Mechanical arm and mechanical equipment

Abstract

The invention discloses a mechanical arm and mechanical equipment, the mechanical arm comprises a small arm assembly and a large arm assembly, the small arm assembly is rotatably connected with the large arm assembly through an elbow assembly, and the small arm assembly is suitable for being driven by a rope driving structure to rotate relative to the large arm assembly; the load assembly is mounted on the small arm assembly in a sliding manner; and the buffering structure comprises a buffering spring, and the buffering spring is connected with the small arm assembly and the load assembly and is suitable for providing reverse buffering force when the load assembly slides in the first direction relative to the small arm assembly. According to the mechanical arm, the buffer spring is arranged between the load assembly and the small arm assembly, the load assembly can bear reverse buffer force after moving relative to the small arm assembly, the impact force of the load assembly can be effectively buffered, all structures of the mechanical arm are protected against damage, impact borne by an operator is reduced, and therefore the use safety of the mechanical arm is improved.

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] As modern mission environments become increasingly complex, the risks and difficulties faced by individuals in performing missions continue to rise. Especially in close-range operations, due to limited vision and challenges in reconnaissance perception, more flexible, covert and accurate tool support is required.

[0003] Although traditional articulated robotic arms have been tried to assist individuals in performing tasks, due to the limitations of their structural characteristics and drive methods, when faced with complex environments, traditional articulated robotic arms are heavy and consume a lot of energy, which limits their flexibility and sustained operational capabilities in specific task environments. Secondly, when specific tools need to be carried, traditional robotic arms are not able to cope with impact forces, which can easily lead to damage to the robotic arm and risks to the operator, so 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 provides a mechanical arm that can effectively buffer the impact force of the movement of the load assembly to protect the various structures of the mechanical arm from being damaged, and can reduce the impact on the operator, thereby improving the safety of the use of the mechanical arm.

[0005] A robotic arm according to an embodiment of the present invention comprises: a forearm assembly and a boom assembly, wherein the forearm assembly is rotatably connected to the boom assembly via an elbow assembly, and the forearm assembly is suitable for being driven by a rope drive structure to rotate relative to the boom assembly; a load assembly, wherein the load assembly is slidably mounted on the forearm assembly; and a buffer structure, wherein the buffer structure comprises a buffer spring, wherein the buffer spring is respectively connected to the forearm assembly and the load assembly, and is suitable for providing a reverse buffer force when the load assembly slides in a first direction relative to the forearm assembly.

[0006] According to the robotic arm of the embodiment of the present invention, a buffer spring is arranged between the load component and the forearm component, so that the load component can be subjected to a reverse buffer force after moving relative to the forearm component in a first direction, which can effectively buffer the impact force of the load component movement to protect the various structures of the robotic arm from damage, and can reduce the impact on the operator, thereby improving the safety of the use of the robotic arm, and the forearm assembly can be driven by a rope-driven structure, thereby achieving lightweight and low energy consumption of the entire robotic arm, improving the operational flexibility and durability of the robotic arm, and having a wider range of applications.

[0007] According to the robotic arm of some embodiments of the present invention, the forearm assembly is further provided with a first buffer member and a second buffer member, and the load assembly is buffered and pressed against the first buffer member when sliding to an extreme position in a first direction relative to the forearm assembly, and is buffered and pressed against the second buffer member when sliding to an extreme position in a second direction relative to the forearm assembly, and the first direction is opposite to the second direction.

[0008] According to the robotic arm of some embodiments of the present invention, the forearm assembly is formed with a mounting slot, the load assembly is slidably mounted in the mounting slot, and the first buffer component and the second buffer component are respectively mounted at two ends of the mounting slot.

[0009] According to some embodiments of the present invention, the inner bottom wall of the mounting slot is provided with a first sliding portion, the load assembly is provided with a second sliding portion, and the first sliding portion and the second sliding portion are slidably matched along the first direction or the second direction.

[0010] According to the robot arm of some embodiments of the present invention, a matching space is formed at the bottom of the load assembly, and the second sliding portion is located in the matching space.

[0011] According to some embodiments of the present invention, the small arm assembly is provided with a rotating shaft, the buffer spring is retracted outside the rotating shaft, and the buffer spring is suitable for sliding and unfolding in a first direction relative to the small arm assembly and storing elastic energy.

[0012] According to the robot arm of some embodiments of the present invention, a reel is disposed on the outer sleeve of the rotating shaft, the reel is located at the bottom of the load component, and the buffer spring is wound around the outside of the reel.

[0013] According to some embodiments of the present invention, the elbow assembly comprises a first pulley, a second pulley and an auxiliary pulley, the first pulley and the auxiliary pulley are both mounted on the large arm assembly, the second pulley is mounted on the small arm assembly, and the large arm assembly is equipped with a driving member;

[0014] The rope drive structure includes a connecting rope, which is wound around the auxiliary pulley, the first pulley and the second pulley. The driving member is suitable for pulling the second pulley to rotate around the first pulley through the connecting rope to drive the small arm assembly to rotate.

[0015] The robotic arm according to some embodiments of the present invention further includes a shoulder assembly, wherein the shoulder assembly is connected to one end of the upper arm assembly away from the elbow assembly, and the shoulder assembly is movably connected to the base.

[0016] The invention also provides a mechanical device.

[0017] 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.

[0018] 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.

[0019] 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

[0020] 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:

[0021] Figure 1 is a schematic structural diagram of a mechanical arm according to an embodiment of the present invention;

[0022] Figure 2 is a schematic structural diagram of a forearm assembly of a robotic arm according to an embodiment of the present invention;

[0023] Figure 3 is a schematic structural diagram of an elbow assembly of a robotic arm according to an embodiment of the present invention;

[0024] Figure 4 is a schematic structural diagram of a large arm assembly of a robotic arm according to an embodiment of the present invention;

[0025] Figure 5 is a schematic structural diagram of a forearm assembly of a robotic arm according to an embodiment of the present invention.

[0026] Reference numerals:

[0027] Robotic arm 100,

[0028] Forearm assembly 1, first buffer member 11, second buffer member 12, mounting groove 13, first sliding portion 131, rotating shaft 14, elbow assembly 2, rope drive structure 21, connecting rope 211, first pulley 22, second pulley 23, auxiliary pulley 24, forearm connecting plate 25, mounting shaft 26, connecting support plate 27, large arm assembly 3, driving member 31, driving wheel 32, mounting plate 33, connecting plate 34, protective cover shell 35, load assembly 4, load 41, load envelope 42, second sliding portion 43, matching space 44, first pressing portion 45, second pressing portion 46, buffer structure 5, buffer spring 51, winding wheel 52, shoulder assembly 6, driving motor 61, first flange 62, second flange 63, third flange 64. DETAILED DESCRIPTION

[0029] 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.

[0030] 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.

[0031] 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.

[0032] Reference below Figure 1-Figure 5 The robot arm 100 according to an embodiment of the present invention is described. By setting a buffer spring 51 between the load component 4 and the forearm component 1, the load component 4 can be subjected to a reverse buffer force after moving relative to the forearm component 1 along a first direction, which can effectively buffer the impact force of the movement of the load component 4 to protect the various structures of the robot arm 100 from damage and reduce the impact on the operator, thereby improving the safety of the use of the robot arm 100.

[0033] like Figure 1-Figure 5 As shown, a mechanical arm 100 according to an embodiment of the present invention includes: a small arm component 1, a large arm component 3, a load component 4 and a buffer structure 5.

[0034] The forearm assembly 1 is rotatably connected to the boom assembly 3 via the elbow assembly 2 . The forearm assembly 1 is suitable for being driven by the rope drive structure 21 to rotate relative to the boom assembly 3 , that is, the boom assembly 3 can drive the movement of the forearm assembly 1 via the rope drive structure 21 .

[0035] Specifically, the small arm assembly 1 and the large arm assembly 3 can simulate the movement of a human arm, such as Figure 1 As shown, one end of the elbow assembly 2 is connected to the forearm assembly 1, and the other end is connected to the boom assembly 3, and the elbow assembly 2 and the boom assembly 3 can be connected via a rope drive structure 21. The rope drive structure 21 is a mechanism for transmitting power via ropes or cables, wherein one end of the boom assembly 3 can be used as a power source, so that the power at the boom assembly 3 is transmitted to the elbow assembly 2 via the rope drive structure 21, and the elbow assembly 2 drives the forearm assembly 1 to rotate in at least two directions relative to the boom assembly 3, so as to realize various rotation requirements of the forearm assembly 1.

[0036] The load assembly 4 can be slidably installed on the arm assembly 1, wherein the load assembly 4 includes a load 41 and a load envelope 42, the load envelope 42 is used to connect the load 41 to the arm assembly 1, and the load envelope 42 can also be used to connect other structures, the load 41 is detachably connected to the load envelope 42, and the load envelope 42 can be connected to the arm assembly 1 through a slide rail assembly or a specific track and other structures, so that the load assembly 4 can slide relative to the arm assembly 1. In this way, through the sliding mechanism, the movement accuracy of the load assembly 4 can be improved, the movement is smoother, and unnecessary collision and other damage can be avoided.

[0037] In different usage scenarios, it is only necessary to replace the load 41, or replace the load component 4 as a whole, which is simpler to operate and convenient for maintenance and replacement. The load 41 can be an actuator, a tool, or other mechanical components.

[0038] The buffer structure 5 includes a buffer spring 51, which is respectively connected to the arm assembly 1 and the load assembly 4, and is suitable for providing a reverse buffer force when the load assembly 4 slides in a first direction relative to the arm assembly 1. That is, the reverse buffer force provided by the buffer spring 51 can reduce the sliding speed of the load 41 and reduce the impact force of the load 41.

[0039] Specifically, the load assembly 4 can be a special tool with recoil force, and the two ends of the buffer spring 51 are respectively fixed on two structures, such as Figure 2 As shown, the buffer spring 51 is connected between the load assembly 4 and the forearm assembly 1, wherein the buffer spring 51 can be a constant force spring, which can provide a relatively constant force during compression or extension, and the first direction can be backward or downward, etc. When a high burst of recoil is generated instantly after the load assembly 4 is actuated, the reverse buffer force applied by the constant force spring to it realizes a tensioning effect, which can slow down the movement speed of the load assembly 4, prevent the load assembly 4 from sliding too fast, and reduce the impact force of the load assembly 4. The buffer spring 51 can also be constructed as other types of springs that can provide stable elastic tension.

[0040] Among them, the pulling force of the buffer spring 51 is greater than the gravity of the load component 4. In the initial state, the buffer spring 51 is in a tensioned state, so that the load component 4 can be buffered when the robot arm 100 moves, and the load component 4 only generates a reverse buffering force of the buffer spring 51 on the forearm component 1. In this way, the damage caused by the high-explosive recoil of the load component 4 to the robot arm 100 can be greatly reduced, and the force generated by the high-explosive recoil on the user can also be greatly reduced.

[0041] Therefore, by setting the buffer spring 51 as the buffer structure 5 of the small arm assembly 1, the buffer spring 51 can provide consistent resistance throughout the entire range of motion, prevent impact or damage to the system due to rapid movement, absorb shock and vibration, reduce the impact on other parts of the mechanical system, and improve the safety of the operator. When the load assembly 4 moves to the extreme position, the constant force spring can provide additional stability to prevent displacement due to inertia, thereby improving the durability of the small arm assembly 1. The constant force characteristics provided by the buffer spring 51 are suitable for application scenarios that require precise control of the position of the load assembly 4.

[0042] The driving of the rope-driven structure 21 can provide a larger range of motion and flexibility, so that the small arm assembly 1 can move accurately in multiple directions. Compared with direct driving, the rope-driven structure 21 can reduce the space occupied by mechanical parts, making the overall design more compact. The rope-driven structure 21 is light in weight, low in cost, easy to maintain and replace, and the breakage of the rope will not cause serious mechanical failures like rigid connections, so as to provide better safety performance, improve the operational flexibility and durability of the manipulator 100, and have a wider range of applications. In addition, in close-range operations, under the challenges of limited vision and reconnaissance perception capabilities, the manipulator 100 can work more flexibly, concealedly and accurately, so as to effectively improve the efficiency of individual task execution.

[0043] In some embodiments, the arm assembly 1 is further provided with a first buffer 11 and a second buffer 12. When the load assembly 4 slides to an extreme position in a first direction relative to the arm assembly 1, it is buffered and pressed against the first buffer 11, and when the load assembly 4 slides to an extreme position in a second direction relative to the arm assembly 1, it is buffered and pressed against the second buffer 12. The first direction is opposite to the second direction.

[0044] Specifically, the first buffer 11 and the second buffer 12 both play the role of buffering and shock absorption, wherein the first buffer 11 and the second buffer 12 are respectively located at the two ends of the small arm assembly 1, and the first buffer 11 and the second buffer 12 can be constructed as elastic members, and can be made of materials such as rubber to achieve a good buffering effect. The load assembly 4 moves linearly relative to the small arm assembly 1, and the first direction and the second direction are parallel and opposite, and the first direction can be backward or downward, and the second direction can be forward or upward. In this embodiment, the first direction can be set to be backward and the second direction can be forward.

[0045] Furthermore, under the action of the recoil force, the load assembly 4 will slide backward rapidly relative to the forearm assembly 1, and the tension of the buffer spring 51 will provide a negative acceleration to it, so that the impact of the load assembly 4 moving backward can be reduced, and when the load assembly 4 moves backward to the limit position, the load assembly 4 and the first buffer member 11 are pressed and contacted, which can play a role of buffering, shockproof, and limit. After the speed of the load assembly 4 is zero, the tension of the buffer spring 51 will make the load assembly 4 move forward and return to the original position. In the process of returning to the original position, the load assembly 4 is pressed and contacted with the second buffer member 12 due to inertia, which can also play a role of buffering, shockproof and limit.

[0046] Thus, the cooperation between the buffer spring 51 and the first buffer member 11 and the second buffer member 12 limits the sliding range of the load assembly 4, and the speed of the load assembly 4 can be reduced at the two extreme positions, and the buffer member can absorb the impact, preventing the load assembly 4 from directly hitting the end of the mechanical structure, thereby reducing the risk of damage, and preventing it from sliding out of the installation slot 13 to cause greater risks, and having higher safety. It also ensures that the mechanical system remains stable when the load 41 changes, avoiding instability caused by impact.

[0047] In some embodiments, the arm assembly 1 is formed with a mounting slot 13 , the load assembly 4 is slidably mounted in the mounting slot 13 , and the first buffer member 11 and the second buffer member 12 are respectively mounted at two ends of the mounting slot 13 .

[0048] Specifically, the mounting groove 13 is used for connecting and fixing the forearm assembly 1 with other structures. The forearm assembly 1 is constructed as a rectangular structure, and a mounting groove 13 matching the forearm assembly 1 is formed inside to provide a larger space for installing more and larger structures. The mounting groove 13 is formed with an open side, and the installation of other structures such as the load assembly 4 can be started from the open side. The load assembly 4 can be slidably connected to the mounting groove 13 through structures such as a slide rail assembly or a movable slide. The two ends of the mounting groove 13 are respectively connected to a first buffer member 11 and a second buffer member 12, which can be detachably connected by fasteners such as bolts, or bonded together by a colloid.

[0049] Correspondingly, the two ends of the load assembly 4 are respectively provided with a first pressing portion 45 and a second pressing portion 46, the first pressing portion 45 elastically presses against the first buffer 11, and the second pressing portion 46 elastically presses against the second buffer 12, and the length of the first pressing portion 45 is less than the length of the second pressing portion 46, the first pressing portion 45 is used for elastic pressing when the load assembly 4 moves to the extreme position, and its length requirement is not high, and the length of the second pressing portion 46 can be set according to the force magnitude of the forward movement of the load assembly 4 to ensure that the position of the load assembly 4 is consistent each time it returns, so as to improve the reset accuracy of the load assembly 4. And, the setting method of the load assembly 4 and the first buffer 11 and the second buffer 12 is not limited to the above, and it can meet the effective buffering, shockproof and limiting effects.

[0050] In some embodiments, the inner bottom wall of the mounting groove 13 is provided with a first sliding portion 131 , and the load assembly 4 is provided with a second sliding portion 43 . The first sliding portion 131 and the second sliding portion 43 are slidably matched along the first direction or the second direction.

[0051] Specifically, the load component 4 can be slidably connected to the bottom of the mounting groove 13, that is, a first sliding portion 131 is arranged on the inner bottom wall of the mounting groove 13, and a second sliding portion 43 is arranged at the bottom of the load component 4. In actual design, the first sliding portion 131 and the second sliding portion 43 can be slidably matched with a slide rail and a slider, wherein one of the first sliding portion 131 and the second sliding portion 43 is constructed as a slide rail, and the other is constructed as a slider. In this way, through the sliding cooperation between the slide rail and the slider, the load component 4 can slide relative to the mounting groove 13 along the first direction and the second direction, and the structure is simple, the disassembly and assembly are convenient, and the cost is low.

[0052] Therefore, the movement of the load assembly 4 relative to the forearm assembly 1 can be precisely controlled through sliding fit, ensuring that the load assembly 4 can be precisely positioned along a predetermined trajectory, reducing friction therebetween, thereby reducing energy consumption, improving system efficiency, and improving the reliability and durability of the entire system. It can also help the robot arm 100 maintain dynamic balance when performing rapid or complex movements.

[0053] In some embodiments, a matching space 44 is formed at the bottom of the load assembly 4, and the second sliding portion 43 is located in the matching space 44. Figure 2 As shown, the first sliding portion 131 is constructed as a slide rail, which extends along the first direction. The extension length of the slide rail is greater than the sliding displacement of the load component 4, which can avoid derailment of the load component 4, and the slide rail is detachably connected to the inner bottom wall of the mounting groove 13. The second sliding portion 43 is constructed as a slider, and a matching space 44 is formed at the bottom of the load component 4. The matching space 44 can be constructed into other shapes such as an L shape. The matching space 44 can realize the installation of the second sliding portion 43, and can make the arrangement of the load component 4 and the forearm component 1 compact, thereby reducing the vertical setting space of the two.

[0054] In some embodiments, the arm assembly 1 is provided with a rotating shaft 14 , and the buffer spring 51 is rolled up outside the rotating shaft 14 . The buffer spring 51 is suitable for sliding and unfolding in a first direction relative to the arm assembly 1 and performing elastic energy storage.

[0055] Specifically, the rotating shaft 14 is used to connect the buffer spring 51 and the load assembly 4, and the rotating shaft 14 is detachably connected to the arm assembly 1. Figure 1 and Figure 2 As shown, the rotating shaft 14 is arranged along the width direction of the small arm assembly 1 and is perpendicular to the first direction and the second direction. The small arm assembly 1 is provided with mounting holes at both ends of its width. The two ends of the rotating shaft 14 can be connected to the two mounting holes through deep groove ball bearings, so that the rotating support of the rotating shaft 14 and the small arm assembly 1 can be realized, and the rotation process is smooth and reliable. Among them, the buffer spring 51 is a constant force spring, which has the ability to be wound up, and can store energy and release it when needed. The constant force spring is wound outside the rotating shaft 14. When the load assembly 4 slides in the first direction relative to the small arm assembly 1 under the recoil force, its recoil force is greater than the self-winding force of the constant force spring, which can make the constant force spring be forced to expand along the first direction, thereby storing elastic potential energy, and can reduce the movement speed of the load assembly 4 and reduce damage to the mechanical structure.

[0056] When the load component 4 needs to return quickly or requires additional power, the constant force spring can release the stored elastic potential energy to achieve rapid resetting of the load component 4. By storing and quickly releasing energy, the buffer spring 51 can improve the response speed of the mechanical system, reduce dependence on external energy, and maintain system stability through elastic force.

[0057] In some embodiments, a reel 52 is disposed on the outer shell of the rotating shaft 14 . The reel 52 is located at the bottom of the load assembly 4 , and the buffer spring 51 is wound around the reel 52 .

[0058] Specifically, the reel 52 is used to reel in the buffer spring 51. The buffer spring 51 can be installed outside the rotating shaft 14 through the reel 52. The reel 52 is located at the bottom of the load component 4. One end of the buffer spring 51 is connected to the front end of the load component 4. When the load component 4 is not subjected to recoil, the buffer spring 51 and the load component 4 are in a tensioned state, and the buffer spring 51 is reeled outside the reel 52. When the load component 4 is subjected to backward recoil, the load component 4 pulls the buffer spring 51 and the reel 52 to rotate relative to the rotating shaft 14, and the buffer spring 51 gradually expands and reduces the speed at which the load component 4 moves backward, and can store energy. After the speed of the load component 4 is zero, the buffer spring 51 releases energy to pull the load component 4 forward to reset, and during the resetting process of the load component 4, the rotating shaft 14 rotates in the opposite direction, so that the buffer spring 51 can be reeled in the reel 52 to achieve the expansion and reeling of the buffer spring 51.

[0059] In some embodiments, the elbow assembly 2 includes a first pulley 22, a second pulley 23 and an auxiliary pulley 24, the first pulley 22 and the auxiliary pulley 24 are both installed on the upper arm assembly 3, the second pulley 23 is installed on the lower arm assembly 1, and the upper arm assembly 3 is installed with a driving member 31.

[0060] Specifically, the auxiliary pulley 24, the first pulley 22 and the second pulley 23 are sequentially distributed along the transmission direction of the power from the big arm assembly 3 to the small arm assembly 1, as shown in FIG. Figure 1 , Figure 3 and Figure 4 As shown, the boom assembly 3 includes two mounting plates 33 and a connecting plate 34, and the two mounting plates 33 are spaced apart vertically to form an installation space for the auxiliary pulley 24 and the first pulley 22. The auxiliary pulley 24 and the first pulley 22 are connected to the boom assembly 3 through a mounting shaft 26, and the mounting shafts 26 of the two are distributed vertically, the mounting shaft 26 of the second pulley 23 is parallel to and spaced apart from the mounting shafts 26 of the auxiliary pulley 24 and the first pulley 22, and the elbow assembly 2 also includes two forearm connecting plates 25, and the two forearm connecting plates 25 are spaced apart vertically to form an installation space for the second pulley 23, and the second pulley 23 is connected to the two forearm connecting plates 25 through the mounting shaft 26, and a connecting support plate 27 is connected between the mounting shafts 26 of the second pulley 23 and the first pulley 22 to keep the center distance between the two relatively stable.

[0061] The rope drive structure 21 includes a connecting rope 211 , which is wound around the auxiliary pulley 24 , the first pulley 22 and the second pulley 23 . The driving member 31 is suitable for pulling the second pulley 23 to rotate around the first pulley 22 through the connecting rope 211 to drive the forearm assembly 1 to rotate.

[0062] Specifically, Figure 1 , Figure 3 and Figure 4As shown, the boom assembly 3 is provided with a driving member 31 at one end away from the elbow assembly 2. The driving member 31 can be constructed as a driving motor 61. The output shaft of the driving motor 61 extends vertically, and a driving wheel 32 is provided on the outer sleeve of the output shaft. The driving wheel 32, the auxiliary pulley 24, the first pulley 22 and the second pulley 23 are key components of the rope drive structure 21, and the rope drive structure 21 includes a connecting rope 211. The connecting rope 211 is wound around the driving wheel 32, the auxiliary pulley 24, the first pulley 22 and the second pulley 23, and then reversely wound around the second pulley 23, the first pulley 22, the auxiliary pulley 24 and the driving wheel 32. The winding direction is as shown in FIG. Figure 4 As shown, the auxiliary pulley 24 can be used to change the pulling direction of the connecting rope 211, so that the driving motor 61 drives the active wheel 32 to rotate in the positive direction to drive the connecting rope 211 to move in one direction. During the movement of the connecting rope 211, the driving force is transmitted to the second pulley 23, so that the second pulley 23 performs pure rolling motion around the first pulley 22, so that the small arm assembly 1 can be rotated in one direction relative to the large arm assembly 3.

[0063] On the contrary, when the driving motor 61 drives the driving wheel 32 to rotate in the opposite direction, the connecting rope 211 is driven to move in the opposite direction, and the driving force is transmitted to the second pulley 23, so that the second pulley 23 performs pure rolling motion around the first pulley 22, so that the small arm assembly 1 can rotate in the opposite direction relative to the large arm assembly 3, that is, the small arm assembly 1 can rotate forward and reverse to meet different usage requirements. Among them, the auxiliary pulley 24, the first pulley 22 and the second pulley 23 can be fixed or movable, and the driving motion of the connecting rope 211 can be realized.

[0064] Thus, by setting the rope drive structure 21, the connecting rope 211 can be transmitted between multiple pulleys, so that the direction of force can be changed, the force transmission efficiency can be increased, or different motion control effects can be achieved through the combination of pulleys, and the weight and complexity of the manipulator 100 can be reduced. The overall structure is light and the movement flexibility is high, which achieves lightweight and low energy consumption, so that the manipulator 100 can better adapt to various task environments and improve operational efficiency. In addition, the rope drive structure 21 can adjust the length of the connecting rope 211, easily change the range of motion of the small arm assembly 1, so that the operator can operate the manipulator 100 to perform tasks in a safe position, improve concealment, and reduce the risk of being discovered.

[0065] Among them, Figure 4 As shown, the boom assembly 3 is provided with a protective cover shell 35 on one side of the connecting plate 34. There are two protective cover shells 35. The two protective cover shells 35 are detachably connected to the two sides of the two mounting plates 33, which can protect the driving part 31 of the boom assembly 3 and ensure a neat appearance structure.

[0066] In some embodiments, the robot arm 100 further includes a shoulder assembly 6, which is connected to an end of the upper arm assembly 3 away from the elbow assembly 2, and the shoulder assembly 6 is movably connected to the base.

[0067] Specifically, the shoulder assembly 6 is used to support the arm assembly 3 and allow the arm assembly 3 to move relative to the base, such as Figure 1 and Figure 5 As shown, the shoulder assembly 6 is located at one end of the boom assembly 3 away from the elbow assembly 2, and is detachably connected to the boom assembly 3. The end of the shoulder assembly 6 away from the boom assembly 3 is movably connected to the base, and the base is connected to the placement surface of the robot 100. The shoulder assembly 6 may include two drive motors 61, a first flange 62, a second flange 63 and a third flange 64, and the boom assembly 3 is provided with a connecting plate 34 at one end close to the shoulder assembly 6. One of the two drive motors 61 is detachably connected to the base through the first flange 62, and the other is detachably connected to the connecting plate 34 of the boom assembly 3 through the second flange 63, and the two drive motors 61 are detachably connected through the third flange 64. In this way, the shoulder assembly 6 can move relative to the base, and the boom assembly 3 can move around the shoulder assembly 6 under the action of the two drive motors 61 to adapt to different usage scenarios, and its movement flexibility is high.

[0068] The invention also provides a mechanical device.

[0069] According to the mechanical equipment of the embodiment of the present invention, a mechanical arm 100 according to any of the above-mentioned embodiments is provided. The mechanical arm 100 can be applied to different mechanical equipment such as robots. By arranging a buffer spring 51 between the load component 4 and the forearm component 1, the load component 4 can be subjected to a reverse buffer force after moving relative to the forearm component 1 along the first direction, which can effectively buffer the impact force of the movement of the load component 4 to protect the various structures of the mechanical arm 100 from being damaged, and can reduce the impact on the operator, thereby improving the safety of the use of the mechanical arm 100. The forearm component 1 can be driven by the rope drive structure 21, thereby realizing the lightweight and low energy consumption of the entire mechanical arm 100, improving the operational flexibility and durability of the mechanical arm 100, and having a wider range of applications. Combined with the control system of the mechanical arm 100 and the above-mentioned structural design, fast and stable control performance is achieved, and the operational accuracy and task execution efficiency are improved.

[0070] 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.

[0071] 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 small arm assembly and a large arm assembly, wherein the small arm assembly is rotatably connected to the large arm assembly through an elbow assembly, and the small arm assembly is suitable for being driven by a rope drive structure to rotate relative to the large arm assembly; a load assembly, the load assembly being slidably mounted on the forearm assembly; The buffer structure comprises a buffer spring, wherein the buffer spring is respectively connected to the small arm assembly and the load assembly and is suitable for providing a reverse buffer force when the load assembly slides relative to the small arm assembly toward a first direction.

2. The robotic arm according to claim 1, characterized in that: The small arm assembly is also provided with a first buffer and a second buffer. When the load assembly slides to an extreme position in a first direction relative to the small arm assembly, it is buffered and pressed against the first buffer, and when the load assembly slides to an extreme position in a second direction relative to the small arm assembly, it is buffered and pressed against the second buffer. The first direction is opposite to the second direction.

3. The robotic arm according to claim 2, characterized in that: The small arm assembly is formed with a mounting groove, the load assembly is slidably mounted in the mounting groove, and the first buffer component and the second buffer component are respectively mounted at two ends of the mounting groove.

4. The robotic arm according to claim 2, characterized in that: The inner bottom wall of the installation groove is provided with a first sliding part, and the load assembly is provided with a second sliding part. The first sliding part and the second sliding part are slidably matched along the first direction or the second direction.

5. The robotic arm according to claim 4, characterized in that: A matching space is formed at the bottom of the load assembly, and the second sliding portion is located in the matching space.

6. The robotic arm according to claim 1, characterized in that: The small arm assembly is provided with a rotating shaft, the buffer spring is rolled up outside the rotating shaft, and the buffer spring is suitable for sliding and unfolding in a first direction relative to the small arm assembly and performing elastic energy storage.

7. The robot arm according to claim 6, characterized in that: A reel is disposed on the outer sleeve of the rotating shaft. The reel is located at the bottom of the load component. The buffer spring is wound around the outside of the reel.

8. The robotic arm according to any one of claims 1 to 7, characterized in that: The elbow assembly comprises a first pulley, a second pulley and an auxiliary pulley, the first pulley and the auxiliary pulley are both mounted on the boom assembly, the second pulley is mounted on the forearm assembly, and the boom assembly is mounted with a driving member; The rope drive structure includes a connecting rope, which is wound around the auxiliary pulley, the first pulley and the second pulley. The driving member is suitable for pulling the second pulley to rotate around the first pulley through the connecting rope to drive the small arm assembly to rotate.

9. The mechanical arm according to claim 6, characterized in that: It also includes a shoulder component, which is connected to one end of the upper arm component away from the elbow component, and the shoulder component is movably connected to the base.

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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