Robotic arms and robots

Abstract

The present application discloses a robotic arm and a robot that can be applied to various scenarios such as artificial intelligence, robotics, and mechatronics. The robotic arm includes: a shoulder joint, a first arm, a second arm, an elbow joint, a decoupling mechanism, a hand structure, a wrist joint, and a drive source. The shoulder joint has multiple rotational degrees of freedom. The first arm is connected to the shoulder joint. The second arm includes a first support arm and a second support arm. The elbow joint has one rotational degree of freedom and connects the first arm and the first support arm. The decoupling mechanism has one rotational degree of freedom and connects the first support arm and the second arm. It is used to interact with an object. The wrist joint has two rotational degrees of freedom and connects the hand structure and the second support arm. The drive source is provided at the shoulder joint, and the drive source independently controls the movement of the elbow joint, the decoupling mechanism, and the wrist joint through a transmission line drive. The length of the transmission line in the decoupling mechanism remains unchanged.

Description

Technical Field

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

[0002] Humanoid robots have been a major trend in the development of conventional robots. These robots share certain commonalities, being designed to mimic the human body. Existing robotic arms, typically used in industrial applications, are typically tandem mechanisms with six degrees of freedom, interacting with objects in fixed working positions. With the rise of the service industry, collaborative robots are beginning to enter human production and daily life. The human arm has seven degrees of freedom, while traditional six-degree-of-freedom robotic arms have a limited range of motion, resulting in limited flexibility during human-robot interaction. Therefore, robotic arms suitable for human-robot interaction are particularly important. Summary of the Invention

[0003] The present invention provides a robotic arm and a robot. The robotic arm has seven rotational degrees of freedom, a small moment of inertia at the end of the robotic arm, a fast rotation speed, and high flexibility, and can perform complex interactive actions.

[0004] An embodiment of the present application provides a robotic arm, comprising: a shoulder joint, a first arm, a second arm, an elbow joint, a decoupling mechanism, a hand structure, a wrist joint, and a driving source. The shoulder joint has multiple rotational degrees of freedom. The first arm is connected to the shoulder joint. The second arm includes a first support arm and a second support arm. The elbow joint has one rotational degree of freedom, and the elbow joint connects the first arm and the first support arm. The decoupling mechanism has one rotational degree of freedom, and the decoupling mechanism connects the first support arm and the second support arm. The robotic arm is used to interact with an object. The wrist joint has two rotational degrees of freedom, and the wrist joint connects the hand structure and the second support arm. The driving source is provided at the shoulder joint, and the driving source independently controls the movement of the elbow joint, the decoupling mechanism, and the wrist joint through a transmission line drive. The length of the transmission line in the decoupling mechanism remains unchanged.

[0005] Optionally, the transmission line includes any one of a transmission rope, a synchronous belt, and a chain.

[0006] Optionally, the elbow joint includes a first articulated wheel, a second articulated wheel, and an elbow joint bracket. The first articulated wheel is fixedly mounted to the first arm, the second articulated wheel is connected to the first support arm, and the elbow joint bracket connects the first and second articulated wheels. The drive source drives the first articulated wheel and / or the second articulated wheel to rotate relative to the elbow joint bracket via the transmission line, thereby driving the first support arm to rotate relative to the first arm.

[0007] Optionally, the decoupling mechanism includes an intermediate shaft, a first spool, a second spool, and an intermediate spool assembly. The first spool is disposed at a first end of the intermediate shaft, the second spool is disposed at a second end opposite the first end, and the intermediate spool assembly is disposed between the first and second ends. The transmission line is wound around the first spool, the second spool, and the intermediate spool assembly.

[0008] Optionally, the decoupling mechanism further comprises a connecting piece fixedly sleeved between the first end and the second end. The intermediate pulley assembly is fixedly connected to the connecting piece and rotates with the rotation of the intermediate shaft.

[0009] Optionally, the intermediate spool assembly includes an intermediate spool support and a plurality of intermediate spools mounted on the intermediate spool support. The transmission line is wound around the intermediate spools, and the intermediate spools rotate with the rotation of the intermediate shaft.

[0010] Optionally, the transmission line is wound around the first pulley and the second pulley along a first direction, and the transmission line is wound around the intermediate pulley along a second direction, and the first direction is perpendicular to the second direction.

[0011] Optionally, the intermediate wire wheel bracket includes a bracket seat and two bracket arms symmetrical with respect to the bracket seat, and each bracket arm has two intermediate wire wheels symmetrically provided on a first surface and a second surface opposite to the first surface.

[0012] Optionally, the decoupling mechanism further includes a first pulley assembly and a second pulley assembly. The first pulley assembly is used to lead out or introduce the transmission line of the first pulley. The first pulley assembly includes a first fixing member and a plurality of first pulleys mounted on the first fixing member, the first fixing member is fixedly connected to the first pulley, and the transmission line is wound around the first pulley. The second pulley assembly is used to lead out or introduce the transmission line of the second pulley. The second pulley assembly includes a second fixing member and a plurality of second pulleys mounted on the second fixing member, the second fixing member is fixedly connected to the second pulley, and the transmission line is wound around the first pulley.

[0013] Optionally, the decoupling mechanism further comprises: a first cover plate and a second cover plate. The first cover plate is mounted on the second arm and fixedly connected to the first pulley. The second cover plate is mounted on the first arm and fixedly connected to the second pulley.

[0014] Optionally, the decoupling mechanism further comprises: a first rotating wheel, a second rotating wheel, and an intermediate rotating wheel. The first rotating wheel is fixedly connected to the first wire wheel, and the intermediate shaft is capable of rotating relative to the first rotating wheel. The second rotating wheel is fixedly connected to the second wire wheel. The intermediate rotating wheel is disposed on the connecting member, and the intermediate rotating wheel cooperates with the first rotating wheel and the second rotating wheel, respectively. The intermediate rotating wheel and the second rotating wheel rotate as the intermediate shaft rotates relative to the first rotating wheel, and the first angle change of the second rotating wheel relative to the first rotating wheel in the same period of time is twice the second angle change of the intermediate shaft relative to the first rotating wheel.

[0015] Optionally, the connecting member includes two symmetrically arranged connecting shafts, the connecting shafts are perpendicular to the intermediate shaft, each connecting shaft sleeve is provided with an intermediate bearing, the number of the intermediate wheels is two, and each intermediate wheel is matched with one intermediate bearing.

[0016] Optionally, the first rotating wheel, the second rotating wheel, and the intermediate rotating wheel are all bevel gears, and the intermediate rotating wheel cooperates with the first rotating wheel and the second rotating wheel in a gear meshing manner.

[0017] Optionally, the first rotating wheel, the second rotating wheel, and the intermediate rotating wheel are all wire wheels, and the intermediate rotating wheel cooperates with the first rotating wheel and the second rotating wheel by pulling a wire.

[0018] An embodiment of the present application provides a robot comprising a robotic arm and a robot body as described in any of the above embodiments. The robotic arm is mounted on the robot body. In the robot provided in the embodiment of the present application, the robotic arm has seven rotational degrees of freedom, a small moment of inertia at the distal end of the robotic arm, fast rotation speed, and high flexibility, enabling the completion of complex interactive movements. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 An axial view of the robotic arm provided in an embodiment of the present application.

[0021] Figure 2 for Figure 1 Schematic diagram of the enlarged region I in the middle.

[0022] Figure 3 for Figure 1 Schematic diagram of the enlarged region II.

[0023] Figure 4 A schematic structural diagram of the elbow joint provided in an embodiment of the present application.

[0024] Figure 5 This is an exploded view of the robotic arm provided in an embodiment of the present application.

[0025] Figure 6 A front view of the robotic arm provided in an embodiment of the present application.

[0026] Figure 7 An axial view of the robotic arm provided in an embodiment of the present application.

[0027] Figure 8 A perspective view of a robotic arm according to an embodiment of the present application.

[0028] Figure 9 A schematic diagram of the structure of the robot provided in an embodiment of the present application.

[0029] Figure 10 A schematic structural diagram of the feeding device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0031] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present application, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0032] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, electrical connections, or mutual communication; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to internal communication between two components or the interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0033] In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0034] The disclosure below provides many different embodiments or examples for realizing different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present application. In addition, the present application may repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present application provides examples of various specific processes and materials, but those of ordinary skill in the art will appreciate the application of other processes and / or the use of other materials.

[0035] The embodiments of the present application can be applied to various application scenarios such as artificial intelligence, robotics, and mechatronics.

[0036] First, some nouns or terms that appear in the description of the embodiments of this application are explained as follows:

[0037] Artificial Intelligence (AI) refers to the theories, methods, techniques, and application systems that use digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, to perceive the environment, acquire knowledge, and use that knowledge to achieve optimal results. In other words, AI is a comprehensive technology within computer science that seeks to understand the essence of intelligence and produce new intelligent machines that can respond in a manner similar to human intelligence. AI also involves studying the design principles and implementation methods of various intelligent machines, enabling them to possess the capabilities of perception, reasoning, and decision-making.

[0038] A robot is a machine that can be programmed and automatically controlled to perform tasks such as movement or movement. Possessing fundamental capabilities such as perception, decision-making, and execution, robots can assist or even replace humans in completing dangerous, arduous, and complex tasks, improving work efficiency and quality, contributing to human well-being and expanding the scope of human activities and capabilities.

[0039] Mechatronics technology is a comprehensive high-tech technology that combines microelectronics technology, computer technology, information technology and mechanical technology. It is an organic combination of mechanical technology and microelectronics technology.

[0040] Degrees of freedom, according to mechanical principles, are the number of independent motion parameters that must be present for a mechanism to have a defined motion. The key words in the definition of degrees of freedom are unique, necessary, and independent. Uniquely defined means that given these variables, the robot has a unique configuration; necessary is a minimum number of variables that can determine the robot's state; and independent means that these variables can change independently.

[0041] For details, please refer to Figures 1 to 10 The present invention provides a robotic arm 100 . The robotic arm 100 includes a shoulder joint 10 , a first arm 20 , a second arm 30 , an elbow joint 40 , a decoupling mechanism 50 , a hand structure 60 , a wrist joint 70 , and a driving source 80 .

[0042] The shoulder joint 10 has multiple rotational degrees of freedom. Specifically, the multiple rotational degrees of freedom include one, two, or three rotational degrees of freedom, without limitation. In one embodiment, the shoulder joint 10 has three rotational degrees of freedom, so that the movement of the first arm 20 relative to the shoulder joint 10 can better simulate the movement of the human upper arm relative to the shoulder joint 10.

[0043] The first arm 20 is connected to the shoulder joint 10, and the second arm 30 is connected to the first arm 20 via an elbow joint 40. The elbow joint 40 has one degree of rotational freedom, allowing the movement of the first and second arms 20 and 30 relative to the elbow joint 40 to closely simulate the movement of the human upper and lower arms relative to the elbow joint 40.

[0044] The hand structure 60 is connected to the second arm 30 via a wrist joint 70. The wrist joint 70 has two rotational degrees of freedom, while the human wrist joint 70 has three. To enable the robotic arm 100 provided in this embodiment of the present application to better simulate the movement of the human wrist joint 70, a decoupling mechanism 50 is provided on the second arm 30. The decoupling mechanism 50 has one rotational degree of freedom, and the direction of the decoupling mechanism 50's rotational degree of freedom differs from the directions of the wrist joint 70's two rotational degrees of freedom. In this way, the decoupling mechanism 50 can supplement the rotational degree of freedom missing from the wrist joint 70, allowing the hand structure 60 to move relative to the second arm 30 with three rotational degrees of freedom, effectively simulating the movement of a human hand relative to the human wrist joint 70.

[0045] See also Figure 1 Specifically, the second arm 30 includes a first arm 31 and a second arm 32, an elbow joint 40 connects the first arm 20 and the first arm 31, a decoupling mechanism 50 connects the first arm 31 and the second arm 32, and a wrist joint 70 connects the hand structure 60 and the second arm 32. Figure 1 In the spatial coordinate system illustrated in the embodiment, the two rotational degrees of freedom of the wrist joint 70 can satisfy the rotation of the hand structure 60 around the X-axis and the Y-axis. On this basis, the decoupling mechanism 50 can drive the second arm 32 to rotate around the Z-axis, allowing the wrist joint 70 and the hand structure 60 to rotate around the Z-axis as well.

[0046] In summary, the robotic arm 100 has seven rotational degrees of freedom, which is consistent with the number of rotational degrees of freedom of a human arm. It can effectively simulate the movements of a human arm, has a wide range of motion, and is highly flexible, facilitating interaction with various objects. The objects of interaction can be humans, animals, objects, and the like, without limitation. For example, the robotic arm 100 can be used in the industrial field to carry workpieces through the hand structure 60. For another example, the robotic arm 100 can be used in the service industry to interact with humans to complete tasks, such as acting as a medical assistant to assist medical personnel in performing medical tasks.

[0047] See also Figure 1 The driving source 80 is provided at the shoulder joint 10 and can be a linear drive motor. Figures 6 to 8The drive source 80 drives the movement of the elbow joint 40, the decoupling mechanism 50, and the wrist joint 70 independently through the transmission line 81. Without considering the deformation of the transmission line 81, the length of the transmission line 81 in the decoupling mechanism 50 remains unchanged, that is, the length of the transmission line 81 entering the decoupling mechanism 50 is consistent with the length of the transmission line 81 leaving the decoupling mechanism 50. The transmission line 81 that drives the wrist joint 70 to move reaches the wrist joint 70 via the decoupling mechanism 50. Since the length of the transmission line 81 in the decoupling mechanism 50 remains unchanged, the rotation of the second arm 32 around the Z axis driven by the decoupling mechanism 50 does not affect the movement of the wrist joint 70. The rotation of the second arm 30 around the Z axis is decoupled from the rotation of the hand structure 60 around the X and / or Y axis driven by the wrist joint 70. In this way, the control of the wrist joint 70 can be facilitated, so that the rotation of the hand structure 60 can be controlled more flexibly.

[0048] The following describes in detail the robotic arm 100 (hereinafter referred to as “robotic arm 100 ”) provided in an embodiment of the present application in conjunction with the accompanying drawings.

[0049] Optional, please combine Figure 1 and Figure 8 The transmission line 81 may include any one of a transmission rope, a synchronous belt, and a chain, and is not limited here. Figure 6 and Figure 7 In one embodiment, the transmission line 81 is a transmission rope, which has good transmission performance and is made of relatively light material, thereby reducing the weight of the robotic arm 100 .

[0050] Optional, please combine Figure 1 The shoulder joint 10 includes a shoulder joint base 11, a first rotating member 12, a second rotating member 13, and a third rotating member 14. A driving source 80 is disposed on the shoulder joint base 11. The first rotating member 12 rotates about the Y axis, the second rotating member 13 rotates about the X axis, and the third rotating member 14 rotates about the Z axis.

[0051] Optionally, the first arm 20 can be connected to any one of the shoulder joint base 11, the first rotating member 12, the second rotating member 13, or the third rotating member 14, without limitation. Figure 1 In the illustrated embodiment, the first arm 20 is connected to the third rotating member 14 .

[0052] Optional, please combine Figure 2The first rotating member 12 includes a first rotating shaft 121 and a first connecting rod 122. The first rotating shaft 121 can rotate relative to the first connecting rod 122. The second rotating member 13 includes two second brackets 131 and a second rotating shaft 132 spaced apart from each other and arranged on the shoulder joint base 11. The second rotating shaft 132 passes through the two second brackets 131. The first connecting rod 122 is sleeved on the second rotating shaft 132 and can rotate about the second rotating shaft 132. The first rotating shaft 121 can rotate along with the rotation of the first connecting rod 122 about the second rotating shaft 132.

[0053] Optional, please combine Figure 1 In one embodiment, the driving source 80 can drive the first rotating member 12, the second rotating member 13, and the third rotating member 14 to rotate respectively. For example, the driving source 80 includes a first motor, a second motor, and a third motor, which are respectively used to drive the first rotating member 12, the second rotating member 13, and the third rotating member 14 to rotate. In another embodiment, the driving source 80 is used to drive the third rotating member 14 to rotate, and the driving motors for driving the first rotating member 12 and the second rotating member 13 to rotate are not provided on the shoulder joint 10. For example, please refer to Figure 9 , the robot arm 100 is connected to the base 300, and the base 300 is provided with two drive motors, which are used to drive the first motor and the second motor to rotate respectively. For another example, please combine Figure 8 The robotic arm 100 is connected to the trunk structure 201 of the robot 1000. Two driving motors are provided inside the trunk structure 201, and the two driving motors are used to drive the first motor and the second motor to rotate respectively.

[0054] Optional, please combine Figure 2 The third rotating member 14 includes a shoulder joint pulley 141, the first arm 20 is connected to the shoulder joint pulley 141, and the driving source 80 drives the third rotating member 14 to rotate in a linear driving manner to drive the first arm 20 to rotate around the Z axis.

[0055] Optional, please combine Figure 3 The elbow joint 40 includes a first articulated wheel 41, a second articulated wheel 42, and an elbow joint bracket 43. The first articulated wheel 41 is fixedly mounted on the first arm 20, the second articulated wheel 42 is connected to the first support arm 31, and the elbow joint bracket 43 connects the first articulated wheel 41 and the second articulated wheel 42. The drive source 80 drives the first articulated wheel 41 and / or the second articulated wheel 42 to rotate relative to the elbow joint bracket 43 via the transmission line 81, thereby driving the first support arm 31 to rotate relative to the first arm 20.

[0056] Optional, please combine Figure 3In one embodiment, the driving source 80 drives the first joint wheel 41 to rotate relative to the elbow joint bracket 43 through the transmission line 81, so as to drive the first arm 20 to rotate relative to the first support arm 31. In another embodiment, the driving source 80 drives the second joint wheel 42 to rotate relative to the elbow joint bracket 43 through the transmission line 81, so as to drive the first support arm 31 to rotate relative to the first arm 20. In another embodiment, the radius of the first joint wheel 41 and the second joint wheel 42 are the same, and the driving source 80 drives the first joint wheel 41 and the second joint wheel 42 to rotate synchronously at equal angles relative to the elbow joint bracket 43 through the transmission line 81, so as to realize the rotation of the elbow joint 40 around the X-axis. In this way, the first joint wheel 41 and the second joint wheel 42 are equivalent to two movable pulleys, which have the function of amplifying torque and can improve the transmission capacity of the elbow joint 40.

[0057] Optional, please combine Figure 3 and Figure 4 , Figure 4 : This is a simplified schematic diagram of the elbow joint 40. The elbow joint 40 also includes two first joint line wheels 45 and two second joint line wheels 46. The two first joint line wheels 45 and the two second joint line wheels 46 are symmetrically arranged about the elbow joint bracket 43. The first joint line wheel 45 cooperates with the first joint wheel 41, and the second joint line wheel 46 cooperates with the second joint wheel 42. The two first joint line wheels 45 are respectively a first joint line wheel 45A and a first joint line wheel 45B, and the two second joint line wheels 46 are respectively a second joint line wheel 46A and a second joint line wheel 46B. The first joint line wheel 45A and the second joint line wheel 46A are driven by the same transmission line 81, allowing the first joint line wheel 45A and the second joint line wheel 46A to move in a coordinated manner. The first joint line wheel 45B and the second joint line wheel 46B are also driven by the same transmission line 81, allowing the first joint line wheel 45B and the second joint line wheel 46B to move in a coordinated manner. In this way, driven by the two transmission lines 81, the rotation of the first joint line wheel 45 and the second joint line wheel 46 drives the rotation of the first joint wheel 41 and the second joint wheel 42, so that the first joint wheel 41 and the second joint wheel 42 rotate synchronously at equal angles relative to the elbow joint bracket 43, so as to realize the rotation of the elbow joint 40 around the X-axis.

[0058] Optional, please combine Figure 5 The decoupling mechanism 50 includes an intermediate shaft 51, a first pulley 52, a second pulley 53, and an intermediate pulley assembly 54. The first pulley 52 is arranged at the first end 511 of the intermediate shaft 51, the second pulley 53 is arranged at the second end 512 opposite to the first end 511, and the intermediate pulley assembly 54 is arranged between the first end 511 and the second end 512. The transmission line 81 is wound around the first pulley 52, the second pulley 53, and the intermediate pulley assembly 54 to enter the wrist joint 70 through the decoupling mechanism 50.

[0059] Optional, please combine Figure 1 and Figure 5 The transmission line 81 passes through the elbow joint 40 and enters the second pulley 53. The intermediate pulley assembly 54 can change the direction of the transmission line 81 to guide the transmission line 81 on the second pulley 53 into the first pulley 52. The transmission line 81 led out from the first pulley 52 enters the wrist joint 70 to transmit the driving force to the wrist joint 70.

[0060] Optional, please combine Figure 1 and Figure 5 The first end 511 of the intermediate shaft 51 is adjacent to the second arm 32, and the second end 512 is adjacent to the first arm 31. The first pulley 52 is connected to the second arm 32, and the second pulley 53 is connected to the first arm 31. The intermediate shaft 51 is rotatable relative to the second pulley 53. When the intermediate shaft 51 rotates, the first pulley 52 is rotatable relative to the second pulley 53 about the Z axis, thereby enabling the second arm 32 to rotate about the Z axis. Because the wrist joint 70 is connected to the second arm 32, it is rotatable with the rotation of the second arm 32. This is equivalent to the rotation of the intermediate shaft 51 of the decoupling mechanism 50 enabling the wrist joint 70 to rotate about the Z axis.

[0061] Optional, please combine Figure 1 、 Figure 5 ,and Figure 6 An intermediate axis wheel (obstructed and not shown) and an intermediate axis wheel bearing (obstructed and not shown) are provided inside the first arm 31. The intermediate axis wheel bearing cooperates with the intermediate axis wheel. The second end 512 of the intermediate shaft 51 extends into the interior of the first arm 31 and cooperates with the intermediate axis wheel bearing. The intermediate axis wheel cooperates with the transmission line 81. The driving source 80 drives the intermediate axis wheel to rotate through the transmission line 81, thereby driving the intermediate shaft 51 to rotate around the Z axis.

[0062] Optionally, the decoupling mechanism 50 further includes a connecting member 55 fixedly sleeved between the first end 511 and the second end 512 , and the intermediate pulley assembly 54 is fixedly connected to the connecting member 55 and rotates with the rotation of the intermediate shaft 51 .

[0063] Optionally, the decoupling mechanism 50 further includes two retaining springs (not shown) sleeved on the intermediate shaft 51 , and the connecting member 55 is disposed between the two retaining springs, thereby achieving axial limitation of the connecting member 55 .

[0064] Optional, please combine Figure 6The intermediate pulley assembly 54 includes an intermediate pulley bracket 541 and a plurality of intermediate pulleys 542 mounted on the intermediate pulley bracket 541. The transmission wire 81 is wound around the intermediate pulleys 542, which rotate as the intermediate shaft 51 rotates. The intermediate pulley assembly 54 then performs a circular motion around the intermediate shaft 51 as the intermediate shaft 51 rotates. In this manner, the displacement of the transmission wire 81 caused by the circular motion of the intermediate pulley assembly 54 can be used to offset the displacement of the transmission wire 81 caused by the circular motion of the first pulley 52, thereby maintaining the length of the transmission wire 81 within the decoupling mechanism 50. This achieves motion decoupling between the decoupling mechanism 50 and the wrist joint 70.

[0065] Optionally, the transmission line 81 is wound around the first and second pulleys 52 and 53 in a first direction, and the transmission line 81 is wound around the intermediate pulley 542 in a second direction, with the first direction being perpendicular to the second direction. In this way, the intermediate pulley 542 can change the direction of the transmission line 81 and guide the transmission line 81 of the second pulley 53 into the first pulley 52.

[0066] Optional, please combine Figure 5 The intermediate line wheel bracket 541 includes a bracket seat 5411 and two bracket arms 5412 symmetrical about the bracket seat 5411. The bracket arms 5412 are fixedly mounted on the bracket seat 5411. Two intermediate line wheels 542 are symmetrically arranged on the first surface and the second surface opposite to the first surface of each bracket arm 5412. The two intermediate line wheels 542 on the same surface of the same bracket arm 5412 are used to guide the same transmission line 81. For example, Figure 5 In the illustrated embodiment, the support arm 5412 includes a first support arm 5412A and a second support arm 5412B. The first side of the first support arm 5412A includes two intermediate pulleys 542C, which guide the same transmission line 81. The second side of the first support arm 5412A includes two intermediate pulleys 542D, which guide the same transmission line 81. The first side of the second support arm 5412B includes two intermediate pulleys 542E, which guide the same transmission line 81. The second side of the second support arm 5412B includes two intermediate pulleys 542F, which guide the same transmission line 81. In this way, the intermediate pulley assembly 54 is capable of guiding the movement of the four transmission lines 81 between the first pulley 52 and the second pulley 53.

[0067] Optional, in Figure 5In the illustrated embodiment, each support arm 5412 includes 4 intermediate pulleys 542. In other embodiments, the number of intermediate pulleys 542 included in each support arm 5412 can also be 1, 2, 3, 5, 6, or more, which are not listed here one by one. The intermediate pulleys 542 can be all arranged on the first side of the support arm 5412, or all arranged on the second side of the support arm 5412, or the first side and the second side of the support arm 5412 are both provided with intermediate pulleys 542, which are not limited here. Depending on the number and position distribution of the intermediate pulleys 542, the number of transmission lines 81 guided by the intermediate pulleys 542 can be 1, 2, 3, 4, 5, 6, or more, which are not listed here one by one.

[0068] Optional, please combine Figures 5 to 7 The decoupling mechanism 50 further includes a first pulley assembly 56. The first pulley assembly 56 is used to lead out or lead in the transmission line 81 of the first spool 52. The first pulley assembly 56 includes a first fixing member 561 and a plurality of first pulleys 562 mounted on the first fixing member 561. The first fixing member 561 is fixedly connected to the first spool 52, and the transmission line 81 is wound around the first pulleys 562.

[0069] Please combine Figure 1 The transmission line 81 of the first pulley 52 can enter the first pulley assembly 56 and be guided into the second arm 32 via the first pulley assembly 56, and then enter the wrist joint 70 via the second arm 32. After the transmission line 81 is led out from the wrist joint 70 and enters the second arm 32, it is guided to the first pulley assembly 56 on the side of the second arm 32 near the decoupling mechanism 50. The first pulley assembly 56 then guides the transmission line 81 into the first pulley 52. The first pulley assembly 56 can change the direction of the transmission line 81 on the first pulley 52 to facilitate the guidance of the transmission line 81 between the second arm 32 and the decoupling mechanism 50.

[0070] Optional, in Figure 5 In the illustrated embodiment, there are four first pulleys 562, each of which is used to guide one transmission line 81. That is, the number of transmission lines 81 guided through the first pulley assembly 56 is four, corresponding to the number of transmission lines 81 guided through the intermediate pulley 542. In other embodiments, the number of first pulleys 562 can be one, two, three, five, or more, not listed here. The number of transmission lines 81 guided through the first pulley assembly 56 can be one, two, three, four, five, six, or more, not listed here.

[0071] Optional, please combine Figures 5 to 7The decoupling mechanism 50 further includes a second pulley assembly 57. The second pulley assembly 57 is used to lead out or introduce the transmission line 81 of the second spool 53. The second pulley assembly 57 includes a second fixing member 571 and a plurality of second pulleys 572 mounted on the second fixing member 571. The second fixing member 571 is fixedly connected to the second spool 53, and the transmission line 81 is wound around the second pulleys 572.

[0072] Please combine Figure 1 After the transmission line 81 extending from the elbow joint 40 enters the first arm 31, it is guided to the first pulley assembly 56 on the side of the first arm 31 near the decoupling mechanism 50. The second pulley assembly 57 then guides the transmission line 81 into the second pulley 53. The transmission line 81 of the second pulley 53 can enter the second pulley assembly 57 and be guided into the first arm 31 via the second pulley assembly 57, and then enter the elbow joint 40 through the first arm 31. The second pulley assembly 57 can change the direction of the transmission line 81 on the second pulley 53 to facilitate the guidance of the transmission line 81 between the first arm 31 and the decoupling mechanism 50.

[0073] Optional, in Figure 5 In the illustrated embodiment, there are four second pulleys 572, each of which is used to guide one transmission line 81. That is, the number of transmission lines 81 guided through the second pulley assembly 57 is four, corresponding to the number of transmission lines 81 guided through the intermediate pulley 542. In other embodiments, the number of second pulleys 572 can be one, two, three, five, or more, not listed here. The number of transmission lines 81 guided through the second pulley assembly 57 can be one, two, three, four, five, six, or more, not listed here.

[0074] Optional, please combine Figures 5 to 7 The decoupling mechanism 50 further includes a first cover plate 58 and a second cover plate 59. The first cover plate 58 is mounted on the second arm 32 and fixedly connected to the first pulley 52, thereby connecting the decoupling mechanism 50 to the second arm 32. The second cover plate 59 is mounted on the first arm 31 and fixedly connected to the second pulley 53, thereby connecting the decoupling mechanism 50 to the first arm 31.

[0075] Please combine Figure 6 and Figure 7 The first cover plate 58 can also be used to raise the height of the first pulley 52 so as to facilitate fixing the decoupling mechanism 50 to the second arm 32. Similarly, the second cover plate 59 can also be used to raise the height of the second pulley 53 so as to facilitate fixing the decoupling mechanism 50 to the first arm 31.

[0076] Optional, please combine Figures 5 to 7The first pulley assembly 56 includes a first mounting member 563, a first fixing member 561 connected to the first mounting member 563, and the first mounting member 563 is mounted on the first wire wheel 52. Figure 6 In the illustrated embodiment, the height of the first mounting member 563 is flush with the height of the first cover plate 58 to ensure that the connection surface between the decoupling mechanism 50 and the second arm 32 is flat. Similarly, the second pulley assembly 57 includes a second mounting member 573, a second fixing member 571 is connected to the second mounting member 573, and the second mounting member 573 is mounted on the second pulley 53. Figure 6 In the illustrated embodiment, the height of the second mounting member 573 is flush with the height of the second cover plate 59 to ensure that the connection surface between the decoupling mechanism 50 and the first arm 31 is flat.

[0077] Optional, please combine Figures 5 to 7 The first cover plate 58 is connected to the first spool 52 by screws to reduce the gap between the first cover plate 58 and the first spool 52 and improve transmission accuracy. The second cover plate 59 is connected to the second spool 53 by screws to reduce the gap between the second cover plate 59 and the second spool 53 and improve transmission accuracy.

[0078] Optional, please combine Figures 5 to 7 The decoupling mechanism 50 further includes a first rotating wheel 501, a second rotating wheel 502, and an intermediate rotating wheel 503. The first rotating wheel 501 is fixedly connected to the first line wheel 52, and the intermediate shaft 51 is capable of rotating relative to the first rotating wheel 501. The second rotating wheel 502 is fixedly connected to the second line wheel 53. The intermediate rotating wheel 503 is disposed on the connecting member 55, and the intermediate rotating wheel 503 cooperates with the first rotating wheel 501 and the second rotating wheel 502, respectively. The intermediate rotating wheel 503 and the second rotating wheel 502 rotate as the intermediate shaft 51 rotates relative to the first rotating wheel 501, and within the same time period, the first angle change of the second rotating wheel 502 relative to the first rotating wheel 501 is twice the second angle change of the intermediate shaft 51 relative to the first rotating wheel 501. For example, when the intermediate shaft 51 rotates by an angle θ relative to the first rotating wheel 501, the second rotating wheel 502 rotates by an angle 2θ relative to the first rotating wheel 501. Since the first rotating wheel 501 is fixedly connected to the first spool 52, the second rotating wheel 502 is fixedly connected to the second spool 53, and the intermediate spool group 542 is fixedly connected to the intermediate shaft 51, when the second spool 53 rotates by an angle 2θ relative to the first spool 52, the intermediate spool group 542 rotates circumferentially by an angle θ relative to the first rotating wheel 501 to offset the displacement of the transmission line 81 caused by the rotation of the second spool 53 relative to the first spool 52. In this way, the amount of transmission line 81 entering the decoupling mechanism 50 and the amount of transmission line 81 leaving the decoupling mechanism 50 are equal in the same time period, ensuring that the length of the transmission line 81 within the decoupling mechanism 50 remains unchanged.

[0079] Optional, please combine Figure 5The second rotating wheel 502 , the second wire wheel 53 , the second pulley assembly 57 , and the second cover plate 59 are fixed to the first arm 31 by screws to reduce the gap therebetween and improve the transmission accuracy of the decoupling mechanism 50 .

[0080] Optional, please combine Figure 5 The decoupling mechanism 50 further includes a first runner bearing 504. The first runner bearing 504 is sleeved on the first end 511 of the intermediate shaft 51. The first runner 501 cooperates with the first runner bearing 504 to rotate relative to the intermediate shaft 51. In one embodiment, the first runner bearing 504 is a deep groove ball bearing to increase the contact area between the first runner 501 and the intermediate shaft 51, thereby improving load-bearing capacity.

[0081] Optional, please combine Figure 5 The decoupling mechanism 50 further includes a first flange bearing 505 and a first position-limiting bearing 506. The first flange bearing 505 and the first position-limiting bearing 506 are sleeved on the first end 511 of the intermediate shaft 51, and the first runner bearing 504 is located between the first flange bearing 505 and the first position-limiting bearing 506, thereby achieving axial position limiting of the first runner 501. In one embodiment, the first position-limiting bearing 506 is a deep groove ball bearing, and the gap between the first runner bearing 504 and the first position-limiting bearing 506 is relatively small. The first flange bearing 505 is connected to the intermediate shaft 51 by screws, and the gap between the first runner bearing 504 and the first flange bearing 505 is relatively small. This can limit the axial displacement of the first runner 501 and improve the transmission accuracy of the first runner 501. In one embodiment, the shoulder of the first flange bearing 505 contacts the first runner 501 to limit the axial displacement of the intermediate shaft 51.

[0082] Optional, please combine Figure 5 The decoupling mechanism 50 also includes a second side bearing 507 sleeved on the second end 512 of the intermediate shaft 51. The second side bearing 507 is connected to the intermediate shaft 51 by screws. The shoulder of the second side bearing 507 contacts the second rotating wheel 502 to limit the axial displacement of the intermediate shaft 51.

[0083] Optional, please combine Figure 5 ,and Figure 7 The connecting member 55 includes two symmetrically arranged connecting shafts 508, which are perpendicular to the intermediate shaft 51. Each connecting shaft 508 is fitted with an intermediate bearing 509. There are two intermediate rotating wheels 503, each of which is engaged with an intermediate bearing 509. Specifically, both the intermediate shaft 51 and the intermediate bearings 509 are provided with threaded structures, which securely connect the intermediate bearings 509 to the intermediate shaft 51. The shoulders of the intermediate bearings 509 contact the intermediate rotating wheels 503, limiting axial displacement of the intermediate rotating wheels 503.

[0084] In other embodiments, the number of intermediate rotating wheels 503 may be 1, 3, 4, 5, or more, which are not listed here. Correspondingly, the number of connecting shafts 508 may be 1, 3, 4, 5, or more, which are not listed here.

[0085] Optional, please combine Figures 5 to 7 The first rotating wheel 501, the second rotating wheel 502, and the intermediate rotating wheel 503 are all bevel gears. The intermediate rotating wheel 503 cooperates with the first rotating wheel 501 and the second rotating wheel 502 in a gear meshing manner, with an accurate transmission ratio and high transmission precision.

[0086] Alternatively, in another embodiment, the first rotating wheel 501, the second rotating wheel 502, and the intermediate rotating wheel 503 are all wire wheels, and the intermediate rotating wheel 503 cooperates with the first rotating wheel 501 and the second rotating wheel 502 via a cable, resulting in a relatively light mass and a relatively small moment of inertia. The cable can be any one of a transmission rope, a transmission belt, or a chain, which is not limited here.

[0087] Optional, please combine Figure 1 The wrist joint 70 is a two-degree-of-freedom cross hinge structure, which realizes the rotational freedom of the wrist joint 70 around the X-axis and the Y-axis.

[0088] Optional, please combine Figure 1 The hand structure 60 includes a plurality of flexible fingers 61, which can realize actions such as "grasping", "holding", "pushing" and "pulling".

[0089] Optional, please combine Figure 1 The finger 61 is provided with an adsorption unit for adsorbing an object. For example, an electromagnet is provided at the end of the finger 61 to adsorb a magnetic object.

[0090] Please combine Figure 1 The movements of the elbow joint 40, decoupling mechanism 50, and wrist joint 70 are all driven by a drive source 80 via a transmission line 81. For the robotic arm 100 as a whole, the heavier drive source 80 is located at the shoulder joint 10, reducing the moment of inertia of the distal end of the robotic arm 100 (e.g., the wrist joint 70 and hand structure 60). This improves the flexibility and transmission speed of the robotic arm 100.

[0091] Optional, please combine Figure 8 ,exist Figure 8In the illustrated robotic arm 100, eight transmission lines 81 are led out from the driving source 80. After the eight transmission lines 81 are guided into the elbow joint 40, two transmission lines 81 are used to drive the elbow joint 40 to rotate around the X-axis, and the other six transmission lines 81 are guided into the first arm 31. In the first arm 31, two transmission lines 81 are used to drive the intermediate shaft 51 extending into the first arm 31 to rotate around the Z-axis, and the other four transmission lines 81 are guided into the decoupling mechanism 50. The lengths of the four transmission lines 81 in the decoupling mechanism 50 remain unchanged, and after being led out of the decoupling mechanism 50, they are guided to the wrist joint 70. Of the four transmission lines 81 in the wrist joint 70, two transmission lines 81 are used to drive the wrist joint 70 to rotate around the X-axis, and the other two transmission lines 81 are used to drive the wrist joint 70 to rotate around the Y-axis. In this way, the driving source 80 can respectively drive the four rotational degrees of freedom of the elbow joint 40, the decoupling mechanism 50, and the wrist joint 70. Combined with the three rotational degrees of freedom of the shoulder joint 10, the robotic arm 100 has seven rotational degrees of freedom, making the entire robotic arm 100 more flexible and the control methods more diverse.

[0092] In other embodiments, the number of the transmission lines 81 controlled by the driving source 80 to drive the movement of the elbow joint 40 , the decoupling mechanism 50 , and the wrist joint 70 is not limited to 8 and is not limited here.

[0093] Please combine Figures 1 to 9 The present application also provides a robot 1000 in an embodiment. The robot 1000 includes the robotic arm 100 and a robot body 200 according to any of the above-described embodiments, wherein the robotic arm 100 is mounted on the robot body 200. The distal end of the robotic arm 100 has a low moment of inertia, a high rotational speed, and high flexibility, enabling the completion of complex interactive actions. Furthermore, because the wrist joint 70 and hand structure 60 have a low moment of inertia, harm to the human body is unlikely to occur when interacting with a human, thereby ensuring the safety of human-machine interaction.

[0094] Optional, please combine Figure 9 The robot 1000 is a humanoid robot 1000. The robot body 200 includes a trunk structure 201 and a lower limb structure 202. Two robotic arms 100 are mounted on the trunk structure 201, making the robot 1000 resemble the human body so that the robot 1000 can imitate human behavior, movements, and postures.

[0095] Optional, please combine Figure 10, an embodiment of the present application further provides a loading device 2000. The loading device 2000 includes the robotic arm 100 and the base 300 in any of the above embodiments, and the robotic arm 100 is mounted on the base 300. The robotic arm 100 can be used to interact with the workpiece to perform tasks such as loading, unloading, transporting, and assembly. The robotic arm 100 has 7 degrees of rotational freedom and is highly flexible, capable of performing complex tasks, such as high-precision assembly. The moment of inertia of the end of the robotic arm 100 is small, and it is not easy to cause damage to the interacting workpiece.

[0096] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0097] In the description of the embodiments of the present application, specific features, structures, materials or characteristics may be combined in an appropriate manner in any one or more embodiments or examples.

[0098] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A robotic arm, characterized in that: include: a shoulder joint having multiple rotational degrees of freedom; a first machine arm connected to the shoulder joint; a second machine arm, the second machine arm comprising a first support arm and a second support arm; an elbow joint, the elbow joint having one rotational degree of freedom, the elbow joint connecting the first machine arm and the first support arm; a decoupling mechanism, the decoupling mechanism having one rotational degree of freedom, the decoupling mechanism connecting the first arm and the second arm; the direction of the rotational degree of freedom of the decoupling mechanism being different from the direction of the rotational degree of freedom of the wrist joint; A hand structure for interacting with an object, the hand structure comprising a plurality of bendable fingers, each of the fingers being provided with a suction unit for suctioning the object; a wrist joint having two rotational degrees of freedom, the wrist joint connecting the hand structure and the second arm; and a drive source, the drive source being disposed at the shoulder joint, the drive source independently controlling the movement of the elbow joint, the decoupling mechanism, and the wrist joint via a transmission line; Wherein, the length of the transmission line in the decoupling mechanism remains unchanged; The robotic arm has seven rotational degrees of freedom; The shoulder joint includes a shoulder joint base, a first rotating member, a second rotating member, and a third rotating member, wherein the first rotating member rotates around the Y axis, the second rotating member rotates around the X axis, and the third rotating member rotates around the Z axis; the driving source is provided at the shoulder joint base for driving the third rotating member to rotate; the driving motor for driving the first rotating member and the second rotating member to rotate is not provided at the shoulder joint; the third rotating member includes a shoulder joint pulley, the first machine arm is connected to the shoulder joint pulley, and the driving source drives the third rotating member to rotate in a linear drive manner, so as to drive the first machine arm to rotate around the Z axis; The elbow joint includes a first joint wheel, a second joint wheel, and an elbow joint bracket, the first joint wheel being fixedly mounted on the first machine arm, the second joint wheel being connected to the first support arm, the elbow joint bracket being connected to the first joint wheel and the second joint wheel, the driving source driving the first joint wheel and / or the second joint wheel to rotate relative to the elbow joint bracket through the transmission line, so as to drive the first support arm to rotate relative to the first machine arm; wherein the radius of the first joint wheel and the second joint wheel are the same, the driving source drives the first joint wheel and the second joint wheel to rotate synchronously at equal angles relative to the elbow joint bracket through the transmission line, so as to realize the rotation of the elbow joint around the X-axis; the elbow joint also includes two first joint line wheels and two second joint line wheels, the two first joint line wheels and the two second joint line wheels are symmetrically arranged about the elbow joint bracket, the first joint line wheel cooperates with the first joint wheel, and the second joint line wheel cooperates with the second joint wheel; The decoupling mechanism includes an intermediate shaft, a first spool, a second spool, and an intermediate spool assembly, wherein the first spool is disposed at a first end of the intermediate shaft, the second spool is disposed at a second end opposite to the first end, and the intermediate spool assembly is disposed between the first end and the second end, and the transmission line is wound around the first spool, the second spool, and the intermediate spool assembly; The decoupling mechanism further comprises a connecting member fixedly sleeved between the first end and the second end, the intermediate pulley assembly being fixedly connected to the connecting member and rotating with the rotation of the intermediate shaft; The decoupling mechanism also includes: a first wheel, the first wheel is fixedly connected to the first wire wheel, and the intermediate shaft can rotate relative to the first wheel; a second wheel, the second wheel is fixedly connected to the second wire wheel; and an intermediate wheel, the intermediate wheel is arranged on the connecting member, and the intermediate wheel cooperates with the first wheel and the second wheel respectively; wherein, the intermediate wheel and the second wheel rotate as the intermediate shaft rotates relative to the first wheel, and within the same time, the first angle change of the second wheel relative to the first wheel is twice the second angle change of the intermediate shaft relative to the first wheel.

2. The robotic arm according to claim 1, wherein: The transmission line includes any one of a transmission rope, a synchronous belt, and a chain.

3. The robotic arm according to claim 1, wherein: The intermediate spool assembly includes an intermediate spool bracket and a plurality of intermediate spools mounted on the intermediate spool bracket. The transmission line is wound around the intermediate spools, and the intermediate spools rotate with the rotation of the intermediate shaft.

4. The robotic arm according to claim 3, wherein: The transmission line is wound around the first and second pulleys in a first direction, and the transmission line is wound around the intermediate pulley in a second direction, wherein the first direction is perpendicular to the second direction.

5. The robotic arm according to claim 3, wherein: The intermediate wire wheel bracket includes a bracket seat and two bracket arms symmetrical with respect to the bracket seat. The first surface and the second surface opposite to the first surface of each bracket arm are symmetrically provided with two intermediate wire wheels.

6. The robotic arm according to claim 1, wherein: The decoupling mechanism further comprises: a first pulley assembly, for leading out or introducing the transmission line of the first pulley, the first pulley assembly comprising a first fixing member and a plurality of first pulleys mounted on the first fixing member, the first fixing member being fixedly connected to the first pulley, and the transmission line being wound around the first pulleys; and The second pulley assembly is used to lead out or introduce the transmission line of the second pulley. The second pulley assembly includes a second fixing member and a plurality of second pulleys installed on the second fixing member. The second fixing member is fixedly connected to the second pulley, and the transmission line is wound around the first pulley.

7. The robotic arm according to claim 6, wherein: The decoupling mechanism further comprises: a first cover plate, the first cover plate being mounted on the second support arm and fixedly connected to the first wire wheel; and A second cover plate is mounted on the first support arm and fixedly connected to the second pulley.

8. The robotic arm according to claim 1, wherein: The connecting member includes two symmetrically arranged connecting shafts, which are perpendicular to the intermediate shaft. Each connecting shaft sleeve is provided with an intermediate bearing. There are two intermediate rotating wheels, and each intermediate rotating wheel is matched with one intermediate bearing.

9. The robotic arm according to claim 8, characterized in that: The first rotating wheel, the second rotating wheel, and the intermediate rotating wheel are all bevel gears, and the intermediate rotating wheel is engaged with the first rotating wheel and the second rotating wheel in a gear meshing manner.

10. The robotic arm according to claim 8, wherein: The first rotating wheel, the second rotating wheel, and the intermediate rotating wheel are all wire wheels, and the intermediate rotating wheel cooperates with the first rotating wheel and the second rotating wheel through pulling wires.

11. A robot, characterized in that: include: The robotic arm according to any one of claims 1 to 10; and A robot body, wherein the robotic arm is mounted on the robot body.

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