arm 20 can be circular, allowing for the provision of an abutment portion 21 on the first connecting body 241. The second connecting body 255 of the second connector 25 can be connected to the required connecting objects according to the type of robot. For example, when the robot is an industrial robot, since the robot needs to transfer or process workpieces, the end of the second connecting body 255 away from the second connecting ring 257 can be connected to a picking mechanism (vacuum suction cup or gripper, etc.) or a processing mechanism (welding head or drilling machine, etc.). When the robot is a vehicle-mounted robot, the end of the second connecting body 255 away from the second connecting ring 257 can be connected to the robot body, which can be used for human-machine interaction with users inside the vehicle to perform various operational functions such as navigation, communication, music playback, and weather inquiries. The second connecting body 255 can be a cylindrical structure, a plate structure, or a main body structure, etc., and this application does not limit this. The first connecting ring 242 in the first connecting member 23 and the second connecting ring 257 in the second connecting member 25 can be used for rotatable installation, including the second connecting ring 257 being sleeved on the first connecting ring 242 or inserted into the first connecting ring 242. When the second connecting ring 257 is sleeved on the first connecting ring 242, the slot 232 and the slot 239 are located on the outer wall surface of the first connecting ring 242, and the locking block 253 is located on the inner wall surface of the second connecting ring 257. When the second connecting ring 257 is inserted into the first connecting ring 242, the slot 232 and the slot 239 are located on the inner wall surface of the first connecting ring 242, and the locking block 253 is located on the outer wall surface of the second connecting ring 257.

[0123] In this embodiment, the first connecting ring 242 and the second connecting ring 257 are fitted together for easy rotational connection. This arrangement ensures stability during the rotation of the second connecting member 25 relative to the first connecting member 23, improving the accuracy of its installation on the first connecting member 23. This configuration also increases the contact area between the second connecting member 25 and the first connecting member 23, further enhancing installation stability. Furthermore, the first connecting ring 242 and the second connecting ring 257 can be conveniently positioned to accommodate the first snap-fit ​​portion 231 and the second snap-fit ​​portion 251. However, this application is not limited to this. In other embodiments, an arc-shaped plate may protrude directly from the first connecting body 241 to accommodate the first snap-fit ​​portion 231, or a hook may protrude directly from the first connecting body 241 to engage with the snap-fit ​​block 253. The locking block 253 on the second connecting body 255 can also be set directly on an arc-shaped plate protruding from the second connecting body 255, or the locking block 253 can be set directly on the side wall of the second connecting body 255. In addition, it should be noted that when the structure of the robotic arm 20 includes the mounting carrier 60, the first connecting ring 242 and the second connecting ring 257 can rotatably pass through the mounting carrier 60, and the noise reduction cavity 61 can be formed by the mounting shell 63, the enclosing plate 65 and the first connecting body 241 of the mounting carrier 60.

[0124] Please refer to the reference. Figure 14 and Figure 15 In one embodiment of this application, when the second connecting ring 257 is sleeved on the outside of the first connecting ring 242, the first connecting member 23 further includes an outer ring body 243. The outer ring body 243 protrudes from the first connecting body 241 and surrounds the outside of the first connecting ring 242. The outer ring body 243, the first connecting ring 242, and the first connecting body 241 enclose to form a mounting groove 244. The elastic member 27 has a ring structure and is installed in the mounting groove 244. The elastic member 27 elastically abuts against the end face of the second connecting ring 257 away from the second connecting body 255.

[0125] In this embodiment, the outer ring 243, the first connecting ring 242, and the first connecting body 241 enclose and form a mounting groove 244, which allows the elastic member 27 to be accommodated and limited, thereby improving the stability of the elastic member 27 on the first connecting member 23. Furthermore, when the robotic arm 20 includes a rotating ring 40, to facilitate positioning and installation of the rotating ring 40 and improve installation compactness, the rotating ring 40 can be fitted onto the outside of the outer ring 243. Moreover, when the robotic arm 20 further includes a bearing 50, the diameter of the outer ring 243 can be smaller than the diameter of the first connecting body 241, thereby forming a stepped area between the outer side of the outer ring 243 and the first connecting body 241 for installing the bearing 50, thus improving the convenience and stability of bearing 50 installation.

[0126] In one embodiment of this application, the elastic element 27 is a rubber element or a silicone element.

[0127] In this embodiment, the elastic element 27 is made of rubber or silicone, which makes the elastic element 27 have a certain elasticity and a relatively small volume, thereby improving the convenience of its installation on the first connector 23.

[0128] Please refer to Figure 14 In one embodiment of this application, the second connector 25 further includes an inner baffle 259, which is disposed on the inner side of the second connecting ring 257. When the locking block 253 is engaged in the slot 232, the distance between the inner baffle 259 and the end face of the first connecting ring 242 away from the first body is greater than or equal to the distance between the locking block 253 and the first slot wall 234.

[0129] In this embodiment, by setting an inner baffle 259, when the second connector 25 is pressed, the second connector 25 can move a certain distance and then abut against the end face of the first connecting ring 242 on the first connector 23 away from the first connecting body 241 through the inner baffle 259. This can limit the pressing distance of the second connector and avoid excessive pressing that would affect the disassembly efficiency.

[0130] Please refer to Figure 15 In one embodiment of this application, the first connecting ring 242 of the first connector 23 may have at least two slots 232 and slots 239 on its circumference, with one slot 239 connected to one slot 232; correspondingly, the second connecting ring 257 of the second connector 25 may also have at least two blocks 253 on its circumference, with one block 253 corresponding to one slot 239. Thus, the stability of the engagement between the second connector 25 and the first connector 23 is improved by using at least two blocks 253 and at least two slots 232.

[0131] In one embodiment of this application, the assembly and disassembly process between the first connector 23 and the second connector 25 can be as follows: When it is necessary to assemble the first connector 23 and the second connector 25, the second locking block 253 on the second connector 25 can be aligned with the slot 239 on the first connector 23. Then, the second connector 25 is pressed, so that the second connector 25 and the first connector 23 are first inserted and engaged through the cooperation of the locking block 253 and the slot 239. Afterwards, when the second connector 25 is pressed into place, the locking hole can slide to correspond to the first inlet and outlet 233 of the slot 232, and at the same time, the elastic member 27 can be abutted and squeezed by the second connecting ring 257 of the second connector 25. Then, the second connector 25 is rotated again in the first direction, causing the locking block 253 to enter the slot 232 from the first inlet / outlet 233. After the force on the second connector 25 is released, the locking block 253 rises under the elastic force of the elastic member 27 and locks into the limiting groove 238 formed by the blocking part 236, the second groove wall 235 of the slot 232, and the third groove wall 237, thus achieving a stable engagement between the locking block 253 and the slot 232 and completing the assembly between the first connector 23 and the second connector 25. When it is necessary to disassemble the second connector 25, the elastic force of the elastic member 27 can be overcome by pressing the second connector 25, causing the locking block 253 to descend and disengage from the limiting groove 238. Then, the second connector 25 is rotated in the second direction opposite to the first direction, causing the locking block 253 to enter the slot 239 from the first inlet / outlet 233, thus achieving the disengagement of the locking block 253 from the slot 232. Then, by pulling the second connector 25 upwards along the extension direction of the slot 239, the second connector 25 and the first connector 23 can be completely separated.

[0132] This application also proposes a robot including a robotic arm 20. The specific structure of the robotic arm 20 is as described in the above embodiments. Since this robot adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here. The robot can be a vehicle-mounted robot. In this case, the end of the robotic arm 20 in the robotic arm mechanism 100 away from the drive member 10 can be used to connect to the robot body. The robot body can be used for human-machine interaction with users inside the vehicle to conveniently complete various operation functions such as navigation, making calls, listening to music, and checking the weather. The structure of the robot body can refer to the structure of the robot body in existing vehicle-mounted robots. Of course, the robot can also be an industrial robot. In this case, the end of the robotic arm 20 in the robotic arm mechanism 100 away from the drive member 10 can be used to connect to a picking mechanism or a processing mechanism, etc., to clamp or process workpieces.

[0133] This application also proposes a vehicle that includes a robot. The specific structure of the robot is as described in the above embodiments. Since this vehicle adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here.

[0134] The above description is merely a preferred embodiment of this application and does not limit the patent scope of this application. Any equivalent structural transformations made based on the inventive concept of this application and the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this application.

Claims

1. A robotic arm mechanism, characterized in that, include: Drive components; A robotic arm, which is connected to the drive unit and can be driven to rotate by the drive unit; as well as A limiting structure, comprising a controller and a limiting member, wherein the controller is used to control the driving member to drive the robotic arm to rotate within a preset rotation angle, and the limiting member is used to stop the robotic arm when it has rotated at least to the preset rotation angle; The robotic arm includes a first connector and a second connector. The first connector is connected to the driving member and can be driven to rotate by the driving member. One end of the second connector is detachably connected to the end of the first connector away from the driving member. One of the first connector and the second connector is provided with a slot, and the other is provided with a locking block; the slot extends circumferentially and forms a first inlet and outlet at one end; the locking block enters the slot through the first inlet and outlet and rotates, and then limits and abuts against the second groove wall of the slot, so that the first connector and the second connector are locked together.

2. The robotic arm mechanism as described in claim 1, characterized in that, The first connector is provided with an abutment portion. When the robotic arm rotates to the preset rotation angle or rotates to a position outside the preset rotation angle, the limiting member can block and stop the abutment portion.

3. The robotic arm mechanism as described in claim 2, characterized in that, The robotic arm is defined to have a first rotation direction and a second rotation direction that are arranged in opposite directions, and the limiting member has a first stop surface and a second stop surface; When the robotic arm rotates along the first rotation direction to the preset rotation angle, or rotates to a position outside the preset rotation angle, the first stop surface can block and stop the abutment portion. When the robotic arm rotates along the second rotation direction to the preset rotation angle, or rotates to a position outside the preset rotation angle, the second stop surface can block and stop the abutment portion.

4. The robotic arm mechanism as described in claim 3, characterized in that, The robotic arm mechanism also includes a rotating ring, which surrounds the outside of the robotic arm, and the rotating ring is provided with a first contact body and a second contact body; The first contact body and the abutment portion are located on opposite sides of the rotation axis of the robotic arm, and the second contact body is located between the first stop surface and the second stop surface; The robotic arm can drive the rotating ring to rotate through the contacting part and the first contact body. When the robotic arm rotates to the preset rotation angle or rotates outside the preset rotation angle, the first stop surface or the second stop surface can block and stop the second contact body.

5. The robotic arm mechanism as described in claim 4, characterized in that, The abutting part protrudes from the circumferential surface of the robotic arm, and the first contact body protrudes from the end face of the rotating ring. And / or, the second contact body protrudes from the circumferential surface of the rotating ring, the limiting member extends along the circumferential direction of the rotating ring into an unclosed annular structure, and is arranged around the outside of the rotating ring, and the limiting member has the first stop surface and the second stop surface formed at both ends in its extension direction, respectively. And / or, the contact part and the robotic arm are integrally formed; And / or, the first contact body, the second contact body, and the rotating ring are integrally formed; And / or, at least one of the abutting portion and the first contact body is provided with a first buffer pad, the first buffer pad being used to buffer the collision between the abutting portion and the first contact body; And / or, at least one of the second contact body and the limiting member is provided with a second buffer pad, the second buffer pad being used to buffer the collision between the second contact body and the limiting member; And / or, the robotic arm mechanism further includes a bearing, the bearing being sleeved on the outside of the robotic arm, and the rotating ring being sleeved on the outside of the bearing; And / or, when the robotic arm rotates to a position beyond the preset rotation angle, and the first stop surface or the second stop surface can block and stop the second contact body, the preset rotation angle of the robotic arm is defined as X°, the rotation angle of the abutting part to abut the first contact body along the first rotation direction and the second rotation direction is Y°, and the rotation angle of the second contact body to abut the first stop surface or the second stop surface is Z°, satisfying the relationship: 0 < (Y + ZX) / X ≤ 0.

1.

6. The robotic arm mechanism as described in any one of claims 2 to 5, characterized in that, The robotic arm mechanism also includes a mounting carrier, on which the robotic arm is rotatably mounted, and the mounting carrier and the robotic arm together form a noise reduction cavity; The contact portion is located inside the noise reduction cavity, and the limiting member is disposed on the mounting carrier and located inside the noise reduction cavity.

7. The robotic arm mechanism as described in any one of claims 1 to 5, characterized in that, The robotic arm also includes an elastic element disposed on the first connecting member. When the locking block is engaged in the slot, the elastic element elastically abuts against the second connecting member to limit the locking block to the state of being engaged in the slot. The elastic force direction of the elastic element is parallel to the rotation axis of the first connecting member.

8. A robot, characterized in that, Includes the robotic arm mechanism as described in any one of claims 1 to 7.

9. A vehicle, characterized in that, Including the robot as described in claim 8.

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