Mechanical arm and robot

Abstract

The invention relates to a mechanical arm and a robot. The mechanical arm comprises a tail end executing mechanism assembly, a first joint module, a second joint module, a first support, a third joint module, a first connecting rod and a second connecting rod, and the first joint module, the second joint module, the first support, the first connecting rod and the second connecting rod are matched to drive the tail end executing mechanism assembly to rotate around a first axis and a second axis. The third joint module drives the first support, the first joint module, the second joint module, the first support, the first connecting rod, the second connecting rod and the tail end executing mechanism assembly to rotate around a third axis.

Description

Technical Field

[0001] The present disclosure relates to the field of terminal technology, and in particular to a mechanical arm and a robot. Background Art

[0002] In the electromechanical system environment, the upper limbs of bionic robots are basically composed of various joints of the upper limbs in the form of modular drive joints in series. Taking the wrist joint as an example, imitating the three rotational degrees of freedom of the human wrist, the wrist joint of the upper limb will also be equipped with three rotational joint modules to realize the three rotational degrees of freedom respectively. The three rotational joint modules are arranged in series to realize the rotation of the wrist joint in three directions. Summary of the invention

[0003] The present disclosure provides a mechanical arm and a robot to solve the deficiencies in the related art.

[0004] According to a first aspect of an embodiment of the present disclosure, there is provided a robotic arm, comprising:

[0005] End effector assembly;

[0006] A first bracket, wherein the bracket end of the first bracket is rotatably arranged relative to the end actuator assembly and has a rotational degree of freedom around a first axis and a rotational degree of freedom around a second axis;

[0007] A first joint module, the first joint module comprising a first rotation joint and a first output flange connected to the first rotation joint, the first rotation joint being connected to the first bracket;

[0008] A second joint module, wherein the second joint module comprises a second rotary joint and a second output flange connected to the second rotary joint, wherein the second rotary joint is connected to the first bracket, and a rotation axis of the first rotary joint is parallel to a rotation axis of the second rotary joint, and in a direction of the rotation axis, the first output flange and the second output flange are arranged on opposite sides;

[0009] a third joint module, the third joint module comprising a third rotary joint and a third output flange connected to the third rotary joint, the third output flange being connected to the first bracket, the rotation axis of the third rotary joint being a third axis, the third axis, the first axis and the second axis being perpendicular to each other, and the direction of the third axis being the length direction of the robotic arm;

[0010] a first connecting rod, the first connecting rod being movably connected to the first output flange and a first connecting position of the end actuator assembly respectively;

[0011] A second connecting rod, wherein the second connecting rod is movably connected to the second output flange and the second connecting position of the end actuator assembly respectively, and the first connecting position and the second connecting position are centrally symmetrically arranged about the third axis.

[0012] Optionally, it further includes a rotating shaft member, the rotating shaft member includes a first rotating shaft arranged along the first axis direction and a second rotating shaft arranged along the second axis direction, the first rotating shaft and the second rotating shaft are connected;

[0013] The first rotating shaft is rotatably connected to the end of the bracket, and the second rotating shaft is rotatably connected to the end actuator assembly.

[0014] Optionally, the first rotating shaft and the second rotating shaft are arranged in a cross-shaped structure or a T-shaped structure.

[0015] Optionally, the rotation axes of the first joint module and the second joint module are respectively arranged parallel to the first rotation axis;

[0016] A line connecting the first connection position and the second connection position is parallel to the first rotation axis.

[0017] Optionally, the end effector assembly includes an end effector mechanism and a mounting seat connected to the end effector mechanism, the mounting seat is rotatably connected to the second rotating shaft, and the end effector mechanism is located on a side of the mounting seat away from the second rotating shaft.

[0018] Optionally, the mounting seat includes a seat body and a fixing rod fixedly connected to a first side of the seat body;

[0019] The first connection position is the first end of the fixing rod, the second connection position is the second end of the fixing rod, and the fixing rod is arranged parallel to the first rotating shaft;

[0020] The end effector is connected to a second side of the seat body, and the second side and the first side are disposed opposite to each other in the opposite direction of the third axis.

[0021] Optionally, also include:

[0022] A second bracket, the second bracket is fixedly connected to the third rotating joint;

[0023] A fourth joint module, wherein the rotation axis of the fourth joint module is parallel to the second rotation axis, the fourth joint module comprises a fourth rotation joint and a fourth output flange connected to the fourth rotation joint, and the fourth output flange is connected to the second bracket.

[0024] Optionally, the second bracket includes:

[0025] A first mounting frame, wherein the first mounting frame comprises a mounting slot, the third joint module is fixed in the mounting slot, and the bottom of the first mounting frame is connected to the first bracket;

[0026] A first connecting frame, wherein the first connecting frame is connected to the upper side of the first mounting frame, and one end of the first connecting frame away from the first mounting frame is connected to the fourth output flange;

[0027] A second connecting frame, wherein the second connecting frame is connected to the top of the first mounting frame, and one end of the second connecting frame away from the first mounting frame is rotatably connected to the other end of the fourth joint module away from the fourth output flange.

[0028] Optionally, the first mounting frame includes a hollow bottom plate, and a plurality of legs extending upward from the hollow bottom plate, and the plurality of legs and the hollow bottom plate surround the mounting groove;

[0029] The hollow bottom plate is connected to the third rotation joint, one or more legs are connected to the first connecting frame, and one or more legs are connected to the second connecting frame.

[0030] Optionally, a third driving component is further included, wherein the third driving component is used to drive the third joint module to rotate, and the third driving component is arranged on the second bracket.

[0031] Optionally, also include:

[0032] A third bracket, the third bracket is fixedly connected to the fourth joint module;

[0033] The fifth joint module comprises a fifth rotation joint and a fifth output flange connected to the fifth rotation joint, the fifth output flange is connected to the third bracket, and the rotation axis of the fifth rotation joint is parallel to the rotation axis of the third joint module.

[0034] Optionally, also include:

[0035] A fourth driving assembly, the fourth driving assembly is used to drive the fourth rotary joint to rotate, and the fourth driving assembly is connected to the third bracket.

[0036] Optionally, also include:

[0037] A fourth bracket, the fourth bracket being fixedly connected to the fifth rotating joint;

[0038] The sixth joint module comprises a sixth rotary joint and a sixth output flange connected to the sixth rotary joint, the sixth output flange is connected to the fourth bracket, and the rotation axis of the sixth rotary joint is parallel to the first axis.

[0039] Optionally, also include:

[0040] A support member, the support member is connected to the sixth rotary joint, and the support member is rotatably connected to an end of the sixth rotary joint away from the sixth output flange in the direction of the rotation axis;

[0041] A connecting member connects the supporting member and the fourth bracket.

[0042] Optionally, the connecting member is a threaded column arranged along the first axis direction, and two ends of the threaded column are respectively locked with the supporting member and the fourth bracket.

[0043] Optionally, also include:

[0044] a fifth bracket connected to the sixth rotation joint;

[0045] The seventh joint module comprises a seventh rotary joint and a seventh output flange connected to the seventh rotary joint, the rotation axis of the seventh output flange is parallel to the second axis, and the seventh output flange is connected to the fifth bracket.

[0046] Optionally, also include:

[0047] A fixing frame, wherein the fixing frame is fixedly connected to the seventh rotating joint, and the fixing frame is used to be connected to the body of the robot arm.

[0048] Optionally, also include:

[0049] The seventh driving component is used to drive the seventh rotating joint to rotate around the rotation axis, and the seventh driving module is arranged on the fixing frame.

[0050] Optionally, also include:

[0051] The sixth drive assembly is connected to the sixth rotary joint and is arranged at an end of the sixth rotary joint away from the sixth output flange.

[0052] Optionally, also include:

[0053] A fifth driving assembly is connected to the fifth rotating joint and is fixedly disposed at an end of the fifth rotating joint away from the fifth output flange.

[0054] Optionally, also include:

[0055] a first driving assembly connected to the first rotating joint;

[0056] a second driving assembly connected to the second rotary joint;

[0057] The first driving assembly and the second driving assembly are both fixedly disposed on the first bracket;

[0058] When the first rotary joint and the second rotary joint rotate in opposite directions, the end actuator assembly rotates around the first rotation axis;

[0059] When the first rotary joint and the second rotary joint rotate in the same direction, the end actuator assembly rotates around the second rotation axis.

[0060] Optionally, the first bracket further includes a mounting end extending from the first mounting portion in a direction away from the end of the bracket, the mounting end is fixedly connected to the third output flange, and the first drive assembly and the second drive assembly are arranged at the mounting end.

[0061] Optionally, the length of the first connecting rod is greater than the length of the second connecting rod.

[0062] According to a second aspect of an embodiment of the present disclosure, there is provided a robot comprising a robotic arm as described in any one of the above embodiments.

[0063] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:

[0064] It can be seen from the above embodiments that the present invention realizes the rotation of the end actuator in the direction of the first axis X and the second axis Y through the first joint module and the second joint module, the first connecting rod and the second connecting rod and other mechanisms. Compared with the traditional joint module series connection method, the present invention uses the first connecting rod and the second connecting rod with lighter mass to connect the mounting base and the end actuator. Compared with the solution in which the joint module with larger mass is close to the end actuator in the traditional technology, the mass is moved upward, which can reduce the end inertia of the robot arm, which is beneficial to realize the motion control of the robot arm.

[0065] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0067] Figure 1 is an oblique view of a robotic arm according to an exemplary embodiment.

[0068] Figure 2 yes Figure 1 Front view of the robotic arm.

[0069] Figure 3 yes Figure 1 Side view of the robotic arm. DETAILED DESCRIPTION

[0070] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0071] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. The singular forms of "a", "said" and "the" used in this disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0072] It should be understood that although the terms first, second, third, etc. may be used in the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0073] Taking the wrist joint of the robot arm as an example, the wrist joint requires three joint modules to realize the rotational freedom in three directions. Usually, the three joint modules can include a rotational joint module in the pitch direction, a rotational joint module in the yaw direction, and a rotational joint module in the roll direction, wherein when the rotational joint module in the pitch direction rotates, the rotational joint module in the yaw direction, the rotational joint module in the roll direction, and the end actuator can be driven to rotate synchronously around the pitch direction; when the rotational joint module in the yaw direction rotates, the rotational joint module in the roll direction and the end actuator can be driven to rotate synchronously around the yaw direction; when the rotational joint module in the roll direction rotates, the end actuator can be driven to rotate synchronously around the roll direction, thereby realizing the three rotational degrees of freedom of the wrist joint in a series form between the three rotational joint modules.

[0074] However, the serial arrangement of the joint modules causes the three rotational joint modules to be locally arranged along the length of the upper limb. Therefore, the roll direction rotational joint module will be closer to the end effector mechanism than the pitch direction rotational joint module and the yaw direction rotational joint module, which increases the end inertia of the upper limb and is not conducive to motion control of the upper limb.

[0075] Based on this, the present disclosure provides a robotic arm, in which the arrangement of the joint modules is different from the traditional serial arrangement, and the end rotating joint module is moved away from the end actuator and the end of the robotic arm, thereby reducing the end inertia of the robotic arm and facilitating the motion control of the robotic arm.

[0076] For example, Figure 1-Figure 3 As shown, the robot arm includes an end actuator assembly, a first joint module 3, a second joint module 4, a first bracket 5, a third joint module 6, a first connecting rod 7 and a second connecting rod 8. Among them, the end actuator assembly can include a mounting seat 1 and an end actuator 2 connected to the mounting seat 1. The mounting seat 1 and the end actuator 2 can be an integrated design or a split design, and the present disclosure does not limit this. The end actuator 2 can be a palm-like structure, which can also be configured with a degree of freedom or not configured with a degree of freedom. The first bracket 5 includes a first mounting portion 51, a second mounting portion 52 and a bracket end 53 extending from the second mounting portion 52. The bracket end 53 can be arranged to rotate relative to the mounting seat 1, and the first bracket 5 and the end actuator assembly have a rotational degree of freedom around the first axis X and a rotational degree of freedom around the second axis Y, that is, the first bracket 5 and the end actuator assembly can rotate relative to each other around the first axis X, and can also rotate relative to each other around the second axis Y. Of course, only one of the above two degrees of freedom can be implemented at the same time. For example, the first bracket 5 and the mounting seat 1 may rotate relative to each other around the first axis X and around the second axis Y, and the end actuator 2 is connected to a side of the mounting seat 1 facing away from the first bracket 5 .

[0077] The first joint module 3 includes a first rotary joint 31 and a first output flange 32 connected to the first rotary joint 31, the second joint module 4 includes a second rotary joint 41 and a second output flange 42 connected to the second rotary joint 41, and the third joint module 6 includes a third rotary joint and a third output flange connected to the third rotary joint. The third output flange can be connected to the first bracket 5, the first rotary joint 31 is connected to the first mounting portion 51, and the second rotary joint 41 is connected to the second mounting portion 52, so that the first joint module 3 and the second joint module 4 are relatively fixed by the first bracket 5. In addition, since the third output flange is connected to the first bracket 5, when the third output flange is driven to rotate by the third rotary joint, the first bracket 5, the first joint module 3, the second joint module 4, the mounting seat 1 and the end actuator 2 can be driven to rotate synchronously at the same time. Assuming that the rotation axis of the third joint module 6 is the third axis, the first bracket 5, the first joint module 3, the second joint module 4, the mounting seat 1 and the end actuator 2 can be driven to rotate synchronously around the third axis Z by the third rotary joint. The first axis X, the second axis Y and the third axis Z are arranged perpendicularly in pairs, and the third axis Z is arranged along the length direction of the robot arm. Therefore, the third joint module 6 can drive the end actuator 2 to rotate around the Z direction, that is, drive the end actuator 2 to rotate, thereby realizing the rotational freedom design in the roll direction.

[0078] Furthermore, the specific structure and shape of the first mounting portion 51 and the second mounting portion 52 can be adaptively designed according to the first rotary joint 31 and the second rotary joint 41. The first mounting portion 51 and the second mounting portion 52 are located between the bracket end 53 and one end where the first bracket 5 is connected to the third rotary joint. By reasonably adjusting the relative position relationship of the first mounting portion 51 and the second mounting portion 52, the rotation axes of the first joint module 3 and the second joint module 4 can be arranged in parallel, and the first output flange 32 and the second output flange 42 are arranged on opposite sides. The first connecting rod 7 is movably connected to the first output flange 32 and the first connection position of the mounting seat 1, respectively, and the second connecting rod 8 is movably connected to the second output flange 42 and the second connection position of the mounting seat 1, respectively, and the first connection position and the second connection position are arranged in a central symmetric manner about the third axis Z.

[0079] Based on this, when the first rotation joint 31 and the second rotation joint 41 rotate in the same direction, it is assumed that Figure 1The first rotary joint 31 and the second rotary joint 41 rotate clockwise, and the first output flange 32 and the second output flange 42 rotate clockwise to output power. Under the action of the first output flange 32, the first connecting rod 7 rotates slightly relative to the first output flange 32 and the end actuator assembly, and the first connecting rod 7 moves downward; under the action of the second output flange 42, the second connecting rod 8 rotates slightly relative to the second output flange 42 and the end actuator assembly, and the second connecting rod 8 moves upward. Then, under the joint action of the first connecting rod 7 and the second connecting rod 8, the end actuator assembly rotates around the second axis Y relative to the first bracket 5.

[0080] When the first rotary joint 31 and the second rotary joint 41 rotate in opposite directions, assuming Figure 1 The first rotary joint 31 rotates in the clockwise direction, the second rotary joint 41 rotates in the counterclockwise direction, the first output flange 32 can rotate in the clockwise direction to output power, and the second output flange 42 can rotate in the counterclockwise direction to output power. Then, under the action of the first output flange 32, the first connecting rod 7 will rotate slightly relative to the first output flange 32 and the end actuator assembly, and the first connecting rod 7 will move downward; under the action of the second output flange 42, the second connecting rod 8 will rotate slightly relative to the second output flange 42 and the end actuator assembly, and the second connecting rod 8 will move downward. Then, under the joint action of the first connecting rod 7 and the second connecting rod 8, the end actuator assembly of the mounting seat 1 will rotate around the first axis X relative to the first bracket 5.

[0081] It can be seen from the above embodiments that the present disclosure realizes the rotation of the end actuator 2 in the direction of the first axis X and the second axis Y through the first joint module 3 and the second joint module 4, the first connecting rod 7 and the second connecting rod 8 and other mechanisms. Compared with the traditional joint module series connection method, the present disclosure uses the first connecting rod 7 and the second connecting rod 8 with lighter mass to connect the end actuator assembly. Compared with the solution of the traditional technology in which the joint module with larger mass is close to the end actuator, the upward movement of one of the joint modules is realized, so that the overall mass is moved upward, which can reduce the end inertia of the robot arm and is conducive to realizing the motion control of the robot arm. Moreover, the length of the first connecting rod 7 and the second connecting rod 8 is used to extend the arm span length of the robot arm, increase the working space of the robot's two arms working together, and expand the range of motion of the robot's upper limbs.

[0082] In some embodiments, the first joint module 3 and the second joint module 4 can be arranged side by side in the direction of the rotation axis, and the lengths of the first connecting rod 7 and the second connecting rod 8 can be equal, which can further achieve the purpose of mass upward movement and reduce the end inertia of the robot arm. Figure 1As shown, the first joint module 3 and the second joint module 4 are basically arranged in an upper and lower position along the third axis Z direction, and the length of the first connecting rod 7 is greater than the length of the second connecting rod 8. At this time, the first bracket 5, the first joint module 3, the second joint module 4 and the mounting seat 1 can form an unequal length double crank mechanism. Based on the characteristics of the unequal length double crank mechanism with no dead point position and quick return characteristics, the smoothness of the operation of the robot arm can be improved. At the same time, the quick return characteristic can be used to realize automatic resetting of the robot arm, which is beneficial to saving processing and control resources.

[0083] Regarding the realization of relative rotation between the end actuator assembly and the first bracket 5: Taking the realization of relative rotation between the mounting seat 1 and the first bracket 5 as an example, Figure 1 As shown, the mechanical arm may further include a rotating shaft 9, which may include a first rotating shaft 91 and a second rotating shaft 92 connected to the first rotating shaft 91, wherein the first rotating shaft 91 is arranged along the first axis X direction, and the second rotating shaft 92 is arranged along the second axis Y direction. The first rotating shaft 91 is rotatably connected to the bracket end 53, and the second rotating shaft 92 is rotatably connected to the mounting seat 1, so that when the first rotating joint 31 and the second rotating joint 41 rotate around the output axis in the same direction, the first connecting rod 7 and the second connecting rod 8 act on the mounting seat 1, and the power is transmitted to the first rotating shaft 91 through the second rotating shaft 92, so that the mounting seat 1 rotates around the first axis X direction about the first rotating shaft 91; when the first rotating joint 31 and the second rotating joint 41 rotate around the output axis in opposite directions, the first connecting rod 7 and the second connecting rod 8 act on the mounting seat 1, and the power is transmitted to the second rotating shaft 92, so that the mounting seat 1 rotates around the second axis Y direction about the second rotating shaft 92. The first rotating shaft 91 and the second rotating shaft 92 are used to realize the rotation of the first axis in the X direction and the second axis in the Y direction. Compared with the joint module connected to the end actuator in the traditional technology, the rotating shaft member 9 has a smaller mass and occupies a smaller space, which can greatly enhance the bionics of the contour-matching robot.

[0084] The bracket end 53 may be provided with an avoidance groove, the first rotating shaft 91 may be arranged in the avoidance groove, and the two ends are connected to the bracket end 53 through bearings, so as to realize the rotational connection between the first rotating shaft 91 and the bracket end 53; or the bracket end 53 may protrude two convex parts, and the two ends of the first rotating shaft 91 may be connected to the two convex parts through bearings, so as to realize the rotational connection between the first rotating shaft 91 and the bracket end 53. Two bearing seats may be connected to the mounting seat 1, which are connected to the second rotating shaft 92 through the two bearing seats, so as to realize the rotational connection between the mounting seat 1 and the second rotating shaft 92, and the end actuator 2 is located on the side of the mounting seat 1 away from the second rotating shaft 92. Figure 1-Figure 3As shown, the rotating shaft 9 can be arranged in a cross-shaped structure, or the rotating shaft 9 can be arranged in a T-shaped structure, which can be designed specifically as needed. In other embodiments, other parts of the end actuator assembly and the first bracket 5 can also have relative rotational freedom in the X direction and the Y direction. The specific implementation form can refer to the embodiment described above using the mounting seat 1 as an example.

[0085] In some embodiments, the first joint module 3 and the second joint module 4 are joint modules of the same model, and the rotation axes of the first joint module 3 and the second joint module 4 can be respectively arranged in parallel with the first rotation axis 91, and the connecting line of the first connection position and the second connection position is arranged in parallel with the first rotation axis 91. Based on this, it can be ensured that the forces acting on the mounting seat 1 through the first connecting rod 7 and the second connecting rod 8 are equal in magnitude, reducing the risk of uncontrollable rotation in a non-target rotation direction, which is conducive to improving the precision control of the movement of the robot arm.

[0086] For example, the mounting base 1 includes a base body 11 and a fixed rod 12, the fixed rod 12 is connected to a first side of the base body 11, the first connection position between the first connecting rod 7 and the mounting base 1 is the first end of the fixed rod 12, and the second connection position between the second connecting rod 8 and the mounting base 1 is the second end of the fixed rod 12. The fixed rod 12 is arranged parallel to the first rotating shaft 91, and the end actuator 2 is connected to the second side of the base body 11, and the second side is arranged opposite to the first side in the direction of the third axis Z. For example, the fixed rod 12 is connected to the top of the base body 11, and the end actuator 2 is connected to the bottom of the base body 1. In this way, the robotic arm can be designed according to the human body to improve the bionic performance of the robotic arm.

[0087] For each of the above embodiments, the robot arm further includes a first drive assembly 10 and a second drive assembly 20. The first drive assembly 10 is connected to the first rotary joint 31 to drive the first rotary joint 31 to rotate, thereby causing the first output flange 32 to rotate; the second drive assembly 20 is connected to the second rotary joint 41 to drive the second rotary joint 41 to rotate, thereby driving the second output flange 42 to rotate. The first drive assembly 10 and the second drive assembly 20 are both fixedly arranged on the first bracket 5, so as to facilitate the integrated design of the first bracket 5, the first drive assembly 10, the second drive assembly 20, the first joint module 3 and the second joint module 4, shorten the transmission path between the drive assembly and the corresponding joint module, and facilitate the integrated and miniaturized design of the robot arm. When the first drive assembly 10 and the second drive assembly 20 drive the first rotary joint 31 and the second rotary joint 41 to rotate in opposite directions, the end actuator assembly rotates around the first rotation axis 91, that is, the mounting base 1 and the end actuator 2 rotate around the first rotation axis 91; when the first drive assembly 10 and the second drive assembly 20 drive the first rotary joint 31 and the second rotary joint 41 to rotate in the same direction, the end actuator assembly rotates around the second rotation axis 92, that is, the mounting base 1 and the end actuator 2 rotate around the second rotation axis 92.

[0088] For example, the first bracket 5 also includes a mounting end 54 extending from the first mounting portion 51 in a direction away from the bracket end 53, and the mounting end 54 can be fixedly connected to the third output flange of the third joint module 6, and the first drive assembly 10 and the second drive assembly 20 can be arranged at the mounting end 54. For example, since the rotation axis of the third joint module 6 is the third axis Z, the output end face of the third output flange is perpendicular to the third axis Z, so the mounting end 54 is the end face perpendicular to the third axis Z and connected to the third output flange, so the outer peripheral surface of the mounting end 54 can provide space for the arrangement of the first drive assembly 10 and the second drive assembly 20, thereby improving the utilization rate of the first bracket 5. Since the first drive assembly 10, the second drive assembly 20, the first joint module 3 and the second joint module 4 are all arranged on the first bracket 5, the transmission path between the drive assembly and the corresponding joint module can be shortened, and the transmission assembly can be reduced or even not required for transmission, thereby optimizing the output efficiency of the first joint module 3 and the second joint module 4, and indirectly reducing the mass of the whole arm of the mechanical arm, which is conducive to motion control of the mechanical arm.

[0089] In each of the above embodiments, the cooperation of the first joint module 3, the second joint module 4 and the third joint module 6 can realize the rotational freedom in the X direction around the first axis, the rotational freedom in the Y direction around the second axis and the rotational freedom in the Z direction around the third axis, so the above can be used as the bionic wrist joint of the mechanical arm. Then, in order to further enhance the bionic effect of the mechanical arm, the mechanical arm can also include a second bracket 30 and a fourth joint module 40, the second bracket 30 is fixedly connected to the third rotary joint, the rotation axis of the fourth joint module 40 is parallel to the second rotary shaft, that is, the rotation axis of the fourth joint module 40 is arranged along the second axis Y direction, the fourth joint module 40 includes a fourth rotary joint 401 and a fourth output flange 402 connected to the fourth rotary joint 401, and the fourth output flange 402 is connected to the second bracket 30. In this way, when the fourth output flange 402 outputs a rotation around the second axis Y direction, the third joint module 6, the first bracket 5, the first joint module 3, the fourth joint module 40, the mounting seat 1 and the end actuator 2 can be driven by the second bracket 30 to rotate around the second axis Y direction to imitate the elbow joint of the human body.

[0090] Further, the second bracket 30 includes a first mounting frame 301, a first connecting frame 302 and a second connecting frame 303, the first mounting frame 301 may include a mounting groove 304, the third joint module 6 may be arranged in the mounting groove 304, and the bottom of the first mounting frame 301 is connected to the first bracket 5, the first connecting frame 302 and the second connecting frame 303 are respectively arranged above the first mounting frame 301, and the end of the first connecting frame 302 away from the first mounting frame 301 is connected to the fourth output flange 402, and the end of the second connecting frame 303 away from the first mounting frame 301 is rotatably connected to the end of the fourth joint module 40 away from the fourth output flange 402, such as the second connecting frame 303 and the fourth joint module 40 can be supported by bearings, such as deep groove ball bearings. Based on this, when the fourth output flange 402 subsequently drives the first mounting frame 301 and the first connecting frame 302 to rotate around the second axis Y, the second connecting frame 303 can rotate adaptively relative to the fourth joint module 40 rotating around the second axis Y. In this embodiment, the fourth joint module 40 is connected to the first connecting frame 302 and the second connecting frame 303 at both ends in the direction of the rotation axis, which can improve the connection rigidity between the second bracket 30 and the fourth joint module 40, thereby reducing the risk of deformation of the second bracket 30 in other directions during the process of the fourth joint module 40 driving the second bracket 30 to rotate around the second axis Y. In the case where the robot arm outputs a large torque, the high-rigidity structural design supported at both ends of the fourth joint module 40 is adopted, which is conducive to suppressing the residual vibration of the end of the robot arm. The first connecting frame 302 and the second connecting frame 303 adopt a split design, which is conducive to installing the third joint module 6 group device in the installation slot 304.

[0091] The first mounting frame 301 includes a hollow base plate 305 and a plurality of legs 306 extending upward from the hollow base plate 305, the plurality of legs 306 and the hollow base plate 305 are connected to form a mounting groove 304, the third joint module 6 is arranged in the mounting groove 304, the third rotating joint of the third joint module 6 is fixedly connected to the hollow base plate 305, the third output flange is connected to the first bracket 5 through the hollow position of the hollow base plate 305, one or more legs 306 are connected to the first connecting frame 302, and one or more legs 306 are connected to the second connecting frame 303. The first connecting frame 302 and the second connecting frame 303 can be respectively connected to different legs 306, or the first connecting frame 302 and the second connecting frame 303 can be connected to one or more legs 306 together. The specific design can be as needed, and the present disclosure does not limit this.

[0092] The robot arm also includes a third drive assembly 50, which is connected to the third rotary joint of the third joint module 6 to drive the third rotary joint to rotate around the rotation axis, and further through the third rotary joint, the third output flange can be driven to rotate around the rotation axis. The third drive assembly 50 is arranged on the second bracket 30, so as to improve the integration degree between the second bracket 30, the third drive assembly 50 and the third joint module 6, which is conducive to shortening the power transmission path between the third drive assembly 50 and the third joint module 6, and can reduce or even eliminate the need for transmission assembly for transmission, thereby optimizing the output efficiency of the third joint module 6, and indirectly can also reduce the mass of the entire robot arm, which is conducive to motion control of the robot arm.

[0093] In some embodiments, the robotic arm also includes a third bracket 60 and a fifth joint module 70, the third bracket 60 is fixedly connected to the fourth joint module 40, the fifth joint module 70 includes a fifth rotary joint 701 and a fifth output flange 702 connected to the fifth rotary joint 701, the fifth output flange 702 is connected to the third bracket 60, the rotation axis of the fifth rotary joint 701 is parallel to the rotation axis of the third joint module 6, that is, the rotation axis of the fifth rotary joint 701 can be set along the third axis Z direction, so that when the fifth rotary joint 701 drives the fifth output flange 702 to rotate around the third axis Z, the third bracket 60, the fourth joint module 40, the second bracket 30, the third joint module 6, the first bracket 5, the first joint module 3, the fourth joint module 40, the mounting seat 1 and the end actuator 2 can be synchronously driven to rotate around the third axis Z direction to imitate the rotational freedom of the human shoulder joint in the third axis Z direction.

[0094] The robotic arm also includes a fourth drive component 80, which is used to drive the fourth rotary joint 401 to rotate. The fourth drive component 80 is connected to the third bracket 60, thereby improving the degree of integration between the third bracket 60, the fourth drive component 80 and the fourth joint module 40, which is beneficial to shortening the power transmission path between the fourth drive component 80 and the fourth joint module 40, and can reduce or even eliminate the need for transmission components for transmission, thereby optimizing the output efficiency of the fourth joint module 40, and indirectly reducing the mass of the entire robotic arm, which is beneficial to motion control of the robotic arm.

[0095] The mechanical arm further includes a fifth drive assembly 900, which is connected to the fifth rotary joint 701 to drive the fifth rotary joint 701 to rotate, and further drive the fifth output flange 702 to rotate around the third axis Z. The fifth output flange 702 is arranged at one end of the fifth rotary joint 701, and the fifth drive assembly 900 is arranged at one end of the fifth rotary joint 701 away from the fifth output flange 702, so that the degree of integration between the fifth drive assembly 900 and the fifth joint module 70 can be improved, which is conducive to shortening the power transmission path between the fifth drive assembly 900 and the fifth joint module 70, which can reduce or even eliminate the need for transmission assembly for transmission, optimize the output efficiency of the fifth joint module 70, and indirectly reduce the mass of the entire mechanical arm, which is conducive to motion control of the mechanical arm.

[0096] In some embodiments, the robotic arm also includes a fourth bracket 90 and a sixth joint module 100, the fourth bracket 90 is fixedly connected to the fifth rotation joint 701, the sixth joint module 100 includes a sixth rotation joint 101 and a sixth output flange 102 connected to the sixth rotation joint 101, the sixth output flange 102 is connected to the fourth bracket 90, and the rotation axis of the sixth rotation joint 101 is parallel to the first axis X direction, so that when the sixth rotation joint 101 drives the sixth output flange 102 to rotate around the first axis X, it can drive the fourth bracket 90, the fifth joint module 70, the third bracket 60, the fourth joint module 40, the second bracket 30, the third joint module 6, the first bracket 5, the first joint module 3, the fourth joint module 40, the mounting seat 1 and the end actuator 2 to rotate around the first axis X direction to imitate the rotational freedom of the human shoulder joint in the first axis X direction.

[0097] Furthermore, the robot arm further includes a support 200 and a connector 300. The support 200 is connected to the sixth rotary joint 101. The support 200 is rotatably connected to the end of the sixth rotary joint 101 that is away from the sixth output flange 102 in the direction of the rotation axis. For example, the support 200 and the sixth rotary joint 101 can be supported by a bearing, such as a deep groove ball bearing. Since the sixth output flange 102 is connected to the fourth bracket 90, the fourth bracket 90 and the support 200 are supported at both ends of the sixth rotary joint 101 in the direction of the rotation axis. The connector 300 connects the support 200 and the fourth bracket 90 to improve the integrity between the support 200 and the fourth bracket 90.

[0098] In this embodiment, the sixth rotating joint 101 is connected to the fourth bracket 90 and the support 200 at both ends in the direction of the rotation axis, respectively, which can improve the connection rigidity between the fourth bracket 90, the support 200 and the sixth joint module 100, thereby reducing the risk of deformation of the fourth bracket 90 and the support 200 in other directions in the process of the sixth joint module 100 driving the fourth bracket 90 and the support 200 to rotate around the first axis X. When the robotic arm outputs a large torque, a high-rigidity structural design supported at both ends of the sixth joint module 100 is adopted, which is beneficial to suppressing residual vibration at the end of the robotic arm.

[0099] Further, the connector 300 may be a threaded column arranged along the first axis X, and both ends of the threaded column are respectively locked with the support 200 and the fourth bracket 90. In other embodiments, the connector 300 may also be respectively welded and fixed with the fourth bracket 90 and the support 200.

[0100] In order to drive the sixth rotary joint 101 to rotate around the first axis X direction, the robotic arm also includes a sixth drive component 800, which is connected to the sixth rotary joint 101, and the sixth drive component 800 is arranged at the end of the sixth rotary joint 101 away from the sixth output flange 102. This can improve the degree of integration between the sixth drive component 800 and the sixth joint module 100, which is beneficial to shorten the power transmission path between the sixth drive component 800 and the sixth joint module 100, and can reduce or even eliminate the need for transmission components for transmission, thereby optimizing the output efficiency of the sixth joint module 100, and indirectly reduce the mass of the entire robotic arm, which is beneficial to motion control of the robotic arm.

[0101] In some embodiments, the robot arm further comprises a fifth bracket 400 and a seventh joint module 500, wherein the fifth bracket 400 is connected to the sixth rotary joint 101, and the seventh joint module 500 comprises a seventh rotary joint 501 and a seventh output flange 502 connected to the seventh rotary joint 501, wherein the rotation axis of the seventh output flange 502 is arranged parallel to the second axis Y, and the seventh output flange 502 is connected to the fifth bracket 400. Based on this, when the seventh output flange 502 is subsequently driven to rotate around the second axis Y by the seventh rotary joint 501, the fifth bracket 400, the sixth joint module 100, the fourth bracket 90, the fifth joint module 70, the third bracket 60, the fourth joint module 40, the second bracket 30, the third joint module 6, the first bracket 5, the first joint module 3, the fourth joint module 40, the mounting seat 1 and the end actuator 2 can all be driven to rotate around the first axis X direction to imitate the rotational freedom of the shoulder joint of the human body in the second axis Y direction. The sixth joint module 100 and the seventh joint module 500 may be joint modules of the same model, and the fifth joint module 70 and the fourth joint module 40 may be joint modules of the same signal.

[0102] The robotic arm also includes a fixed frame 600, which is fixedly connected to the seventh rotation joint 501. The fixed frame 600 can be used to connect to the body of the robotic arm, so as to achieve relative fixation of the seventh joint module 500 and the body. When the robotic arm is in a stationary state, the first joint module 3 to the seventh joint module 500 can all be set stationary relative to the body.

[0103] Furthermore, the robotic arm also includes a seventh drive assembly 700, which is used to drive the seventh rotary joint 501 to rotate around the second axis Y. The seventh drive assembly 700 is arranged on the fixed frame 600, which can improve the degree of integration between the fixed frame 600, the seventh drive assembly 700 and the seventh joint module 500, which is beneficial to shorten the power transmission path between the seventh joint module 500 and the seventh drive assembly 700, and can reduce or even eliminate the need for transmission components for transmission, thereby optimizing the output efficiency of the seventh joint module 500, and indirectly can also reduce the mass of the entire robotic arm, which is beneficial to the motion control of the robotic arm.

[0104] Based on the technical solution of the present disclosure, a robot is also provided, which may include the mechanical arm described in any of the above embodiments, and the end of the mechanical arm away from the end effector 2 may be fixedly arranged on the body of the robot, for example, the seventh joint module 500 in the above embodiment may be connected to the body through a fixing frame 600. The robot may include a humanoid robot.

[0105] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the disclosure disclosed herein. The present disclosure is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0106] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A robotic arm, characterized in that: include: End effector assembly; A first bracket, wherein the bracket end of the first bracket is rotatably arranged relative to the end actuator assembly and has a rotational degree of freedom around a first axis and a rotational degree of freedom around a second axis; A first joint module, the first joint module comprising a first rotary joint and a first output flange connected to the first rotary joint, the first rotary joint being connected to the first bracket; A second joint module, wherein the second joint module comprises a second rotary joint and a second output flange connected to the second rotary joint, wherein the second rotary joint is connected to the first bracket, and a rotation axis of the first rotary joint is parallel to a rotation axis of the second rotary joint, and in a direction of the rotation axis, the first output flange and the second output flange are arranged on opposite sides; a third joint module, the third joint module comprising a third rotary joint and a third output flange connected to the third rotary joint, the third output flange being connected to the first bracket, the rotation axis of the third rotary joint being a third axis, the third axis, the first axis and the second axis being perpendicular to each other, and the direction of the third axis being the length direction of the robotic arm; a first connecting rod, the first connecting rod being movably connected to the first output flange and a first connecting position of the end actuator assembly respectively; A second connecting rod, wherein the second connecting rod is movably connected to the second output flange and the second connecting position of the end actuator assembly respectively, and the first connecting position and the second connecting position are centrally symmetrically arranged about the third axis.

2. The robotic arm according to claim 1, characterized in that: It also includes a rotating shaft component, the rotating shaft component includes a first rotating shaft arranged along the first axis direction and a second rotating shaft arranged along the second axis direction, the first rotating shaft and the second rotating shaft are connected; The first rotating shaft is rotatably connected to the end of the bracket, and the second rotating shaft is rotatably connected to the end actuator assembly.

3. The robotic arm according to claim 2, characterized in that: The first rotating shaft and the second rotating shaft are arranged in a cross-shaped structure or a T-shaped structure.

4. The robotic arm according to claim 2, characterized in that: The rotation axes of the first joint module and the second joint module are respectively arranged parallel to the first rotation axis; A line connecting the first connection position and the second connection position is parallel to the first rotation axis.

5. The robotic arm according to claim 2, characterized in that: The end effector assembly includes an end effector mechanism and a mounting seat connected to the end effector mechanism, the mounting seat is rotatably connected to the second rotating shaft, and the end effector mechanism is located on a side of the mounting seat away from the second rotating shaft.

6. The robotic arm according to claim 5, characterized in that: The mounting seat comprises a seat body and a fixing rod fixedly connected to a first side of the seat body; The first connection position is the first end of the fixing rod, the second connection position is the second end of the fixing rod, and the fixing rod is arranged parallel to the first rotating shaft; The end effector is connected to a second side of the seat body, and the second side and the first side are disposed opposite to each other in the opposite direction of the third axis.

7. The robotic arm according to claim 2, characterized in that: Also includes: A second bracket, the second bracket is fixedly connected to the third rotating joint; A fourth joint module, wherein the rotation axis of the fourth joint module is parallel to the second rotation axis, the fourth joint module comprises a fourth rotation joint and a fourth output flange connected to the fourth rotation joint, and the fourth output flange is connected to the second bracket.

8. The robot arm according to claim 7, characterized in that: The second bracket comprises: A first mounting frame, wherein the first mounting frame comprises a mounting slot, the third joint module is fixed in the mounting slot, and the bottom of the first mounting frame is connected to the first bracket; A first connecting frame, wherein the first connecting frame is connected to the upper side of the first mounting frame, and one end of the first connecting frame away from the first mounting frame is connected to the fourth output flange; A second connecting frame, wherein the second connecting frame is connected to the top of the first mounting frame, and one end of the second connecting frame away from the first mounting frame is rotatably connected to the other end of the fourth joint module away from the fourth output flange.

9. The robot arm according to claim 8, characterized in that: The first mounting frame includes a hollow bottom plate and a plurality of legs extending upward from the hollow bottom plate, wherein the plurality of legs and the hollow bottom plate form the mounting groove; The hollow bottom plate is connected to the third rotation joint, one or more legs are connected to the first connecting frame, and one or more legs are connected to the second connecting frame.

10. The robot arm according to claim 7, characterized in that: It also includes a third driving component, which is used to drive the third joint module to rotate, and the third driving component is arranged on the second bracket.

11. The robot arm according to claim 7, characterized in that: Also includes: A third bracket, the third bracket is fixedly connected to the fourth joint module; The fifth joint module comprises a fifth rotation joint and a fifth output flange connected to the fifth rotation joint, the fifth output flange is connected to the third bracket, and the rotation axis of the fifth rotation joint is parallel to the rotation axis of the third joint module.

12. The robot arm according to claim 11, characterized in that: Also includes: A fourth driving assembly, the fourth driving assembly is used to drive the fourth rotary joint to rotate, and the fourth driving assembly is connected to the third bracket.

13. The robot arm according to claim 11, characterized in that: Also includes: A fourth bracket, the fourth bracket being fixedly connected to the fifth rotating joint; The sixth joint module comprises a sixth rotary joint and a sixth output flange connected to the sixth rotary joint, the sixth output flange is connected to the fourth bracket, and the rotation axis of the sixth rotary joint is parallel to the first axis.

14. The robot arm according to claim 13, characterized in that: Also includes: A support member, the support member is connected to the sixth rotary joint, and the support member is rotatably connected to an end of the sixth rotary joint away from the sixth output flange in the direction of the rotation axis; A connecting member connects the supporting member and the fourth bracket.

15. The robot arm according to claim 14, characterized in that: The connecting member is a threaded column arranged along the first axis direction, and two ends of the threaded column are respectively locked with the supporting member and the fourth bracket.

16. The robot arm according to claim 13, characterized in that: Also includes: a fifth bracket connected to the sixth rotation joint; The seventh joint module comprises a seventh rotary joint and a seventh output flange connected to the seventh rotary joint, the rotation axis of the seventh output flange is parallel to the second axis, and the seventh output flange is connected to the fifth bracket.

17. The robot arm according to claim 16, characterized in that: Also includes: A fixing frame, wherein the fixing frame is fixedly connected to the seventh rotating joint, and the fixing frame is used to be connected to the body of the robot arm.

18. The robot arm according to claim 17, characterized in that: Also includes: The seventh driving component is used to drive the seventh rotating joint to rotate around the rotation axis, and the seventh driving module is arranged on the fixing frame.

19. The robotic arm according to claim 13, characterized in that: Also includes: The sixth drive assembly is connected to the sixth rotary joint and is arranged at an end of the sixth rotary joint away from the sixth output flange.

20. The robotic arm according to claim 11, characterized in that: Also includes: A fifth driving assembly is connected to the fifth rotating joint and is fixedly disposed at an end of the fifth rotating joint away from the fifth output flange.

21. The robotic arm according to claim 1, characterized in that: Also includes: a first driving assembly connected to the first rotating joint; a second driving assembly connected to the second rotary joint; The first driving assembly and the second driving assembly are both fixedly disposed on the first bracket; When the first rotary joint and the second rotary joint rotate in opposite directions, the end effector assembly rotates around the first rotation axis; When the first rotary joint and the second rotary joint rotate in the same direction, the end effector assembly rotates around the second rotation axis.

22. The robotic arm according to claim 21, characterized in that: The first bracket also includes a mounting end extending from the first mounting portion in a direction away from the bracket end, the mounting end is fixedly connected to the third output flange, and the first drive assembly and the second drive assembly are arranged on the mounting end.

23. The robotic arm according to claim 1, characterized in that: The length of the first connecting rod is greater than the length of the second connecting rod.

24. A robot, characterized in that: Comprising a robotic arm as described in any one of claims 1-23.

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