A three-degree-of-freedom series-parallel electromagnetically driven robotic arm

Abstract

This invention discloses a three-degree-of-freedom series-parallel electromagnetically driven robotic arm, comprising: at least two sets of robotic arm joints arranged sequentially along the axial direction; each robotic arm joint includes a base plate, multiple drive mechanisms, and a step-down module, the step-down module being communicatively connected to a power supply module; between adjacent robotic arm joints, the output end of the drive mechanism of the upper section is rotatably connected to the base plate of the lower section, and a control module communicatively connected to the power supply module is disposed at the bottom of the base plate at the first end, the control module being communicatively connected to the drive mechanism. This three-degree-of-freedom series-parallel electromagnetically driven robotic arm eliminates traditional mechanical transmission components such as motors and lead screws, enabling tight integration of the drive elements and the actuators, reducing intermediate links, improving energy conversion efficiency, achieving miniaturization and lightweighting of the robotic arm, further reducing the overall size, improving adaptability, and enabling it to operate in complex or confined spaces.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a three-degree-of-freedom series-parallel electromagnetically driven robotic arm. Background Technology

[0002] Destroyed satellites, rocket debris, and other space activity debris not only threaten the safety of spacecraft in orbit, but also necessitate the completion of many on-orbit tasks, such as target capture and equipment maintenance, within confined spaces. Hyperredundant robotic arms, as an innovative technology, have demonstrated enormous potential in space debris cleanup and on-orbit operations.

[0003] A traditional rope-driven serpentine robotic arm consists of three parts: the arm body, the drive system, and the control and power system. The arm body is composed of multiple vertebral segments (or joint segments) connected in series, each segment being hollow to reduce overall weight. The segments rotate relative to each other via flexible connections (such as universal joints or ball-and-socket joints). The drive system at the rear of the arm includes a small, high-torque motor, a precision reducer, and multiple high-strength ropes or cables running throughout the arm. The motor's speed is reduced and torque increased by the reducer, and then the power is transmitted to each joint via the ropes to control its rotation angle. The control section includes a processor, sensors, actuators, and other components, responsible for receiving external commands and controlling the drive mechanism to achieve precise control of the robotic arm. The power supply typically includes batteries and a power management module to ensure a stable power supply during extended operation.

[0004] As the number of joints increases, the number of rear motors in traditional rope-driven serpentine robotic arms also increases, leading to volume redundancy and increased control difficulty. The ropes need to pass through multiple joints, causing motion coupling between the joints and reducing the accuracy and stability of the robotic arm. Due to rope tension distribution and joint constraints, the overall deflection angle of the robotic arm is small, and the working space is limited. Summary of the Invention

[0005] The purpose of this invention is to provide a series-parallel electromagnetically driven robotic arm with multiple degrees of freedom to solve the problems of structural redundancy, excessive weight, and small overall deflection angle of existing snake-shaped robotic arms.

[0006] The technical solution of the present invention to solve the above-mentioned technical problems is as follows:

[0007] A three-degree-of-freedom series-parallel electromagnetically driven robotic arm includes: at least two sets of robotic arm joints arranged sequentially along the axial direction;

[0008] The robotic arm joint includes a base plate, multiple drive mechanisms evenly spaced on the top of the base plate, and a step-down module mounted on the base plate and communicating with the drive mechanisms. Each step-down module corresponds to a drive mechanism and is communicating with a power module. All drive mechanisms on the robotic arm joints are arranged in a corresponding and arranged manner.

[0009] Between adjacent robotic arm joints, the output end of the drive mechanism of the upper section is rotatably connected to the base plate of the lower section, the output end of the drive mechanism at the end is rotatably connected to the top plate, and the bottom of the base plate at the beginning is equipped with a control module that communicates with the power module. The control module communicates with the drive mechanism.

[0010] The control module is used to control the extension and retraction of the drive mechanism, thereby enabling the robotic arm to extend, retract, or deflect.

[0011] Furthermore, in the aforementioned robotic arm joint at the head end, the pressure reduction module is located on the top of the base plate, and the pressure reduction module drives the mechanism at even intervals.

[0012] In the remaining robotic arm joints, the pressure reduction module is located at the bottom of the base plate.

[0013] Furthermore, the aforementioned drive mechanism includes a hollow cylinder disposed on the top of the base plate, a magnetic block slidably disposed within the hollow cylinder, and a push rod disposed on the top of the magnetic block. The end of the push rod away from the magnetic block extends out of the hollow cylinder and is rotatably connected to the base plate of the upper section of the robotic arm joint.

[0014] The outer wall of the hollow cylinder has vertical grooves along the axial direction. The outer wall of the hollow cylinder has several radial annular grooves that are equally spaced and connected to the vertical grooves. Electromagnetic modules that are connected to the control module and the step-down module are installed in the vertical grooves. Electromagnetic coils that are connected to the electromagnetic modules are wound on the radial annular grooves. When the electromagnetic coils are energized, the magnetic force generated attracts the magnetic force of the magnetic block.

[0015] Furthermore, the depth of the vertical groove is greater than the depth of the radial annular groove.

[0016] Furthermore, the aforementioned electromagnetic module is located inside the electromagnetic coil.

[0017] Furthermore, the outer edge of the aforementioned electromagnetic coil is flush with the outer wall of the hollow cylinder.

[0018] Furthermore, the bottom end of the aforementioned electromagnetic module penetrates the corresponding base plate and is communicatively connected to the step-down module.

[0019] Furthermore, the base plate is provided with an installation groove for installing the hollow cylinder, and a locking block is provided at the bottom center of the installation groove to engage with the inner wall of the bottom end of the hollow cylinder.

[0020] Furthermore, an outer shell is provided on the aforementioned base plate, with the hollow cylinder located inside the outer shell;

[0021] Between adjacent robotic arm joints, the end of the push rod of the upper section away from the magnet passes through the top wall of the housing and rotates to connect with the bottom plate of the lower section.

[0022] Furthermore, the push rod of the previous section of the robotic arm joint is rotatably connected to the bottom plate of the next section of the robotic arm joint, and the push rod at the end is rotatably connected to the top plate through a linkage mechanism.

[0023] The linkage mechanism includes a hinge and a ball chain rotatably connected to the hinge. The hinge is located at the bottom of the top plate and the bottom plate of the next robotic arm joint, respectively. The ball chain is located at the end of the push rod of the previous robotic arm joint.

[0024] The present invention has the following beneficial effects:

[0025] 1. The three-degree-of-freedom series-parallel electromagnetic drive robotic arm of the present invention uses multiple robotic arm joints connected in series and multiple drive mechanisms on a single robotic arm joint connected in parallel, so that the maximum deflection angle of a single robotic arm joint can reach 45°, thereby enabling the robotic arm as a whole to deflect at a large angle.

[0026] 2. The three-degree-of-freedom series-parallel electromagnetic drive robotic arm of the present invention eliminates traditional mechanical transmission components such as motors and lead screws, making the drive elements tightly integrated, reducing intermediate links, improving energy conversion efficiency, realizing the miniaturization and lightweighting of the robotic arm, further reducing the overall size, improving adaptability, and enabling it to operate in complex or confined spaces.

[0027] 3. The three-degree-of-freedom series-parallel electromagnetic drive robotic arm of the present invention provides a large current to the drive mechanism through a power supply module and a step-down module, and the control module is used to control and adjust the current of the drive mechanism, so that the output end of the drive mechanism can move stably and accurately.

[0028] 4. The driving mechanism of this invention inputs control commands to the electromagnetic module through the control module and realizes the input of current to any one of the electromagnetic coils. The step-down module is used to reduce the voltage, thereby increasing the current. When any one of the electromagnetic coils is energized, it generates a magnetic force that attracts the magnetic block, thereby changing the position of the magnetic block in the hollow cylinder. By inputting current to the electromagnetic coils at different positions, the magnetic block is controlled to move up and down in the hollow cylinder. When the magnetic block moves, it drives the push rod to move, thereby changing the deflection angle between the upper base plates, and finally realizing the deflection of the robotic arm. When all the magnetic blocks in the same robotic arm joint move to the same position, the push rod moves the same distance, thereby realizing the extension and retraction of the robotic arm. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the overall structure of a three-degree-of-freedom series-parallel electromagnetically driven robotic arm.

[0030] Figure 2 A schematic diagram of the joint structure of a robotic arm;

[0031] Figure 3 A schematic diagram of the specific structure of the robotic arm joint;

[0032] Figure 4 for Figure 1 A magnified structural diagram of part A;

[0033] Figure 5 This is a schematic diagram of the bottom plate of the lowest end of the robotic arm joint.

[0034] In the diagram: 1. Robotic arm joint; 11. Base plate; 111. Mounting slot; 112. Locking block; 12. Drive mechanism; 121. Hollow cylinder; 122. Magnetic block; 123. Push rod; 124. Vertical slot; 125. Radial annular slot; 126. Electromagnetic module; 127. Electromagnetic coil; 13. Voltage reduction module; 2. Top plate; 3. Control module; 4. Housing; 5. Linkage mechanism; 51. Hinge; 52. Ball chain. Detailed Implementation

[0035] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0036] like Figures 1 to 5 As shown, an embodiment of the present invention provides a three-degree-of-freedom series-parallel electromagnetically driven robotic arm, comprising: at least two sets of robotic arm joints 1 arranged sequentially along the axial direction; multiple robotic arm joints 1 connected in series along the axial direction, and adjacent robotic arm joints 1 rotating in coordination. In this embodiment, there are six robotic arm joints 1. In other embodiments of the present invention, the number of robotic arm joints 1 can be three, four, five, seven, etc., without specific limitations. The number and type of robotic arm joints can be flexibly configured according to requirements.

[0037] The robotic arm joint 1 includes a base plate 11, a plurality of drive mechanisms 12 evenly spaced on the top of the base plate 11, and a step-down module 13 disposed on the base plate 11 and communicatively connected to the drive mechanisms 12. The step-down module 13 corresponds one-to-one with the drive mechanism 12 and is communicatively connected to the power module. The drive mechanisms 12 on all robotic arm joints 1 are correspondingly arranged. The step-down module 13 is a commonly used step-down module in existing robotic arms or manipulators, and will not be described in detail here. In this embodiment, in the first robotic arm joint 1, the step-down module 13 is disposed on the top of the base plate 11, and the step-down module 13 evenly spaces the drive mechanisms 12. In the other robotic arm joints 1, the step-down module 13 is disposed on the bottom of the base plate 11. The step-down module 13 is used to reduce the voltage, thereby increasing the current.

[0038] Between adjacent robotic arm joints 1, the output end of the drive mechanism 12 of the upper section is rotatably connected to the base plate 11 of the lower section. Therefore, when the drive mechanism 12 extends or retracts, the base plate 11 of the lower section can be deflected, thereby causing the entire robotic arm to deflect. The output end of the drive mechanism 12 at the end is rotatably connected to the top plate 2. The bottom of the base plate 11 at the beginning end is provided with a control module 3 that communicates with the power module. The control module 3 can be set to one, two, three, four, etc., and its number is determined according to the number of parallel drive mechanisms 12 and the number of series robotic arm joints 1. No specific limitation is made here. The control module 3 uses an ESP32 chip and communicates with the drive mechanism 12. The control module 3 is used to control the extension and retraction of the drive mechanism 12, thereby causing the robotic arm to extend, retract, or deflect. The control module 3 is used to control and adjust the current on the drive mechanism 12 and enable the output end of the drive mechanism 12 in the robotic arm joint 1 to move stably and accurately. This invention eliminates traditional mechanical transmission components such as motors and lead screws, enabling the drive element 12 to be tightly integrated, reducing intermediate links, improving energy conversion efficiency, and realizing the miniaturization and lightweighting of the robotic arm. This further reduces the overall size of the machine, improves adaptability, and allows it to operate in complex or confined spaces.

[0039] Furthermore, in this embodiment, three sets of drive mechanisms 12 are provided on a single robotic arm joint 1, and the base plate 11 has a triangular structure. The top plate 2 has the same shape as the base plate 11. The drive mechanisms 12 are respectively and spaced apart at the top triangular positions of the base plate 11, forming a parallel drive structure. The control module 3 is used to control the extension and retraction of the drive mechanisms 12 on the robotic arm joint 1, and the maximum deflection angle of a single robotic arm joint 1 can reach 45°, thereby realizing the extension and retraction of the robotic arm and large-angle deflection. In other embodiments of the present invention, the drive mechanisms 12 can be set to two, four, five, etc., and the number of step-down modules 13 corresponds accordingly, which facilitates independent driving of each drive mechanism 12 and decouples the drives of different arm segments.

[0040] like Figure 2 and Figure 3 As shown, the drive mechanism 12 includes a hollow cylinder 121 disposed on the top of the base plate 11. The hollow cylinder 121 is hollow inside and has openings at both the top and bottom. A magnetic block 122 is slidably disposed inside the hollow cylinder 121. The magnetic block 122 has a cylindrical structure, and its size matches the inner diameter of the hollow cylinder 121. The opening size at the top of the hollow cylinder 121 is slightly smaller than the size of the magnetic block 122, thus preventing the magnetic block 122 from slipping off. A push rod 123 is disposed on the top of the magnetic block 122. The end of the push rod 123 away from the magnetic block 122 extends out of the hollow cylinder 121 and is rotatably connected to the base plate 11 of the upper section of the robotic arm joint 1. The hollow cylinder 121 is made of materials such as aluminum, stainless steel, copper, or plastic.

[0041] The outer wall of the hollow cylinder 121 has a vertical groove 124 along the axial direction. The outer wall of the hollow cylinder 121 has several radial annular grooves 125 that are equally spaced and communicate with the vertical grooves 124. An electromagnetic module 126, which is communicatively connected to the control module 3 and the step-down module 13, is installed in the vertical groove 124. An electromagnetic coil 127, which is communicatively connected to the electromagnetic module 126, is wound on the radial annular groove 125. When the electromagnetic coil 127 is energized, the magnetic force generated is attracted to the magnetic force of the magnetic block 122. The electromagnetic module 126 is a PCB board that integrates several PMOS, surface-mount LEDs, surface-mount resistors, connectors, and a 74HC595 control chip. It is used to provide current to the electromagnetic coil 127 at any time.

[0042] In this embodiment, the depth of the vertical groove 124 is greater than the depth of the radial annular groove 125; the electromagnetic module 126 is located inside the electromagnetic coil 127; the outer edge of the electromagnetic coil 127 is flush with the outer wall of the hollow cylinder 121; the bottom end of the electromagnetic module 126 penetrates the corresponding base plate 11 and is communicatively connected to the step-down module 13.

[0043] The control module 3 inputs control commands to the electromagnetic module 126 and enables the input of current to any one of the electromagnetic coils 127. The step-down module 13 is used to reduce the voltage, thereby increasing the current. When any one of the electromagnetic coils 127 is energized, it generates a magnetic force that attracts the magnetic block 122, thereby changing the position of the magnetic block 122 in the hollow cylinder 121. By inputting current to the electromagnetic coils 127 at different positions, the magnetic block 122 is driven to move up and down in the hollow cylinder 121. When the magnetic block 122 moves, it will drive the push rod 123 to move, thereby changing the deflection angle between the upper base plate 11, and finally realizing the deflection of the robotic arm. When all the magnetic blocks 122 in the same robotic arm joint 1 move to the same position, the push rod 123 moves the same distance, thereby realizing the extension and retraction of the robotic arm.

[0044] To facilitate the installation of the hollow cylinder 121, the base plate 11 is provided with an installation groove 111 for installing the hollow cylinder 121. A locking block 112 is provided at the bottom center of the installation groove 111 to engage with the inner wall of the bottom end of the hollow cylinder 121; the locking block 112 engages with the bottom opening of the hollow cylinder 121.

[0045] like Figure 1 and Figure 4As shown, a housing 4 is provided on the base plate 11, and a hollow cylinder 121 is located inside the housing 4. The housing 4 is used to protect the drive mechanism 12 and prevent a large amount of dust from accumulating on the drive mechanism 12, so as to avoid affecting subsequent use. The housing 4 is a hollow triangular prism structure with an open bottom, which matches the shape of the base plate 11. The top wall of the housing 4 has three through holes that match the push rod 123. Between adjacent robotic arm joints 1, the end of the push rod 123 of the upper section away from the magnet 122 passes through the top wall of the housing 4 and is rotatably connected to the base plate 11 of the next section.

[0046] Specifically, the push rod 123 of the previous robotic arm joint 1 is rotatably connected to the upper base plate 11, and the push rod 123 at the end is rotatably connected to the top plate 2 through a linkage mechanism 5. The linkage mechanism 5 includes a hinge 51 and a ball chain 52 rotatably connected to the hinge 51. The top end of the ball chain 52 rotates with the hinge 51 through a shaft hole. The hinge 51 is respectively located at the bottom of the top plate 2 and the base plate 11 of the next robotic arm joint 1, and the ball chain 52 is located at the end of the push rod 123 of the previous robotic arm joint 1. Adjacent robotic arm joints 1 are rotatably connected through the hinge 51 and the ball chain 52 on the linkage mechanism 5.

[0047] The three-degree-of-freedom series-parallel electromagnetic drive robotic arm of the present invention provides a large current to the electromagnetic coil 127 in the drive mechanism 12 through the power supply module and the step-down module 13. The control module 3 is used to input control commands to the electromagnetic module 126 and realize the input of current to any one of the electromagnetic coils 127, so that the magnetic block 122 and the push rod 123 can move up and down along the hollow cylinder 121 stably and accurately, thereby ultimately realizing the extension or deflection of the robotic arm. Through the setting of the drive mechanism 12, the miniaturization and weight reduction of the robotic arm are realized, further reducing the volume of the robotic arm, so that it can operate in complex or restricted, narrow spaces.

[0048] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A three-degree-of-freedom series-parallel electromagnetically driven robotic arm, characterized in that, include: At least two sets of robotic arm joints arranged sequentially along the axial direction (1); The robotic arm joint (1) includes a base plate (11), a plurality of drive mechanisms (12) evenly spaced on the top of the base plate (11), and a step-down module (13) disposed on the base plate (11) and connected to the drive mechanisms (12). The step-down module (13) corresponds one-to-one with the drive mechanism (12), and the step-down module (13) is connected to the power module. All the drive mechanisms (12) on the robotic arm joint (1) are arranged in a corresponding and arranged manner. Between adjacent robotic arm joints (1), the output end of the drive mechanism (12) of the upper section is rotatably connected to the base plate (11) of the lower section, and the output end of the drive mechanism (12) at the end is rotatably connected to a top plate (2). The bottom of the base plate (11) at the beginning is provided with a control module (3) connected to the power module, and the control module (3) is connected to the drive mechanism (12). The control module (3) is used to control the extension and retraction of the drive mechanism (12), thereby causing the robotic arm to extend, retract, or deflect. The drive mechanism (12) includes a hollow cylinder (121) disposed on the top of the base plate (11), a magnetic block (122) slidably disposed in the hollow cylinder (121), and a push rod (123) disposed on the top of the magnetic block (122). The end of the push rod (123) away from the magnetic block (122) extends out of the hollow cylinder (121) and is rotatably connected to the base plate (11) of the next section of the robotic arm joint (1). The hollow cylinder (121) has a vertical groove (124) along its axial direction on its outer wall. The hollow cylinder (121) also has a plurality of radial annular grooves (125) that are equally spaced and connected to the vertical grooves (124). An electromagnetic module (126) connected to the control module (3) and the step-down module (13) is installed in the vertical groove (124). An electromagnetic coil (127) connected to the electromagnetic module (126) is wound on the radial annular groove (125). When the electromagnetic coil (127) is energized, the magnetic force generated is attracted to the magnetic force of the magnetic block (122). The base plate (11) is covered with an outer shell (4), and the hollow cylinder (121) is located inside the outer shell (4); Between adjacent robotic arm joints (1), the end of the push rod (123) of the upper section away from the magnet (122) passes through the top wall of the housing (4) and is rotatably connected to the bottom plate (11) of the next section; The push rod (123) of the robotic arm joint (1) described in the previous section and the base plate (11) of the robotic arm joint (1) described in the next section, as well as the push rod (123) at the end and the top plate (2), are rotatably connected by a linkage mechanism (5). The linkage mechanism (5) includes a hinge (51) and a ball joint (52) rotatably connected to the hinge (51). The hinge (51) is respectively located at the bottom of the top plate (2) and the bottom plate (11) of the next section of the robotic arm joint (1). The ball joint (52) is located at the end of the push rod (123) of the previous section of the robotic arm joint (1).

2. The three-degree-of-freedom series-parallel electromagnetic drive robotic arm according to claim 1, characterized in that, In the robotic arm joint (1) at the head end, the pressure reduction module (13) is located on the top of the base plate (11), and the pressure reduction module (13) evenly spaces the drive mechanism (12); In the remaining robotic arm joints (1), the pressure reduction module (13) is located at the bottom of the base plate (11).

3. The three-degree-of-freedom series-parallel electromagnetically driven robotic arm according to claim 1, characterized in that, The depth of the vertical groove (124) is greater than the depth of the radial annular groove (125).

4. The three-degree-of-freedom series-parallel electromagnetically driven robotic arm according to claim 3, characterized in that, The electromagnetic module (126) is located inside the electromagnetic coil (127).

5. The three-degree-of-freedom series-parallel electromagnetically driven robotic arm according to claim 4, characterized in that, The outer edge of the electromagnetic coil (127) is flush with the outer wall of the hollow cylinder (121).

6. The three-degree-of-freedom series-parallel electromagnetically driven robotic arm according to claim 1, characterized in that, The bottom end of the electromagnetic module (126) passes through the corresponding base plate (11) and is connected to the step-down module (13).

7. The three-degree-of-freedom series-parallel electromagnetically driven robotic arm according to claim 1, characterized in that, The base plate (11) has an installation groove (111) for installing the hollow cylinder (121), and a locking block (112) is provided at the bottom center of the installation groove (111) to engage with the inner wall of the bottom end of the hollow cylinder (121).

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