A mechanical arm, a powered exoskeleton and a robot

Abstract

The present invention discloses a mechanical arm, a power exoskeleton and a robot, wherein the mechanical arm comprises: a base, the outer side of which is connected to a box body; a power input assembly, which comprises an input shaft, a forward rotation shaft and a reverse rotation shaft; a power distribution unit, which comprises a main shaft, a forward rotation ring, a reverse rotation ring, an output wheel and a clutch assembly, wherein the main shaft is connected in the box body, the forward rotation ring and the reverse rotation ring are respectively rotatably connected to the outer side of the main shaft, the forward rotation ring is transmission-connected to the forward rotation shaft, the reverse rotation ring is transmission-connected to the reverse rotation shaft, the output wheel is rotationally connected between the forward rotation ring and the reverse rotation ring, and the output wheel can rotate synchronously with the forward rotation ring or the reverse rotation ring through the clutch assembly; an output joint, which has an output end rotatable relative to the box body, and the output end is transmission-connected to the output wheel. The present invention selects to transmit the input power to the output end in the forward or reverse direction through the clutch assembly, thereby controlling the joint movement according to the use needs, and greatly improving the stability and flexibility of the mechanical arm during operation.

Description

Technical Field

[0001] The present invention relates to a manipulator, and in particular to a manipulator arm, a power exoskeleton and a robot. Background Art

[0002] In current robotic arms, the rotation of a reduction motor is usually used to drive the movement of corresponding joints, or linear power elements such as screws, hydraulic cylinders, and pneumatic cylinders are used to imitate muscle contraction or joint movement. These prime movers that drive the joints are all set at the corresponding joints, and have a large moment of inertia, which is not conducive to control and energy saving. In addition, the control method for joint movement is relatively simple. For example, when a reduction motor is used to drive the reciprocating movement of the joint, it usually relies on the forward and reverse rotation of the reduction motor. Frequent forward and reverse rotation of the motor will rapidly change the inertia of the motor rotation, causing the motor to be subjected to greater shock and vibration, affecting the service life of the motor. Therefore, there is an urgent need for a robotic arm with a more stable and flexible control method. Summary of the invention

[0003] The purpose of the present invention is to provide a mechanical arm, a powered exoskeleton and a robot to solve one or more technical problems existing in the prior art and at least provide a beneficial choice or create conditions.

[0004] The solution of the present invention to solve its technical problem is:

[0005] A robotic arm comprises: a base, the outer side of which is connected to a box; a power input assembly, which comprises an input shaft rotatably connected to the box, a forward shaft and a reverse shaft transmission-connected to the input shaft, the rotation direction of the forward shaft is opposite to that of the reverse shaft; a power distribution unit, which comprises a main shaft, a forward ring, a reverse ring, an output wheel and a clutch assembly, the main shaft is connected to the box, the forward ring and the reverse ring are respectively rotatably connected to the outer side of the main shaft, the forward ring is transmission-connected to the forward shaft, the reverse ring is transmission-connected to the reverse shaft, the output wheel is rotationally connected between the forward ring and the reverse ring, and the output wheel can rotate synchronously with the forward ring or the reverse ring through the clutch assembly; an output section, which has an output end rotatable relative to the box, and the output end is transmission-connected to the output wheel.

[0006] This technical solution has at least the following beneficial effects: when in use, power is input into the input shaft of the power input assembly, and the input shaft drives the forward shaft and the reverse shaft to rotate simultaneously. At this time, in the power distribution unit, the forward ring connected to the forward shaft and the reverse ring connected to the reverse shaft also rotate simultaneously. According to the rotation direction of the output end, the clutch assembly can be used to synchronously connect the forward ring or the reverse ring to the output wheel. For example, when the output end needs to rotate forward relative to the housing, the clutch assembly is used to synchronously rotate the forward ring and the output wheel. At this time, the power of the reverse ring will not be transmitted to the output wheel, and the output end realizes forward rotation relative to the housing under the power transmission of the forward ring. When the output end needs to rotate forward relative to the housing, the clutch assembly can be used to synchronously rotate the forward ring and the output wheel. When rotating in the opposite direction relative to the box body, the clutch assembly is used to rotate the reversing ring and the output wheel synchronously. At this time, the power of the forward ring will not be transmitted to the output wheel, and the output end can realize the opposite rotation relative to the box body under the power transmission of the reversing ring, that is, the movement of the joints in the robotic arm is realized. In this way, the robotic arm itself does not need to have a power source. When in use, the driving source of the external device can be introduced into the robotic arm, and the movement is realized by distributing the power. Specifically, the external robotic arm directly inputs unidirectional rotation power to the input shaft, and the clutch assembly selects to transmit the input power to the output end in the forward or reverse direction, thereby controlling the joint movement according to the needs of use, greatly improving the stability and flexibility of the robotic arm during operation.

[0007] As a further improvement of the above technical solution, the clutch assembly includes a coil and a transmission plate, the inner side of the forward ring and the inner side of the reverse ring are respectively connected to the transmission plates, filling gaps are respectively formed between the two transmission plates and the two end faces of the output wheel, two sealing rings are arranged in the two filling gaps along the radial interval of the output wheel, the positions between the two sealing rings in the two filling gaps are respectively filled with magnetorheological fluid, and coils are respectively arranged on the side of the two transmission plates away from the output wheel. When the output wheel does not need to output power to the outside, both coils are not energized; when the output wheel needs to be driven to rotate forward, the coil close to the side of the forward rotation ring is energized, and the magnetism generated after the coil is energized causes the magnetorheological fluid in the filling gap close to the forward rotation ring to become a high-viscosity, low-fluidity fluid. At this time, the transmission plate connected to the forward rotation ring can rotate synchronously with the output wheel, thereby realizing the transmission of the forward rotation power to the output wheel. After the coil is powered off, the magnetorheological fluid becomes a low-viscosity, high-fluidity fluid, and the power transmission between the reversing ring and the output wheel can be released; similarly, when the output wheel needs to be driven to rotate reversely, the coil close to the side of the reversing ring is energized, and the magnetism generated after the coil is energized causes the magnetorheological fluid in the filling gap close to the reversing ring to become a high-viscosity, low-fluidity flow. At this time, the transmission plate connected to the reversing ring can rotate synchronously with the output wheel, thereby realizing the transmission of the reverse rotation power to the output wheel. After the coil is powered off, the power transmission between the reversing ring and the output wheel can be released.

[0008] As a further improvement of the above technical solution, magnetic isolation sheets are respectively arranged between the two coils and the two transmission sheets. The magnetic isolation sheets can prevent magnetic flux lines from gathering in the near field of the coils, so as to improve the utilization rate of magnetic flux lines.

[0009] As a further improvement of the above technical solution, a magnetic conductive cover is respectively provided on the side of the two coils that are far away from each other. The magnetic conductive cover can promote the smooth return of magnetic flux lines, which is helpful to reduce the situation where the magnetic flux lines diverge to the outside of the power distribution unit and cause interference.

[0010] As a further improvement of the above technical solution, a transmission seat is provided on the box body, and two first transmission gears are rotatably connected in the transmission seat. The output section includes an outer sleeve and a second transmission gear. One end of the outer sleeve is rotatably connected in the transmission seat and connected to the second transmission gear. The two first transmission gears are respectively engaged with both sides of the second transmission gear. The power distribution unit is arranged in a plurality of axial directions along the main shaft. Figure 3 The arrangement of multiple power distribution units can be seen in the figure. In order to reduce the unclear drawing caused by too many lines, the complete clutch assembly structure is only illustrated in the power distribution unit on the far left of the figure, wherein the output wheels in the two power distribution units are respectively connected to the two first transmission gears, and the outer sleeve forms an output end. There are multiple power distribution units arranged. When in use, the power on the forward shaft and the reverse shaft can also be transmitted to the forward wheel and the reverse wheel in each power distribution unit. In each power distribution unit, the output wheel can be controlled to not rotate, rotate forward or reverse according to the needs of use, so as to achieve a more flexible output of a single power to the outside. For the outer sleeve as an output end, when the outer sleeve is required to rotate forward on the housing, the output wheels of the two power distribution units respectively output power with different rotation directions to the two first transmission gears, and the two first transmission gears respectively drive the second transmission gear to rotate on both sides of the second transmission gear, thereby driving the outer sleeve to rotate forward; when the outer sleeve is required to reverse on the housing, the rotation direction of the output wheels in the two power distribution units changes, so that the two first transmission gears with different rotation directions respectively drive the second transmission gear to reverse on both sides of the second transmission gear, thereby driving the outer sleeve to rotate in the opposite direction.

[0011] As a further improvement of the above technical solution, two third transmission gears are rotatably connected in the transmission seat, and the output section includes an inner sleeve and a fourth transmission gear. The inner sleeve is rotatably connected in the outer sleeve, one end of the inner sleeve extends into the transmission seat and is connected to the fourth transmission gear, the two third transmission gears are respectively meshed with the two sides of the fourth transmission gear, and the output wheels in the other two power distribution units are respectively transmission connected to the two third transmission gears, and the end of the outer sleeve away from the transmission seat is rotatably connected to a movable rod, the rotation axis of the movable rod and the rotation axis of the outer sleeve are perpendicular to each other, the inner sleeve is transmission connected to the movable rod, and the movable rod forms an output end. At this time, the movable rod serves as an output end, and the inner sleeve is installed into the outer sleeve for power transmission, which can better arrange the internal structure. When the movable rod needs to rotate forward on the outer sleeve, the output wheels of the two power distribution units, in addition to transmitting power with the outer sleeve, respectively output power with different rotation directions to the two third transmission gears, and the two third transmission gears respectively drive the fourth transmission gear to rotate on both sides of the fourth transmission gear, and transmit power to the movable rod through the inner sleeve, driving the movable rod to rotate in the opposite direction; when the movable rod needs to be reversed on the outer sleeve, the rotation direction of the output wheels in the two power distribution units changes, so that the two third transmission gears with different rotation directions respectively drive the fourth transmission gear to reverse on both sides of the fourth transmission gear, and transmit power to the movable rod through the inner sleeve, driving the movable rod to rotate in the opposite direction.

[0012] As a further improvement of the above technical solution, a fixed frame extending into the transmission seat is connected to the box body, the first transmission gear and the third transmission gear are rotatably connected to the fixed frame, the fixed frame is rotatably connected to a movable frame, and the movable frame is connected to the inner side of the transmission seat. When in use, the transmission seat can also be directly driven to rotate around the box body. Specifically, multiple power distribution units transmit power with the same rotation direction to the first transmission gear and the third transmission gear respectively, so that the second transmission gear and the first transmission gears on both sides thereof are clamped to each other to form a whole, and the fourth transmission gear and the third transmission gears on both sides thereof are clamped to each other to form a whole, and the entire transmission seat rotates around the axis of the first transmission gear and the third transmission gear which are rotatably connected to the fixed frame. In this way, more degrees of freedom of movement are formed by controlling the motion states of different transmission gears.

[0013] As a further improvement of the above technical solution, the box body and the base are rotatably connected, the outer side of the box body is rotatably connected with a fifth transmission gear, the outer side of the base is sleeved with a sixth transmission gear, the fifth transmission gear and the sixth transmission gear are meshed with each other, and the output wheel in the other power distribution unit is rotatably connected with the fifth transmission gear. In addition to the power transmission with the outer sleeve and the movable rod, the output wheel of the power distribution unit transmits the rotational driving force to the fifth transmission gear. Since the fifth transmission gear and the sixth transmission gear are meshed with each other, the box body can be moved relative to the base, so that the power input from the input shaft can be distributed between the box body and the base according to the use needs, driving the box body to rotate relatively on the base.

[0014] A powered exoskeleton comprises a first body, a clamp, a swivel sleeve, and the above-mentioned mechanical arms, wherein the bases of the four mechanical arms are respectively connected to the first body, the ends of the four inner sleeves are respectively connected to the swivel sleeves through ball joints, and the clamps are rotatably connected in the four swivel sleeves.

[0015] This technical solution has at least the following beneficial effects: when in use, a driving source such as a driving motor can be configured on the first body to serve as the power input of each robotic arm. At this time, the load of the driving source configured on the robotic arm can be reduced, and the activity performance of the robotic arm itself can be improved. The clamping jaws of the two robotic arms are respectively fixed at the positions of the user's two wrists, and the clamping jaws of the other two robotic arms are respectively fixed at the positions of the user's legs. The robotic arm itself can rotate relative to the clamping jaw through a ball joint, and the rotating sleeve itself can rotate relatively on the outside of the clamping jaw. At this time, the four robotic arms are coupled with the user's limbs at both ends, and then through the degrees of freedom formed by multiple positions on the robotic arm, the rest of the robotic arm may not completely fit the limbs, thereby improving the exoskeleton's ability to avoid singularities in the robot's motion. Furthermore, due to the use of magnetorheological fluid for power distribution control, the entire robotic arm can be controlled to achieve micro-force control and high-frequency control.

[0016] A robot comprises a second body, a support leg, and the above-mentioned mechanical arm, wherein the bases of four mechanical arms are respectively connected to the second body, and the ends of four inner sleeves are respectively connected to the support leg through ball joints.

[0017] This technical solution has at least the following beneficial effects: a driving source such as a driving motor can be configured on the second body to be used as the power input for each robotic arm. In this case, the load of the driving source configured on the robotic arm can be reduced, and the activity performance of the robotic arm itself can be improved. The four legs are used for overall support. The robotic arm itself can rotate relative to the legs through a ball joint. At this time, through the degrees of freedom formed at multiple positions on the robotic arm, the entire robot can be flexibly moved through the four robotic arms. In addition, since magnetorheological fluid is used for power distribution control, the entire robotic arm can be controlled to achieve micro-force control and high-frequency control. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly describes the drawings required for use in the description of the embodiments. Obviously, the drawings described are only part of the embodiments of the present invention, not all of the embodiments, and those skilled in the art can also obtain other design solutions and drawings based on these drawings without creative work.

[0019] Figure 1 It is a three-dimensional diagram of a mechanical arm of the present invention.

[0020] Figure 2 It is a front view of the present invention after removing the base, the transmission seat and the box body.

[0021] Figure 3 It is a schematic diagram of the cross-sectional structure of the power distribution unit along the main axis.

[0022] Figure 4 yes Figure 2 Schematic diagram of the AA cross-section structure.

[0023] Figure 5 It is a schematic diagram of the cross-sectional structure of the transmission box along the axis of the outer sleeve.

[0024] Figure 6 It is a stereoscopic diagram of the powered exoskeleton of the present invention.

[0025] Figure 7 It is a three-dimensional diagram of the robot of the present invention.

[0026] In the accompanying drawings: 1-base, 11-sixth transmission gear, 2-box, 21-fifth transmission gear, 31-input shaft, 32-forward shaft, 33-reverse shaft, 4-power distribution unit, 41-main shaft, 42-forward ring, 43-reverse ring, 44-output wheel, 451-coil, 452-transmission plate, 453-sealing ring, 454-magnetorheological fluid, 455-magnetic isolation plate, 456-magnetic conductive cover, 5-transmission seat, 51-first transmission gear, 52-outer sleeve, 53-second transmission gear, 54-third transmission gear, 55-inner sleeve, 56-fourth transmission gear, 57-movable rod, 58-fixed frame, 59-movable frame, 61-first fuselage, 62-rotating sleeve, 71-second fuselage, 72-support foot. DETAILED DESCRIPTION

[0027] The following will clearly and completely describe the concept, specific structure and technical effects of the present invention in combination with the embodiments and drawings, so as to fully understand the purpose, characteristics and effects of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, other embodiments obtained by technicians in this field without creative work are all within the scope of protection of the present invention. In addition, all the connection relationships mentioned in the text do not refer to the direct connection of components, but refer to the fact that a better connection structure can be formed by adding or reducing connecting accessories according to the specific implementation situation. The various technical features in the invention can be combined interchangeably without conflicting with each other.

[0028] Reference Figures 1 to 3 A mechanical arm comprises: a base 1, the outer side of which is connected to a box body 2; a power input assembly, which comprises an input shaft 31 rotatably connected to the box body 2, a forward shaft 32 and a reverse shaft 33 transmission-connected to the input shaft 31, the rotation direction of the forward shaft 32 is opposite to the rotation direction of the reverse shaft 33; a power distribution unit 4, which comprises a main shaft 41, a forward ring 42, a reverse ring 43, an output wheel 44 and a clutch assembly, the main shaft 41 is connected to the box body 2, the forward ring 42 and the reverse ring 43 are rotationally connected to the outer side of the main shaft 41, the forward ring 42 is transmission-connected to the forward shaft 32, and the reverse ring 43 is rotationally connected to the outer side of the main shaft 41. The reversing ring 43 is transmission-connected with the reversing shaft 33, and a plurality of gears may be arranged on the outside of the main shaft 41, and the transmission is realized by meshing the plurality of gears with the plurality of forward rotating rings 42, and a gear shaft is meshed and connected to one of the gears, and a plurality of gears that can mesh with the reversing ring 43 are also arranged on the gear shaft, and the output wheel 44 is rotationally connected between the forward rotating ring 42 and the reversing ring 43, and the output wheel 44 can rotate synchronously with the forward rotating ring 42 or the reversing ring 43 through the clutch assembly; an output section has an output end that can rotate relative to the housing 2, and the output end is transmission-connected to the output wheel 44.

[0029] In this mechanical arm, when in use, power is input to the input shaft 31 of the power input component, and the input shaft 31 drives the forward shaft 32 and the reverse shaft 33 to rotate simultaneously. At this time, in the power distribution unit 4, the forward ring 42 connected to the forward shaft 32 and the reverse ring 43 connected to the reverse shaft 33 also rotate simultaneously. According to the rotation direction of the output end, the clutch component can be used to synchronously connect the forward ring 42 or the reverse ring 43 to the output wheel 44. For example, when the output end needs to rotate forward relative to the box body 2, the clutch component is used to synchronously rotate the forward ring 42 and the output wheel 44. At this time, the power of the reverse ring 43 will not be transmitted to the output wheel 44, and the output end realizes forward rotation relative to the box body 2 under the power transmission of the forward ring 42. When When the output end needs to rotate in the opposite direction relative to the housing 2, the clutch assembly is used to rotate the reversing ring 43 and the output wheel 44 synchronously. At this time, the power of the forward ring 42 will not be transmitted to the output wheel 44, and the output end can realize the opposite rotation relative to the housing 2 under the power transmission of the reversing ring 43, that is, the movement of the joints in the robotic arm is realized. In this way, the robotic arm itself does not need to have a power source. When in use, the driving source of the external device can be introduced into the robotic arm, and the movement is realized by distributing the power. Specifically, the external robotic arm directly inputs unidirectional rotation power to the input shaft 31, and the clutch assembly is used to select the input power to be transmitted to the output end in the forward or reverse direction, thereby controlling the joint movement according to the needs of use, greatly improving the stability and flexibility of the robotic arm during operation.

[0030] As a specific embodiment of the clutch assembly, Figure 4As shown, the clutch assembly includes a coil 451 and a transmission plate 452. The inner side of the forward ring 42 and the inner side of the reverse ring 43 are respectively connected with the transmission plates 452. Filling gaps are respectively formed between the two transmission plates 452 and the two end faces of the output wheel 44. Two sealing rings 453 are arranged in the two filling gaps along the radial interval of the output wheel 44. The positions between the two sealing rings 453 in the two filling gaps are respectively filled with magnetorheological fluid 454. Coils 451 are respectively arranged on the side of the two transmission plates 452 away from the output wheel 44. When the output wheel 44 is not required to output power to the outside, both coils 451 are not energized; when the output wheel 44 needs to be driven to rotate in the forward direction, the coil 451 close to the forward ring 42 is energized. The magnetism generated by the coil 451 after being energized makes the magnetorheological fluid 454 in the filling gap close to the forward ring 42 become a high-viscosity, low-fluidity fluid. At this time, the transmission plate 452 connected to the forward ring 42 can rotate synchronously with the output wheel 44, thereby realizing the transmission of the forward rotation power to the output wheel 44. After the coil 451 is powered off, the magnetorheological fluid 454 becomes a low-viscosity, high-fluidity fluid. The power transmission between the reversing ring 43 and the output wheel 44 can be released; similarly, when it is necessary to drive the output wheel 44 to rotate in the opposite direction, the coil 451 close to the side of the reversing ring 43 is energized. The magnetism generated by the coil 451 after being energized makes the magnetorheological fluid 454 in the filling gap close to the reversing ring 43 become a high-viscosity, low-fluidity flow. At this time, the transmission plate 452 connected to the reversing ring 43 can rotate synchronously with the output wheel 44, thereby realizing the transmission of the reverse rotation power to the output wheel 44. After the coil 451 is powered off, the power transmission between the reversing ring 43 and the output wheel 44 can be released.

[0031] Furthermore, two electric slip rings are respectively configured at the two ends of the main shaft 41, and the two electric slip rings are respectively electrically connected to the two coils 451, so as to keep the coils 451 energized, and shaft end covers are installed at both ends of the main shaft 41, and the two electric slip rings are axially positioned on the main shaft 41 through the two shaft end covers.

[0032] Furthermore, magnetic isolation sheets 455 are respectively provided between the two coils 451 and the two transmission sheets 452. The magnetic isolation sheets 455 can prevent the magnetic flux lines from gathering in the near field of the coil 451, so as to improve the utilization rate of the magnetic flux lines.

[0033] Furthermore, the two coils 451 are provided with magnetic conductive covers 456 on the sides away from each other. The magnetic conductive covers 456 can facilitate the smooth return of magnetic flux lines, which is helpful to reduce the situation where the magnetic flux lines diverge to the outside of the power distribution unit 4 and cause interference.

[0034] In order to improve the power transmission of the magnetorheological fluid 454 between the forward rotating ring 42, the reverse rotating ring 43 and the output wheel 44, first transmission rings may be respectively arranged on the two end faces of the output wheel 44, and multiple first transmission rings are respectively arranged at intervals along the radial direction of the intermediate ring on both sides of the output wheel 44, and a second transmission ring is arranged on the side of the forward rotating ring 42 facing the output wheel 44, and multiple second transmission rings are arranged at intervals along the radial direction of the forward rotating ring 42, and the multiple first transmission rings and the multiple second transmission rings are staggered with each other, and a third transmission ring is arranged on the side of the reverse rotating ring 43 facing the output wheel 44, and multiple third transmission rings are arranged at intervals along the radial direction of the reverse rotating ring 43, and the multiple third transmission rings and the multiple second transmission rings are staggered with each other. At this time, the magnetorheological layer is filled between the first transmission ring and the second transmission ring and the third transmission ring, which can improve the efficiency of the magnetorheological layer in transmitting the power on the forward rotating ring 42 and the reverse rotating ring 43 to the output wheel 44 after magnetization.

[0035] As a degree of freedom of movement formed on the robot arm, such as Figure 5 As shown, in this embodiment, a transmission seat 5 is provided on the housing 2, and two first transmission gears 51 are rotatably connected in the transmission seat 5. The output section includes an outer sleeve 52 and a second transmission gear 53. One end of the outer sleeve 52 is rotatably connected in the transmission seat 5 and is connected to the second transmission gear 53. The two first transmission gears 51 are respectively meshed with the two sides of the second transmission gear 53. The power distribution unit 4 is arranged in multiple axial directions along the main shaft 41, wherein the output wheels 44 in the two power distribution units 4 are respectively connected to the two first transmission gears 51, and the output wheels 44 and the first transmission gears 51 can be mutually transmitted through a synchronous belt, and the outer sleeve 52 forms an output end. There are multiple power distribution units 4 arranged. When in use, the power on the forward shaft 32 and the reverse shaft 33 can also be transmitted to the forward wheel and the reverse wheel in each power distribution unit 4. In each power distribution unit 4, the output wheel 44 can be controlled to not rotate, rotate forward or reverse according to the needs of use, so as to achieve a more flexible output of a single power to the outside. For the outer sleeve 52 as an output end, when the outer sleeve 52 is required to rotate forward on the housing 2, the output wheels 44 of the two power distribution units 4 respectively output power with different rotation directions to the two first transmission gears 51, and the two first transmission gears 51 respectively drive the second transmission gear 53 to rotate on both sides of the second transmission gear 53, thereby driving the outer sleeve 52 to rotate forward; when the outer sleeve 52 is required to reverse on the housing 2, the rotation direction of the output wheels 44 in the two power distribution units 4 changes, so that the two first transmission gears 51 with different rotation directions respectively drive the second transmission gear 53 to reverse on both sides of the second transmission gear 53, thereby driving the outer sleeve 52 to rotate in the opposite direction.

[0036] As another degree of freedom of movement formed on the robotic arm, in this embodiment, two third transmission gears 54 are rotatably connected in the transmission seat 5, and the output section includes an inner sleeve 55 and a fourth transmission gear 56. The inner sleeve 55 is rotatably connected in the outer sleeve 52, and one end of the inner sleeve 55 extends into the transmission seat 5 and is connected to the fourth transmission gear 56. The two third transmission gears 54 are respectively meshed with the two sides of the fourth transmission gear 56, and the output wheels 44 in the other two power distribution units 4 are respectively connected to the two third transmission gears 54, and the output wheels 44 and the third transmission gears 54 can be mutually transmitted through a synchronous belt. The end of the outer sleeve 52 away from the transmission seat 5 is rotatably connected to a movable rod 57, and the rotation axis of the movable rod 57 is perpendicular to the rotation axis of the outer sleeve 52. The inner sleeve 55 and the movable rod 57 are Transmission connection, the movable rod 57 forms an output end. For the transmission connection between the inner sleeve 55 and the movable rod 57, in actual application, a first driven gear can be connected to the end of the movable rod 57 extending out of the inner sleeve 55, and a fixed frame is connected to the outer side of the end of the inner sleeve 55. Two second driven gears are rotatably connected in the fixed frame. The two second driven gears are respectively meshed with the two sides of the first driven gear. A transmission block is provided between the two second driven gears. One side of the transmission block is fixedly connected to a second driven gear, and the other side is rotatably connected to the other second driven gear. The end of the transmission block away from the inner sleeve 55 is connected with a rotating frame, and the movable rod 57 is connected to the rotating frame. When the inner sleeve 55 rotates, the second driven gear can be driven to rotate through the first driven gear, and the rotating frame fixedly connected to a second driven gear is also driven to rotate, thereby realizing power transmission between the inner sleeve 55 and the movable rod 57.

[0037] In this embodiment, the movable rod 57 serves as an output end, and the inner sleeve 55 is inserted into the outer sleeve 52 for power transmission, which can better arrange the internal structure. When the movable rod 57 needs to rotate forward on the outer sleeve 52, the output wheels 44 of the two power distribution units 4, in addition to transmitting power with the outer sleeve 52, respectively output power with different rotation directions to the two third transmission gears 54, and the two third transmission gears 54 respectively drive the fourth transmission gear 56 to rotate on both sides of the fourth transmission gear 56, and transmit power to the movable rod 57 through the inner sleeve 55, driving the movable rod 57 to rotate in the opposite direction; when the movable rod 57 needs to be reversed on the outer sleeve 52, the rotation direction of the output wheels 44 in the two power distribution units 4 is changed, so that the two third transmission gears 54 with different rotation directions respectively drive the fourth transmission gear 56 to reverse on both sides of the fourth transmission gear 56, and transmit power to the movable rod 57 through the inner sleeve 55, driving the movable rod 57 to rotate in the opposite direction.

[0038] As another degree of freedom of movement formed on the robot arm, a fixed frame 58 extending into the transmission seat 5 is connected in the box body 2, and the first transmission gear 51 and the third transmission gear 54 are rotatably connected to the fixed frame 58, and a movable frame 59 is rotatably connected to the fixed frame 58, and the movable frame 59 is connected to the inner side of the transmission seat 5. When in use, the transmission seat 5 can also be directly driven to rotate around the box body 2. Specifically, multiple power distribution units 4 transmit power with the same rotation direction to the first transmission gear 51 and the third transmission gear 54 respectively, so that the second transmission gear 53 and the first transmission gears 51 on both sides thereof are clamped to each other to form a whole, and the fourth transmission gear 56 and the third transmission gears 54 on both sides thereof are clamped to each other to form a whole, and the entire transmission seat 5 rotates around the axis of the first transmission gear 51 and the third transmission gear 54 which are rotatably connected to the fixed frame 58. In this way, more degrees of freedom of movement are formed by controlling the motion state of different transmission gears.

[0039] As another degree of freedom of movement formed on the robot arm, the housing 2 and the base 1 are connected in rotation, the outer side of the housing 2 is connected in rotation with a fifth transmission gear 21, the outer side of the base 1 is sleeved with a sixth transmission gear 11, the fifth transmission gear 21 and the sixth transmission gear 11 are meshed with each other, and the output wheel 44 in the other power distribution unit 4 is connected in transmission with the fifth transmission gear 21, and the output wheel 44 and the first transmission gear 51 can be mutually transmitted through a synchronous belt. In addition to the power transmission with the outer sleeve 52 and the movable rod 57, the output wheel 44 of the power distribution unit 4 transmits the rotational driving force to the fifth transmission gear 21. Since the fifth transmission gear 21 and the sixth transmission gear 11 are meshed with each other, the housing 2 can be moved relative to the base 1, so that the power input from the input shaft 31 can be distributed between the housing 2 and the base 1 according to the use needs, driving the housing 2 to rotate relatively on the base 1.

[0040] In summary, among the five power distribution units 4 arranged in sequence, the output wheel 44 in the first power distribution unit 4 is connected to a first transmission gear 51, and this power distribution unit 4 is recorded as a first distributor; the output wheel 44 in the second power distribution unit 4 is connected to a third transmission gear 54, and this power distribution unit 4 is recorded as a second distributor; the output wheel 44 in the third power distribution unit 4 is connected to another third transmission gear 54, and this power distribution unit 4 is recorded as a third distributor; the output wheel 44 in the fourth power distribution unit 4 is connected to another first transmission gear 51, and this power distribution unit 4 is recorded as a fourth distributor; the output wheel 44 in the fifth power distribution unit 4 is connected to the fifth transmission gear 21, and this power distribution unit 4 is recorded as a fifth distributor. The relative rotational freedom between the box body 2 and the base 1 is recorded as the first degree of freedom, the relative rotational freedom between the box body 2 and the transmission seat 5 is recorded as the second degree of freedom, the relative rotational freedom between the outer sleeve 52 and the transmission seat 5 is recorded as the third degree of freedom, and the relative rotational freedom between the movable rod 57 and the outer sleeve 52 is recorded as the fourth degree of freedom. The following table shows the degrees of freedom of the robot arm under different working conditions of different distributors, wherein × indicates that the distributor does not distribute power to the paired transmission gear, ↑ indicates that the distributor drives the paired transmission gear to rotate forward, and ↓ indicates that the distributor drives the paired transmission gear to rotate reversely:

[0041]

[0042] The first degree of freedom is the upper arm side-lifting action. As the least common action, such as side-lifting weights and side-lifting legs, the fifth distributor with a large-ratio reducer is sufficient to meet the needs.

[0043] The second degree of freedom is the forward lifting and lowering action of the upper arm, which is a necessary component for lifting heavy objects, climbing, etc. The first to fourth distributors are used to output power in the same direction, and the reducer is used to drive this joint at the same time.

[0044] The third degree of freedom is the self-rotation of the upper arm, which is a necessary component for the forearm to maintain lateral load, such as rope climbing, auxiliary forearm forward lifting and lowering to form a linear motion route, etc. The first to fourth distributors are also used to drive this joint simultaneously.

[0045] The fourth degree of freedom is the forward lifting of the forearm, which is simultaneously output by the second distributor and the third distributor with a reducer. The power is only half of the forward lifting of the upper arm and the self-rotation of the upper arm, but this motion output is only used to cooperate with the forward lifting of the upper arm to achieve weightlifting. In climbing movements, this joint is only subjected to the static tension of the user and the equipment on the mechanical connecting rod structure. Once this joint exerts force, it will be superimposed with the forward lifting of the upper arm, that is, a maximum of 6 distributors can exert force synchronously in the climbing movement.

[0046] like Figure 6 As shown, a powered exoskeleton comprises a first body 61, a gripper, a swivel sleeve 62, and the above-mentioned robotic arms, wherein the bases 1 of the four robotic arms are respectively connected to the first body 61, the ends of the four inner sleeves 55 are respectively connected to the swivel sleeve 62 through ball joints, and the grippers are rotatably connected in the four swivel sleeves 62.

[0047] In this powered exoskeleton, when in use, a driving source such as a driving motor can be configured on the first body 61 to serve as the power input of each robotic arm. At this time, the load of the driving source configured on the robotic arm can be reduced, and the mobility of the robotic arm itself can be improved. The clamps of the two robotic arms are respectively fixed at the positions of the user's two wrists, and the clamps of the other two robotic arms are respectively fixed at the positions of the user's legs. The robotic arm itself can rotate relative to the clamp through a ball joint, and the rotating sleeve 62 itself can rotate relative to the outside of the clamp. At this time, the four robotic arms are coupled with the user's limbs at both ends, and the remaining parts of the robotic arms may not completely fit the limbs through the degrees of freedom formed at multiple positions on the robotic arms, thereby improving the exoskeleton's ability to avoid singularities in robot motion. Furthermore, due to the use of magnetorheological fluid 454 for power distribution control, the entire robotic arm can be controlled to achieve micro-force control and high-frequency control.

[0048] like Figure 7 As shown, a robot includes a second body 71, a support leg 72, and the above-mentioned robotic arm, wherein the bases 1 of the four robotic arms are respectively connected to the second body 71, and the ends of the four inner sleeves 55 are respectively connected to the support leg 72 through ball joints.

[0049] In this robot, a driving source such as a driving motor can be configured on the second body 71 to serve as the power input of each robotic arm. In this case, the load of the driving source configured on the robotic arm can be reduced and the mobility of the robotic arm itself can be improved. The four legs 72 are used for overall support. The robotic arm itself can rotate relative to the legs 72 through a ball joint. At this time, through the degrees of freedom formed at multiple positions on the robotic arm, the entire robot can be flexibly moved through the four robotic arms, and because the magnetorheological fluid 454 is used for power distribution control, the entire robotic arm can be controlled to achieve micro-force control and high-frequency control.

[0050] The preferred embodiments of the present invention are specifically described above, but the invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A robotic arm, characterized in that: include: A base (1), the outer side of which is connected to a box body (2); A power input assembly, comprising an input shaft (31) rotatably connected to the housing (2), a forward shaft (32) and a reverse shaft (33) drivingly connected to the input shaft (31), wherein the rotation direction of the forward shaft (32) is opposite to that of the reverse shaft (33); A power distribution unit (4), comprising a main shaft (41), a forward rotating ring (42), a reverse rotating ring (43), an output wheel (44) and a clutch assembly, wherein the main shaft (41) is connected to the housing (2), the forward rotating ring (42) and the reverse rotating ring (43) are respectively rotatably connected to the outside of the main shaft (41), the forward rotating ring (42) is transmission-connected to the forward rotating shaft (32), the reverse rotating ring (43) is transmission-connected to the reverse rotating shaft (33), the output wheel (44) is rotationally connected between the forward rotating ring (42) and the reverse rotating ring (43), and the output wheel (44) can rotate synchronously with the forward rotating ring (42) or the reverse rotating ring (43) through the clutch assembly; An output section has an output end that can rotate relative to the housing (2), the output end being drivingly connected to the output wheel (44), the clutch assembly comprising a coil (451) and a transmission plate (452), the inner side of the forward ring (42) and the inner side of the reverse ring (43) being connected to the transmission plates (452) respectively, a filling gap is formed between the two transmission plates (452) and the two end surfaces of the output wheel (44), two sealing rings (453) are arranged in the two filling gaps along the radial direction of the output wheel (44), the positions between the two sealing rings (453) in the two filling gaps are respectively filled with magnetorheological fluid (454), and the two transmission plates (452) are respectively provided with coils (451) on the side facing away from the output wheel (44).

2. A robotic arm according to claim 1, characterized in that: A magnetic isolation sheet (455) is respectively provided between the two coils (451) and the two transmission sheets (452).

3. A robotic arm according to claim 1, characterized in that: A magnetic conductive cover (456) is respectively provided on one side of the two coils (451) that is away from each other.

4. A robotic arm according to claim 1, characterized in that: The housing (2) is provided with a transmission seat (5), two first transmission gears (51) are rotatably connected in the transmission seat (5), the output section comprises an outer sleeve (52) and a second transmission gear (53), one end of the outer sleeve (52) is rotatably connected in the transmission seat (5) and is connected to the second transmission gear (53), the two first transmission gears (51) are respectively meshed with two sides of the second transmission gear (53), a plurality of the power distribution units (4) are arranged along the axial direction of the main shaft (41), wherein the output wheels (44) in the two power distribution units (4) are respectively transmission-connected to the two first transmission gears (51), and the outer sleeve (52) forms an output end.

5. A robotic arm according to claim 4, characterized in that: Two third transmission gears (54) are rotatably connected in the transmission seat (5), and the output section comprises an inner sleeve (55) and a fourth transmission gear (56). The inner sleeve (55) is rotatably connected in the outer sleeve (52), one end of the inner sleeve (55) extends into the transmission seat (5) and is connected to the fourth transmission gear (56), the two third transmission gears (54) are respectively meshed with two sides of the fourth transmission gear (56), and the output wheels (44) in the other two power distribution units (4) are respectively transmission-connected to the two third transmission gears (54), and one end of the outer sleeve (52) away from the transmission seat (5) is rotatably connected to a movable rod (57), the rotation axis of the movable rod (57) and the rotation axis of the outer sleeve (52) are perpendicular to each other, the inner sleeve (55) is transmission-connected to the movable rod (57), and the movable rod (57) forms an output end.

6. A robotic arm according to claim 5, characterized in that: A fixed frame (58) extending into the transmission seat (5) is connected inside the box body (2); the first transmission gear (51) and the third transmission gear (54) are rotatably connected to the fixed frame (58); a movable frame (59) is rotatably connected to the fixed frame (58); and the movable frame (59) is connected to the inner side of the transmission seat (5).

7. A robotic arm according to claim 5, characterized in that: The box body (2) and the base (1) are rotatably connected, a fifth transmission gear (21) is rotatably connected to the outside of the box body (2), a sixth transmission gear (11) is sleeved on the outside of the base (1), the fifth transmission gear (21) and the sixth transmission gear (11) are meshed with each other, and the output wheel (44) in the other power distribution unit (4) is rotatably connected to the fifth transmission gear (21).

8. A powered exoskeleton, characterized in that: A robot arm comprising a first body (61), a clamping claw, a rotating sleeve (62), and any one of claims 5 to 7, wherein four bases (1) of the robot arm are respectively connected to the first body (61), the ends of the four inner sleeves (55) are respectively connected to the rotating sleeves (62) through ball joints, and the clamping claws are rotatably connected inside the four rotating sleeves (62).

9. A robot, characterized in that: A robot arm comprising a second body (71), a support foot (72), and any one of claims 5 to 7, wherein four bases (1) of the robot arm are respectively connected to the second body (71), and ends of the four inner sleeves (55) are respectively connected to the support foot (72) via ball joints.

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