Mechanical arm and mechanical equipment

Abstract

The invention discloses a mechanical arm and mechanical equipment. The mechanical arm comprises a large arm shell and a small arm shell. The big arm shell and the small arm shell are connected through an elbow assembly, the elbow assembly comprises a pulley structure, and the end, away from the elbow assembly, of the small arm shell is connected with a wrist assembly; the large arm shell is connected with a winding transmission assembly, the winding transmission assembly comprises a first winding structure and a second winding structure, and the first transmission rope is wound around and connected to the pulley structure to drive the small arm shell to move relative to the large arm shell. The second transmission rope is wound around the pulley structure and connected to the wrist assembly so as to drive the wrist assembly to move relative to the small arm shell. According to the mechanical arm, various tasks can be flexibly completed in a complex space environment, mechanical and electrical separation is achieved, the mechanical arm has the advantages of being low in weight, light in inertia, high in sensitivity, high in speed and high in reliability, the structure is simple, repair and maintenance are convenient, and the repair cost is reduced.

Description

Technical Field

[0001] The present invention relates to the field of mechanical technology, and in particular to a mechanical arm and mechanical equipment having the mechanical arm. Background Art

[0002] Currently, the space robots used for on-orbit services are mainly rigid arms. This is mainly because the load force at the end of the rigid arm is large, making it easy to capture the target satellite.

[0003] Traditional articulated rigid arms usually adopt a joint-based direct drive method, which means that the drive motor and driver must be placed at each joint of the robotic arm, with high rigidity, large operating force and high control accuracy. However, since the driver and drive motor are centrally installed at the joints of the robotic arm, the weight and inertia of the robotic arm increase, which limits the flexibility and operating efficiency of the robotic arm. In addition, when performing tasks, the robotic arm is exposed outside the cabin, and the probability of electrical components being affected by harsh environments is greatly increased, which not only increases the difficulty of maintenance of electrical components, but also reduces the service life of electrical components. There is room for improvement. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a robotic arm, which can accurately control the movement of the forearm shell relative to the upper arm shell and the movement of the wrist assembly relative to the forearm shell, so that the robotic arm can flexibly complete various tasks in a complex space environment, and realizes electromechanical separation, has the characteristics of low weight and inertia, high sensitivity, high speed and high reliability, simple structure, easy repair and maintenance, and reduced maintenance costs.

[0005] According to an embodiment of the present invention, the mechanical arm includes: an upper arm shell and a lower arm shell; an elbow assembly, wherein the upper arm shell and the lower arm shell are connected through the elbow assembly, the elbow assembly includes a pulley structure, and the lower arm shell is connected to a wrist assembly at one end away from the elbow assembly; wherein the upper arm shell is connected to a winding transmission assembly, the transmission winding assembly includes a first winding structure and a second winding structure, the first winding structure includes a connected first winding motor and a first transmission rope, the first transmission rope is wound around and connected to the pulley structure to drive the lower arm shell to move relative to the upper arm shell, the second winding structure includes a connected second winding motor and a second transmission rope, the second transmission rope is wound around the pulley structure and connected to the wrist assembly to drive the wrist assembly to move relative to the lower arm shell.

[0006] According to the robotic arm of the embodiment of the present invention, a pulley structure is arranged at the elbow assembly, and the upper arm shell is connected to the winding transmission assembly including the first winding structure and the second winding structure, so that the robotic arm can accurately control the movement of the lower arm shell relative to the upper arm shell and the movement of the wrist assembly relative to the lower arm shell under the action of the first winding structure and the second winding structure, so that the robotic arm can flexibly complete various tasks in a complex spatial environment, and realize electromechanical separation, has the characteristics of low weight and inertia, high sensitivity, high speed and high reliability, simple structure, easy repair and maintenance, and reduced maintenance costs, and at the same time has the characteristics of high rigidity, large operating force and high control accuracy of traditional rigid arms.

[0007] According to some embodiments of the robotic arm of the present invention, the pulley structure includes a first auxiliary pulley, a first main pulley, a second main pulley and a second auxiliary pulley, the first auxiliary pulley and the first main pulley are both installed on the upper arm housing, and the second main pulley and the second auxiliary pulley are both installed on the lower arm housing; wherein, the first transmission rope is sequentially wound around the first auxiliary pulley and the first main pulley and then connected to the second main pulley, and the second transmission rope is sequentially wound around the first auxiliary pulley, the first main pulley, the second main pulley and the first auxiliary pulley and then connected to the wrist assembly.

[0008] According to some embodiments of the present invention, in the robotic arm, there are two first transmission ropes and both are connected to the first winding motor, and the first winding motor is suitable for winding up one first transmission rope when rotating in the forward direction and winding up the other first transmission rope when rotating in the reverse direction; wherein, the one first transmission rope is suitable for being sequentially wound around the first side of the first auxiliary pulley, the second side of the first main pulley, the second side of the second main pulley and then connected to the first side of the second main pulley, and the other first transmission rope is suitable for being sequentially wound around the second side of the first auxiliary pulley, the first side of the first main pulley, the first side of the second main pulley and then connected to the second side of the second main pulley.

[0009] In the robotic arm according to some embodiments of the present invention, there are two second transmission ropes and both are connected to the second winding motor, and the second winding motor is suitable for winding up one second transmission rope when rotating in the forward direction and winding up the other second transmission rope when rotating in the reverse direction; wherein, the one second transmission rope is suitable for being sequentially wound around the first side of the first auxiliary pulley, the second side of the first main pulley, the first side of the second main pulley, the second side of the second auxiliary pulley, and then connected to the wrist assembly, and the other first transmission rope is suitable for being sequentially wound around the second side of the first auxiliary pulley, the first side of the first main pulley, the second side of the second main pulley, the first side of the second auxiliary pulley, and then connected to the wrist assembly.

[0010] In the robotic arm according to some embodiments of the present invention, the first main pulley and the second main pulley both include a bearing member and a pulley member, a winding groove is formed on an outer peripheral wall of the pulley member, the bearing member is installed in the pulley member, and the bearing member is used to pass through and install a rotating shaft.

[0011] According to some embodiments of the present invention, the robotic arm, the wrist assembly includes a wrist housing, a rotating pulley group, a wrist resolver and a wrist rotating end plate, the wrist resolver is rotatably mounted on the wrist housing via the rotating pulley group, the wrist rotating end plate is connected to the wrist resolver via a universal joint assembly, and two movable links are further connected between the wrist rotating end plate and the wrist resolver; the second winding structure is divided into three groups, one group of second transmission ropes of the second winding structure is connected to the rotating pulley group to drive the wrist resolver to rotate, which is equivalent to the wrist housing, one group of second transmission ropes of the second winding structure is connected to one movable link to drive the wrist rotating end plate to perform pitch motion, which is equivalent to the wrist resolver, and another group of second transmission ropes of the second winding structure is connected to another movable link to drive the wrist rotating end plate to perform yaw motion, which is equivalent to the wrist resolver.

[0012] In the robotic arm according to some embodiments of the present invention, the winding transmission assembly includes a frame structure, a mounting cavity is formed in the frame structure, and the first winding motor and the second winding motor are both mounted in the mounting cavity.

[0013] In the robotic arm according to some embodiments of the present invention, the winding transmission assembly is connected to one end of the upper arm shell away from the elbow assembly, the upper arm shell is provided with a first threading cavity, and the lower arm shell is provided with a second threading cavity; the first transmission rope is passed through the first threading cavity, and the second transmission rope is passed through the first threading cavity and the second threading cavity in sequence.

[0014] In the robotic arm according to some embodiments of the present invention, the winding transmission assembly is connected to a shoulder assembly at one end away from the upper arm housing; and / or the wrist assembly is connected to a gripper assembly and a camera assembly at one end away from the lower arm housing, and the gripper assembly is suitable for being driven by a gripper motor assembly.

[0015] The invention also provides a mechanical device.

[0016] The mechanical device according to the embodiment of the present invention is provided with a mechanical arm according to any one of the above embodiments.

[0017] The advantages of the mechanical device and the above-mentioned mechanical arm over the prior art are the same and will not be described in detail here.

[0018] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0020] Figure 1 is a schematic structural diagram of a mechanical arm according to an embodiment of the present invention;

[0021] Figure 2 is a schematic structural diagram of a shoulder assembly according to an embodiment of the present invention;

[0022] Figure 3 is an exploded view of a winding transmission assembly according to an embodiment of the present invention;

[0023] Figure 4 is a schematic structural diagram of a boom housing according to an embodiment of the present invention;

[0024] Figure 5 is a schematic structural diagram of a forearm housing according to an embodiment of the present invention;

[0025] Figure 6 is an exploded view of an elbow assembly according to an embodiment of the present invention;

[0026] Figure 7 is a cross-sectional view of an elbow assembly according to an embodiment of the present invention;

[0027] Figure 8 is a schematic structural diagram of a pulley member according to an embodiment of the present invention;

[0028] Fig. 9 is a cross-sectional view of a pulley member according to an embodiment of the present invention;

[0029] Fig.10 is a schematic structural diagram of a wrist assembly according to an embodiment of the present invention;

[0030] Fig.11 is a schematic diagram of a transmission path of a first transmission rope according to an embodiment of the present invention;

[0031] Fig.12 is a schematic diagram of a transmission path of a second transmission rope according to an embodiment of the present invention.

[0032] Reference numerals:

[0033] Robotic arm 100,

[0034] Upper arm housing 1, first threading cavity 11, lower arm housing 2, second threading cavity 21, elbow assembly 3, pulley structure 31, first auxiliary pulley 311, first main pulley 312, second main pulley 313, second auxiliary pulley 314, bearing member 315, bearing end cover 3151, pulley member 316, winding groove 3161, mounting shaft 3162, elbow connecting plate 32, elbow adapter plate 33, rotary transformer 34, wrist assembly 4, wrist housing 41, rotating pulley set 42, wrist rotation transformer 43, wrist rotating end plate 44, universal joint assembly 45, movable link 46, winding transmission assembly 5, first winding motor 511, first transmission rope 512, second winding motor 521, second transmission rope 522, frame structure 52, mounting cavity 521, shoulder assembly 6, yaw joint 61, roll joint 62, pitch joint 63, shoulder adapter plate 631, gripper assembly 7, camera assembly 8. DETAILED DESCRIPTION

[0035] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0036] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0037] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] Reference below Figure 1-Figure 12 A robot arm 100 according to an embodiment of the present invention is described. The robot arm 100 can accurately control the movement of the forearm shell 2 relative to the upper arm shell 1 and the movement of the wrist assembly 4 relative to the forearm shell 2, so that the robot arm 100 can flexibly complete various tasks in a complex space environment, and realize electromechanical separation, and has the characteristics of low weight and inertia, high sensitivity, high speed and high reliability. It has a simple structure, is easy to repair and maintain, and reduces maintenance costs.

[0039] like Figure 1-Figure 12 As shown, a mechanical arm 100 according to an embodiment of the present invention includes: a large arm housing 1, a small arm housing 2 and an elbow assembly 3.

[0040] The upper arm housing 1 is the main supporting structure of the robot arm 100, bearing the weight of the robot arm 100 and various forces during movement, and protecting the components inside the upper arm housing 1. The lower arm housing 2 is connected to the bottom of the upper arm housing 1, and also bears a part of the weight and force of the robot arm 100, protecting the components inside the lower arm housing 2. The upper arm housing 1 can be connected to the support structure of the upper level, and the lower arm housing 2 can be connected to the support structure of the lower level, and the upper arm housing 1 can transmit power to the lower arm housing 2, and then to other components to achieve the final movement and action. Therefore, the upper arm housing 1 and the lower arm housing 2 can play a connecting role as the arm support components of the robot arm 100, not only supporting and connecting the structure of the entire robot arm 100, but also transmitting power to realize the operation of the robot arm 100, ensuring the movement stability and reliability of the robot arm 100, so that the robot arm 100 can perform complex tasks.

[0041] The upper arm housing 1 and the lower arm housing 2 are connected through the elbow assembly 3, that is, the upper arm housing 1 and the lower arm housing 2 are respectively connected to the two ends of the elbow assembly 3, such as Figure 1 As shown, one end of the elbow assembly 3 is connected to the upper arm housing 1, and the other end is connected to the lower arm housing 2. The elbow assembly 3 can transmit motion and ensure that the upper arm housing 1 and the lower arm housing 2 can be kept in a stable connection state, so that the upper arm housing 1 and the lower arm housing 2 can move relative to each other. Among them, the elbow assembly 3 can be rotated and folded to simulate the movement of the elbow joint of a person to drive the movement of the lower arm housing 2, which is equivalent to the movement of the human arm. The lower arm housing 2 is connected to the wrist assembly 4 at the end away from the elbow assembly 3, that is, the force can be transmitted from the upper arm housing 1 through the lower arm housing 2 to the wrist assembly 4. The wrist assembly 4 can simulate the movement of the human wrist to achieve more delicate movements and actions, ensuring the flexibility and reliability of the robot 100.

[0042] Among them, the elbow assembly 3 includes a pulley structure 31, that is, the elbow assembly 3 can realize the relative movement between the upper arm housing 1 and the lower arm housing 2 through the pulley structure 31, and the upper arm housing 1 is connected with a winding transmission assembly 5, and the winding transmission assembly 5 can drive the transmission rope through the motor to realize the precise control of each part of the robot 100, and the transmission rope transmission path is direct, with high transmission efficiency, which simplifies the transmission structure and transmission path of the robot 100, so that the power provided by the motor can be effectively transmitted to each part of the robot 100, reducing energy loss, reducing the complexity and weight of the robot 100. At the same time, the transmission rope has high tensile performance and can be flexibly arranged along the length direction of the robot 100, so that the robot 100 can better adapt to various complex spatial environments during operation and realize more flexible operation, so that the posture and position of the robot can be quickly adjusted to reach a predetermined posture, thereby improving the sensitivity of the robot 100.

[0043] Furthermore, the winding transmission assembly 5 includes a first winding structure and a second winding structure, the first winding structure includes a connected first winding motor 511 and a first transmission rope 512, the first transmission rope 512 is wound around and connected to the pulley structure 31 to drive the forearm shell 2 to move relative to the upper arm shell 1, and the second winding structure includes a connected second winding motor 521 and a second transmission rope 522, the second transmission rope 522 is wound around the pulley structure 31 and connected to the wrist assembly 4 to drive the wrist assembly 4 to move relative to the forearm shell 2.

[0044] Specifically, the first transmission rope 512 and the second transmission rope 522 can be wound on the pulley structure 31 to support and guide the movement direction of the transmission rope. The first winding motor 511 is used to provide power to the first transmission rope 512. When the first winding motor 511 is working, it drives the first transmission rope 512 to move, so that the first transmission rope 512 is tightened or loosened on the pulley structure 31, and then the movement of the first transmission rope 512 drives the forearm housing 2 to move relative to the upper arm housing 1, that is, the forearm housing 2 can be rotated, lifted, etc. relative to the upper arm housing 1. The second winding motor 521 is used to provide power to the second transmission rope 522. When the second winding motor 521 is working, it drives the second transmission rope 522 to tighten or loosen on the pulley structure 31, so that the second transmission rope 522 drives the wrist assembly 4 to move relative to the forearm housing 2, that is, the wrist assembly 4 can be rotated, flipped, tilted, etc. relative to the forearm housing 2 to achieve more complex tasks.

[0045] Therefore, through the mutual cooperation of the first winding structure and the second winding structure with the pulley structure 31, the robot arm 100 can flexibly move in different directions and angles under the action of the first winding structure and the second winding structure, accurately control the movement of the forearm shell 2 relative to the upper arm shell 1 and the movement of the wrist assembly 4 relative to the forearm shell 2, and realize multi-level flexible movement from the upper arm shell 1 to the forearm shell 2 and then to the wrist assembly 4, so that the robot arm 100 can flexibly complete various tasks in a complex spatial environment.

[0046] The rope-driven manipulator 100 driven by the first transmission rope 512 and the second transmission rope 522 not only combines the characteristics of high rigidity, large operating force and high control accuracy of the traditional rigid arm, but also realizes electromechanical separation, that is, the first winding motor 511 and the second winding motor 521 are centrally distributed, the first transmission rope 512 and the second transmission rope 522 are actively driven, and the elbow assembly 3 is passively supported. In other words, the winding motor and the driver are not installed at the various joints of the manipulator 100 but are centrally arranged at the base of the manipulator 100 or near the base. This distribution method not only inherits the high-precision characteristics of the traditional rigid arm, but also has a simpler structure, can better adapt to the harsh environment outside the cabin, is easy to maintain and maintain, has a low maintenance cost, and greatly improves the reliability of the manipulator 100. The electromechanical separation greatly reduces the mass and inertia of the manipulator 100, thereby greatly improving the speed of the manipulator 100 in confronting non-cooperative targets, making it more flexible and agile.

[0047] According to the robot arm 100 of the embodiment of the present invention, a pulley structure 31 is set on the elbow component 3, and the upper arm shell 1 is connected to the winding transmission component 5 including the first winding structure and the second winding structure, so that the robot arm 100 can accurately control the movement of the forearm shell 2 relative to the upper arm shell 1 and the movement of the wrist component 4 relative to the forearm shell 2 under the action of the first winding structure and the second winding structure, so that the robot arm 100 can flexibly complete various tasks in a complex spatial environment, and realize electromechanical separation, with the characteristics of low weight and inertia, high sensitivity, high speed and high reliability, simple structure, easy repair and maintenance, and reduced maintenance costs, and at the same time has the characteristics of high rigidity, large operating force and high control accuracy of traditional rigid arms.

[0048] In some embodiments, Figure 6As shown, the pulley structure 31 includes a first auxiliary pulley 311, a first main pulley 312, a second main pulley 313 and a second auxiliary pulley 314. The first auxiliary pulley 311 and the first main pulley 312 are both installed on the upper arm housing 1, that is, the first auxiliary pulley 311 and the first main pulley 312 can be used to preliminarily guide and change the transmission path of the first transmission rope 512 and the second transmission rope 522. The second main pulley 313 and the second auxiliary pulley 314 are both installed on the lower arm housing 2, that is, the second main pulley 313 and the second auxiliary pulley 314 can be used to further guide the transmission path of the first transmission rope 512 and the second transmission rope 522, so that the force can be transmitted from the upper arm housing 1 to the lower arm housing 2 and from the upper arm housing 1 to the wrist assembly 4 through the first auxiliary pulley 311, the first main pulley 312, the second main pulley 313 and the second auxiliary pulley 314, so as to realize the flexible movement of the upper arm housing 1, the lower arm housing 2 and the wrist assembly 4.

[0049] Among them, the first transmission rope 512 is sequentially wound around the first auxiliary pulley 311 and the first main pulley 312 and then connected to the second main pulley 313, and the second transmission rope 522 is sequentially wound around the first auxiliary pulley 311, the first main pulley 312, the second main pulley 313 and the second auxiliary pulley 314 and then connected to the wrist assembly 4.

[0050] That is, by tightening or loosening the first transmission rope 512 on the first auxiliary pulley 311, the first main pulley 312 and the second main pulley 313, the power from the upper arm housing 1 is transmitted to the lower arm housing 2, so as to realize the movement of the lower arm housing 2 relative to the upper arm housing 1, thereby driving the lower arm housing 2 to rotate, extend and retract, etc. The first auxiliary pulley 311, the first main pulley 312, the second main pulley 313 and the second auxiliary pulley 314 provide a stable transmission path for the second transmission rope 522, so that it is finally stably connected to the wrist assembly 4, and the power from the upper arm housing 1 is transmitted to the wrist assembly 4, so as to flexibly control the movement of the wrist assembly 4, so that the wrist assembly 4 can perform fine movements relative to the lower arm housing 2.

[0051] Therefore, by flexibly setting the transmission paths of the first transmission rope 512 and the second transmission rope 522 on the pulley structure 31 and accurately controlling the tension of the transmission rope, a large range of movement of the robot arm 100 and fine operation of the wrist assembly 4 are achieved, which greatly improves the flexibility of the robot arm 100 and ensures its efficient, precise and reliable operation in various complex environments.

[0052] In actual design, the elbow assembly may also be provided with a rotary transformer 34, which can accurately measure the angular position of the elbow joint and improve the control accuracy of the robot arm 100, so as to facilitate timely adjustment of the movement of the robot arm 100 and make it move more accurately.

[0053] In some embodiments, there are two first transmission ropes 512 and both are connected to the first winding motor 511. The first winding motor 511 is suitable for winding up one first transmission rope 512 when rotating forward and winding up the other first transmission rope 512 when rotating reverse.

[0054] That is to say, the first winding motor 511 is rotated forward and reversely to control the winding of the two first transmission ropes 512, thereby realizing the rotation of the joint, that is, the rotation of the forearm housing 2 relative to the upper arm housing 1.

[0055] Among them, one first transmission rope 512 is suitable for being sequentially wound around the first side of the first auxiliary pulley 311, the second side of the first main pulley 312, and the second side of the second main pulley 313, and then connected to the first side of the second main pulley 313; another first transmission rope 512 is suitable for being sequentially wound around the second side of the first auxiliary pulley 311, the first side of the first main pulley 312, and the first side of the second main pulley 313, and then connected to the second side of the second main pulley 313, that is, the first auxiliary pulley 311 is used to guide the paths of the two first transmission ropes 512,

[0056] Specifically, Fig.11 As shown, the first side is Fig.11 The upper side shown in the figure, the second side is Fig.11 As shown in the figure, one of the first transmission ropes 512 is sequentially wound around the lower side of the first auxiliary pulley 311, the upper side of the first main pulley 312, and the upper side of the second main pulley 313, and is connected to the lower side of the second main pulley 313 after passing through the upper side of the second main pulley 313. Similarly, another first transmission rope 512 is sequentially wound around the upper side of the first auxiliary pulley 311, the lower side of the first main pulley 312, and the lower side of the second main pulley 313, and is connected to the second main pulley 313 after passing through the upper side of the second main pulley 313. , whereby the two first transmission ropes 512 are wound around the pulley structure 31 in the shape of an "8", which can ensure that the elbow joint on one side rotates according to the rotation center of the elbow joint on the other side, and no slippage movement between the two elbow joints occurs, i.e., the relative position between the upper arm shell 1 and the lower arm shell 2 remains unchanged, and both rotate around the same rotation center, that is, the position of the second main pulley 313, thereby avoiding slippage movement between the upper arm shell 1 and the lower arm shell 2 during movement, thereby ensuring the stability and accuracy of the robot arm 100.

[0057] In practice, when the first winding motor 511 rotates forward, the first first transmission rope 512 is wound up and moves along the path of the first side of the first auxiliary pulley 311, the second side of the first main pulley 312, the second side of the second main pulley 313, and the first side of the second main pulley 313, and at the same time, the second first transmission rope 512 is loosened, thereby driving the forearm housing 2 to rotate in a predetermined direction, thereby realizing the movement of the forearm housing 2. When the first winding motor 511 rotates reversely, the second first transmission rope 512 is wound up and moves along the path of the second side of the first auxiliary pulley 311, the first side of the first main pulley 312, the first side of the second main pulley 313, and the second side of the second main pulley 313, and at the same time, the first first transmission rope 512 is loosened, thereby driving the forearm housing 2 to rotate in the opposite direction, thereby realizing the movement of the forearm housing 2.

[0058] In some embodiments, there are two second transmission ropes 522 and both are connected to the second winding motor 521. The second winding motor 521 is suitable for winding up one second transmission rope 522 when rotating forward and winding up the other second transmission rope 522 when rotating reverse.

[0059] That is to say, the retraction of the two second transmission ropes 522 is controlled by the forward and reverse rotation of the second winding motor 521 , thereby realizing the rotation of the joint, that is, the rotation of the wrist assembly 4 relative to the forearm housing 2 .

[0060] Among them, one second transmission rope 522 is suitable for being sequentially wound around the first side of the first auxiliary pulley 311, the second side of the first main pulley 312, the first side of the second main pulley 313, and the second side of the second auxiliary pulley 314, and then connected to the wrist assembly 4; another first transmission rope 512 is suitable for being sequentially wound around the second side of the first auxiliary pulley 311, the first side of the first main pulley 312, the second side of the second main pulley 313, and the first side of the second auxiliary pulley 314, and then connected to the wrist assembly 4.

[0061] Specifically, Fig.12 As shown, the first side is Fig.12 The upper side shown in the figure, the second side is Fig.12As shown in the figure, one of the second transmission ropes 522 is sequentially wound around the upper side of the first auxiliary pulley 311, the lower side of the first main pulley 312, the upper side of the second main pulley 313, and the lower side of the second auxiliary pulley 314, and is connected to the wrist assembly 4 after passing through the lower side of the second auxiliary pulley 314. Similarly, another second transmission rope 522 is sequentially wound around the lower side of the first auxiliary pulley 311, the upper side of the first main pulley 312, the lower side of the second main pulley 313, and the upper side of the second auxiliary pulley 314, and is connected to the wrist assembly 4 after passing through the upper side of the second auxiliary pulley 314. The wrist assembly 4 is connected, whereby the two second transmission ropes 522 are wound around the pulley structure 31 in the shape of an "8", so that the two second transmission ropes 522 can smoothly pass through the elbow assembly 3, i.e., the elbow joint, and realize the separation of the movement of the forearm shell 2 relative to the upper arm shell 1 and the movement of the wrist assembly 4 relative to the forearm shell 2. In other words, by setting the pulley structure 31 and allowing the second transmission rope 522 to smoothly pass through the pulley structure 31, the coupling of the first transmission rope 512 and the second transmission rope 522 with the movement of the forearm shell 2 when passing through the elbow assembly 3 is avoided.

[0062] In practice, when the second winding motor 521 rotates forward, the first second transmission rope 522 is wound up and moves along the path of the first side of the first auxiliary pulley 311, the second side of the first main pulley 312, the first side of the second main pulley 313, and the second side of the second auxiliary pulley 314, and at the same time, the second second transmission rope 522 is loosened, thereby further driving the wrist assembly 4 to move. When the second winding motor 521 rotates reversely, the second second transmission rope 522 is wound up and moves along the path of the first side of the first auxiliary pulley 311, the second side of the first main pulley 312, the first side of the second main pulley 313, and the second side of the second auxiliary pulley 314, and at the same time, the first second transmission rope 522 is loosened, thereby further driving the wrist assembly 4 to move in the opposite direction.

[0063] In some embodiments, the first main pulley 312 and the second main pulley 313 both include a bearing member 315 and a pulley member 316 . The outer peripheral wall of the pulley member 316 is formed with a winding groove 3161 , which is installed in the pulley member 316 . The bearing member 315 is used to pass through and install the rotating shaft 3162 .

[0064] Specifically, Figure 8 and Fig. 9As shown, the first main pulley 312 and the second main pulley 313 both include a bearing member 315 and a pulley member 316. The outer peripheral wall of the pulley member 316 is recessed a short distance to form a winding groove 3161. The winding groove 3161 is used to wind the first transmission rope 512 and the second transmission rope 522. The shape and depth of the winding groove 3161 should be compatible with the shape and size of the first transmission rope 512 and the second transmission rope 522 and the bypass path, so as to ensure that the transmission rope can remain stable on the first main pulley 312 and the second main pulley 313 to avoid deviation or slippage, thereby affecting the power transmission and the movement of the robot arm 100.

[0065] A relatively rotatable bearing member 315 is installed on the inner circumference of the pulley member 316. In practice, the bearing member 315 can be embedded in the bearing end cover 3151. The bearing member 315 serves as a supporting structure for the rotation of the pulley member 316. When the pulley member 316 is subjected to external force, it can rotate smoothly and smoothly to avoid jamming and affecting the movement of the robot arm 100. In practice, the bearing member 315 can use sliding bearings, ball bearings, etc., which can be flexibly selected according to actual needs. Among them, a mounting shaft 3162 is passed through the center of the bearing member 315, and the elbow assembly 3 is provided with an elbow connecting plate 32. After the mounting shaft 3162 is passed through the bearing member 315, its end away from the bearing member 315 can be installed on the elbow connecting plate 32, so as to connect the pulley member 316 with the elbow connecting plate 32, and elbow adapter plates 33 are provided at both ends of the elbow connecting plate 32, the elbow adapter plate 33 at one end is fixedly connected to the upper arm shell 1, and the elbow adapter plate 33 at the other end is fixedly connected to the lower arm shell 2, and the ends of the two elbow adapter plates 33 close to the elbow connecting plate 32 are both installed on the mounting shaft 3162, thereby, when the first transmission rope 512 is wound and tightened, it can drive the pulley member 316 to rotate smoothly, and then the lower arm shell 2 can be flexibly rotated relative to the upper arm shell 1, that is, the movement of the lower arm shell 2 and the lower arm shell 2 is driven by the relative rotation of the elbow adapter plate 33.

[0066] In some embodiments, the wrist assembly 4 includes a wrist housing 41, a rotating pulley set 42, a wrist rotation transformer 43 and a wrist rotating end plate 44. The wrist rotation transformer 43 is rotatably mounted on the wrist housing 41 through the rotating pulley set 42. The wrist rotating end plate 44 is connected to the wrist rotation transformer 43 through a universal joint assembly 45, and two movable connecting rods 46 are also connected between the wrist rotating end plate 44 and the wrist rotation transformer 43.

[0067] Specifically, Fig.10As shown, the wrist assembly 4 includes a wrist shell 41, a rotating pulley set 42, a wrist resolver 43 and a wrist rotating end plate 44. The wrist shell 41 is used to fix and protect internal components. As shown in the up and down directions in the figure, the wrist rotating end plate 44 is located at the top, and the wrist shell 41 is located at the bottom. The rotating pulley set 42 is installed in the wrist shell 41, and the wrist resolver 43 is installed on the upper side of the wrist shell 41, and the wrist resolver 43 is rotatably installed on the wrist shell 41 through the rotating pulley set 42. That is, through the transmission of the rotating pulley set 42, the wrist resolver 43 can rotate relative to the wrist shell 41, and the wrist assembly 4 can rotate 360 ​​degrees, thereby improving the flexibility of the robot arm 100. Among them, the wrist rotating end plate 44 is connected to the wrist revolver 43 through the universal joint assembly 45, that is, through the flexible connection of the universal joint assembly 45, the wrist rotating end plate 44 can perform pitch and yaw movements relative to the wrist revolver 43, and through the two movable links 46 connected between the wrist rotating end plate 44 and the wrist revolver 43, force can be transmitted through the movement of the two movable links 46, so as to allow the wrist rotating end plate 44 to be precisely controlled in the pitch and yaw directions, thereby realizing flexible operation of the load.

[0068] Furthermore, the second winding structure is composed of three groups, one group of second winding structure's second transmission ropes 522 are connected to the rotating pulley group 42 to drive the wrist rotation transformer 43 equivalent to the wrist housing 41 to rotate, one group of second winding structure's second transmission ropes 522 are connected to a movable link 46 to drive the wrist rotating end plate 44 equivalent to the wrist rotation transformer 43 to perform pitch motion, and another group of second winding structure's second transmission ropes 522 are connected to another movable link 46 to drive the wrist rotating end plate 44 equivalent to the wrist rotation transformer 43 to perform yaw motion.

[0069] Specifically, by retracting and releasing the second transmission rope 522 of the first group of second winding structures, the wrist rotation transformer 43 can be driven to rotate relative to the wrist shell 41, thereby increasing the rotational freedom of the robot arm 100. By retracting and releasing the second transmission rope 522 of the second group of second winding structures, the wrist rotating end plate 44 can be driven to perform a pitch motion relative to the wrist rotation transformer 43, that is, to swing up and down, so that the wrist rotating end plate 44 can accurately point to the target position or perform a task. By retracting and releasing the second transmission rope 522 of the third group of second winding structures, the wrist rotating end plate 44 can be driven to perform a yaw motion relative to the wrist rotation transformer 43, that is, to swing left and right or rotate around a vertical axis, thereby further increasing the flexibility of the wrist assembly 4, enabling it to perform more complex tasks.

[0070] Therefore, through the setting of three groups of second winding structures and different connection methods and movement methods with the rotating pulley group 42, the movable connecting rod 46, the wrist rotation transformer 43 and the wrist rotating end plate 44, accurate and flexible control of the wrist assembly 4 in multiple directions is achieved, and the movement of different components is driven by the second transmission rope 522 to realize complex movements such as rotation, pitch and yaw of the wrist assembly 4, so that the wrist assembly 4 of the robot arm 100 can flexibly respond to various work scenarios and task requirements.

[0071] In some embodiments, Figure 3 As shown, the winding transmission assembly 5 includes a frame structure 52, which is used to protect the components inside it. The frame structure 52 can be constructed as a rectangular structure. Of course, it can also be constructed as other shapes, such as a cylindrical structure, etc., which can be flexibly set according to actual needs. Among them, the frame structure 52 is hollow inside to form an installation cavity 521. The first winding motor 511 and the second winding motor 521 are both installed in the installation cavity 521, so that the first winding motor 511 and the second winding motor 521 can be prevented from being affected by the external environment. For example, it can prevent dust, water and other foreign objects from affecting and damaging the winding motors and affecting their normal operation.

[0072] In actual design, the first winding motor 511 and the second winding motor 521 are mounted on a motor mounting bracket to ensure the stability of the first winding motor 511 and the second winding motor 521 .

[0073] In some embodiments, Figure 1 As shown, the winding transmission assembly 5 is connected to one end of the boom housing 1 away from the elbow assembly 3, so that the entire winding transmission assembly 5 can be concentrated on one side of the boom housing 1, that is, the weight of the winding transmission assembly 5 is concentrated at the upper position, which is beneficial to balancing the weight of the robot arm 100, effectively reducing the movement inertia of the boom arm, realizing "lightweight" control, and improving the overall stability and movement accuracy of the robot arm 100.

[0074] The upper arm housing 1 is provided with a first threading cavity 11, the lower arm housing 2 is provided with a second threading cavity 21, the first transmission rope 512 is passed through the first threading cavity 11, and the second transmission rope 522 is passed through the first threading cavity 11 and the second threading cavity 21 in sequence.

[0075] Specifically, Figure 5 and Figure 6As shown, the upper arm shell 1 and the lower arm shell 2 can be constructed as a rectangular body structure, the interior of the upper arm shell 1 is hollow to form a first threading cavity 11, and the interior of the lower arm shell 2 is hollow to form a second threading cavity 21. The first threading cavity 11 is used to allow the first transmission rope 512 and the second transmission rope 522 to pass through smoothly to connect with the pulley structure 31, and to ensure smooth movement of the transmission rope to avoid it from being affected by the outside world, and the second threading cavity 21 is used to allow the second transmission rope 522 to pass through smoothly to connect with the wrist assembly 4.

[0076] In some embodiments, Figure 1 As shown, the winding transmission assembly 5 is connected to a shoulder assembly 6 at one end away from the boom housing 1. Figure 2 As shown, the shoulder assembly 6 includes a yaw joint 61, a roll joint 62, and a pitch joint 63. Through the cooperation of these three joints, the flexible movement of the arm housing 1 of the robot arm 100 is realized. And these three joints are a combination of a motor and a harmonic reducer, using a cross roller bearing as a rotation support, and the drive mechanism adopts a built-in design, so that the overall size of the base is compact and can be arranged in a narrow space to avoid interference with other components.

[0077] The pitch joint 63 is also connected to a shoulder adapter plate 631 , and can be connected to the winding transmission assembly 5 through the shoulder adapter plate 631 .

[0078] In some embodiments, the wrist assembly 4 is connected to a gripper assembly 7 and a camera assembly 8 at one end away from the forearm housing 2. Figure 1 As shown, the wrist rotating end plate 44 of the wrist assembly 4 is connected to the camera assembly 8, that is, the wrist assembly 4 provides stable support for the gripper assembly 7 and the camera assembly 8 to ensure that the gripper assembly 7 remains stable during the grasping process and can grasp flexibly.

[0079] The gripper assembly 7 is suitable for being driven by a gripper motor assembly, that is, the gripper motor assembly can provide power to the gripper assembly to drive the gripper assembly 7 to open and close to grasp objects. During the grasping process, the object is identified by the camera assembly 8 to facilitate the gripper assembly 7 to accurately grasp the target object.

[0080] Therefore, through the cooperation between the wrist assembly 4, the gripper assembly 7 and the camera assembly 8, the robot arm 100 can accurately grasp the target object and complete various complex tasks.

[0081] The invention also provides a mechanical device.

[0082] According to the mechanical equipment of the embodiment of the present invention, a mechanical arm 100 of any one of the above-mentioned embodiments is provided, and a pulley structure 31 is provided on the elbow component 3, and the upper arm shell 1 is connected to the winding transmission component 5 including the first winding structure and the second winding structure, so that the mechanical arm 100 can accurately control the movement of the lower arm shell 2 relative to the upper arm shell 1 and the movement of the wrist component 4 relative to the lower arm shell 2 under the action of the first winding structure and the second winding structure, so that the mechanical arm 100 can flexibly complete various tasks in a complex spatial environment, and realize electromechanical separation, and has the characteristics of low weight and inertia, high sensitivity, high speed and high reliability, simple structure, easy repair and maintenance, and reduced maintenance costs, and at the same time has the characteristics of high rigidity, large operating force and high control accuracy of traditional rigid arms.

[0083] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0084] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A robotic arm, characterized in that: include: A big arm housing and a small arm housing; An elbow assembly, the upper arm housing and the lower arm housing are connected via the elbow assembly, the elbow assembly comprises a pulley structure, and the lower arm housing is connected to a wrist assembly at one end away from the elbow assembly; Among them, the upper arm housing is connected to a winding transmission assembly, and the transmission winding assembly includes a first winding structure and a second winding structure, the first winding structure includes a connected first winding motor and a first transmission rope, the first transmission rope is wound around and connected to the pulley structure to drive the lower arm housing to move relative to the upper arm housing, and the second winding structure includes a connected second winding motor and a second transmission rope, the second transmission rope is wound around the pulley structure and connected to the wrist assembly to drive the wrist assembly to move relative to the lower arm housing.

2. The robotic arm according to claim 1, characterized in that: The pulley structure comprises a first auxiliary pulley, a first main pulley, a second main pulley and a second auxiliary pulley, wherein the first auxiliary pulley and the first main pulley are both mounted on the upper arm housing, and the second main pulley and the second auxiliary pulley are both mounted on the lower arm housing; Among them, the first transmission rope is sequentially wound around the first auxiliary pulley and the first main pulley and then connected to the second main pulley, and the second transmission rope is sequentially wound around the first auxiliary pulley, the first main pulley, the second main pulley and the second auxiliary pulley and then connected to the wrist assembly.

3. The robotic arm according to claim 2, characterized in that: There are two first transmission ropes and both are connected to the first winding motor, and the first winding motor is suitable for winding one first transmission rope when rotating in the forward direction and winding the other first transmission rope when rotating in the reverse direction; Among them, the one first transmission rope is suitable for being sequentially wound around the first side of the first auxiliary pulley, the second side of the first main pulley, and the second side of the second main pulley, and then connected to the first side of the second main pulley; the other first transmission rope is suitable for being sequentially wound around the second side of the first auxiliary pulley, the first side of the first main pulley, and the first side of the second main pulley, and then connected to the second side of the second main pulley.

4. The robotic arm according to claim 2, characterized in that: There are two second transmission ropes and both are connected to the second winding motor, and the second winding motor is suitable for winding up one second transmission rope when rotating in the forward direction and winding up the other second transmission rope when rotating in the reverse direction; Among them, the one is suitable for being sequentially wound around the first side of the first auxiliary pulley, the second side of the first main pulley, the first side of the second main pulley, and the second side of the second auxiliary pulley, and then connected to the wrist assembly; the other first transmission rope is suitable for being sequentially wound around the second side of the first auxiliary pulley, the first side of the first main pulley, the second side of the second main pulley, and the first side of the second auxiliary pulley, and then connected to the wrist assembly.

5. The robotic arm according to claim 2, characterized in that: The first main pulley and the second main pulley both include a bearing component and a pulley component. A winding groove is formed on the outer peripheral wall of the pulley component. The bearing component is installed in the pulley component. The bearing component is used to penetrate and install the rotating shaft.

6. The robotic arm according to any one of claims 1 to 5, characterized in that: The wrist assembly includes a wrist housing, a rotating pulley group, a wrist resolver and a wrist rotating end plate, wherein the wrist resolver is rotatably mounted on the wrist housing through the rotating pulley group, the wrist rotating end plate is connected to the wrist resolver through a universal joint assembly, and two movable connecting rods are further connected between the wrist rotating end plate and the wrist resolver; The second winding structure consists of three groups, one group of second transmission ropes of the second winding structure is connected to the rotating pulley group to drive the wrist rotation transformer, which is equivalent to the rotation of the wrist housing, one group of second transmission ropes of the second winding structure is connected to one of the movable connecting rods to drive the wrist rotating end plate, which is equivalent to the pitch motion of the wrist rotation transformer, and another group of second transmission ropes of the second winding structure is connected to another of the movable connecting rods to drive the wrist rotating end plate, which is equivalent to the yaw motion of the wrist rotation transformer.

7. The mechanical arm according to any one of claims 1 to 5, characterized in that: The winding transmission assembly comprises a frame structure, a mounting cavity is formed in the frame structure, and the first winding motor and the second winding motor are both mounted in the mounting cavity.

8. The robotic arm according to any one of claims 1 to 5, characterized in that: The winding transmission assembly is connected to one end of the upper arm housing away from the elbow assembly, the upper arm housing is provided with a first threading cavity, and the lower arm housing is provided with a second threading cavity; The first transmission rope is passed through the first threading cavity, and the second transmission rope is passed through the first threading cavity and the second threading cavity in sequence.

9. The robot arm according to claim 8, characterized in that: The winding transmission assembly is connected to a shoulder assembly at one end away from the boom housing; And / or, the wrist assembly is connected to a gripper assembly and a camera assembly at one end away from the forearm housing, and the gripper assembly is suitable for being driven by a gripper motor assembly.

10. A mechanical device, characterized in that: A robotic arm according to any one of claims 1 to 9 is provided.

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