Rope-driven manipulators and mechanical equipment with buffering effect

Abstract

This invention discloses a cable-driven robotic arm and mechanical device with a buffering function. The cable-driven robotic arm with a buffering function includes: a forearm assembly and a main arm assembly, which are rotatably connected via an elbow assembly. The forearm assembly is adapted to be driven by a cable drive structure to rotate relative to the main arm assembly; a load assembly, which is slidably mounted on the forearm assembly; and a buffer structure, which includes a buffer spring connected to both the forearm assembly and the load assembly, and adapted to provide a reverse buffering force when the load assembly slides relative to the forearm assembly in a first direction. The cable-driven robotic arm with a buffering function of this invention, by providing a buffer spring between the load assembly and the forearm assembly, allows the load assembly to receive a reverse force after moving relative to the forearm assembly, effectively buffering the impact force on the load assembly, protecting the various structures of the robotic arm from damage, reducing the impact on the operator, and improving the safety of using the robotic arm.

Description

Technical Field

[0001] This invention relates to the field of mechanical technology, and more particularly to a rope-driven robotic arm with a buffering function and a mechanical device having the rope-driven robotic arm with the buffering function. Background Technology

[0002] As modern mission environments become increasingly complex, the risks and difficulties faced by individuals in carrying out missions continue to rise. Especially in close-range operations, the limitations of field of vision and the challenges of reconnaissance and perception necessitate more flexible, covert, and precise tools.

[0003] While traditional articulated robotic arms have been explored in assisting individuals with tasks, their structural characteristics and drive mechanisms limit their weight and energy consumption in complex environments, restricting their flexibility and sustained operational capability in specific task situations. Furthermore, when carrying specific tools, traditional robotic arms are insufficient in handling impacts, easily leading to damage to the arm and risks to the operator, indicating room for improvement. Summary of the Invention

[0004] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, the present invention proposes a cable-driven robotic arm with a buffering function. This cable-driven robotic arm with a buffering function can effectively buffer the impact force of the movement of the load components 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 robotic arm.

[0005] A cable-driven robotic arm with a buffering function according to an embodiment of the present invention includes: a forearm assembly and an upper arm assembly, the forearm assembly and the upper arm assembly being rotatably connected via an elbow assembly, the forearm assembly being adapted to be driven by a cable drive structure to rotate relative to the upper arm assembly; a load assembly being slidably mounted on the forearm assembly; and a buffer structure including a buffer spring, the buffer spring being connected to the forearm assembly and the load assembly respectively, and being adapted to provide a reverse buffering force when the load assembly slides relative to the forearm assembly in a first direction.

[0006] According to an embodiment of the present invention, a cable-driven robotic arm with a buffering function, by setting a buffer spring between the load assembly and the forearm assembly, allows the load assembly to be subjected to a reverse buffering force after moving relative to the forearm assembly in a first direction. This effectively buffers the impact force of the load assembly's movement, protecting the various structures of the cable-driven robotic arm from damage and reducing the impact on the operator, thereby improving the safety of the robotic arm. Furthermore, the forearm assembly can be driven by the cable drive structure, achieving lightweight and low energy consumption of the entire robotic arm, improving the operational flexibility and durability of the robotic arm, and broadening its applicability.

[0007] According to some embodiments of the present invention, a cable-driven robotic arm with a buffering function is provided, wherein the forearm assembly is further provided with a first buffer and a second buffer, wherein the load assembly buffers against the first buffer when sliding to a limit position relative to the forearm assembly in a first direction, and buffers against the second buffer when sliding to a limit position relative to the forearm assembly in a second direction, wherein the first direction is opposite to the second direction.

[0008] According to some embodiments of the present invention, a cable-driven robotic arm with a buffering function has a forearm assembly forming a mounting groove, a load assembly being slidably mounted in the mounting groove, and a first buffer and a second buffer being respectively mounted at both ends of the mounting groove.

[0009] According to some embodiments of the present invention, a rope-driven robotic arm with a buffering function has a first sliding portion on the inner bottom wall of the mounting groove and a second sliding portion on the load assembly, wherein the first sliding portion and the second sliding portion slide in cooperation along the first direction or the second direction.

[0010] According to some embodiments of the present invention, a cable-driven robotic arm with a buffering function has a mating space formed at the bottom of the load assembly, and the second sliding part is located within the mating space.

[0011] According to some embodiments of the present invention, a cable-driven robotic arm with a buffering function is provided, wherein the forearm assembly is provided with a rotating shaft, and the buffer spring is wound outside the rotating shaft. The buffer spring is adapted to slide and unfold in a first direction relative to the forearm assembly and perform elastic energy storage.

[0012] According to some embodiments of the present invention, a cable-driven robotic arm with a buffer function has a winding wheel sleeved around the rotating shaft, the winding wheel being located at the bottom of the load assembly, and the buffer spring being wound around the winding wheel.

[0013] According to some embodiments of the present invention, a cable-driven robotic arm with a buffering function is provided, wherein the elbow assembly includes a first pulley, a second pulley, and an auxiliary pulley, the first pulley and the auxiliary pulley are both mounted on the upper arm assembly, the second pulley is mounted on the lower arm assembly, and the upper arm assembly is equipped with a driving member;

[0014] The rope drive structure includes a connecting rope wound around the auxiliary pulley, the first pulley, and the second pulley. The drive member is adapted to pull the second pulley around the first pulley via the connecting rope to drive the forearm assembly to rotate.

[0015] According to some embodiments of the present invention, a cable-driven robotic arm with a buffer function further includes a shoulder assembly connected to the end of the upper arm assembly away from the elbow assembly, and the shoulder assembly is movably connected to a base.

[0016] The present invention also proposes a mechanical device.

[0017] According to embodiments of the present invention, the mechanical device is provided with a rope-driven robotic arm having a buffering function as described in any of the above embodiments.

[0018] The mechanical equipment described above and the cable-driven robotic arm with buffering function have the same advantages over the prior art, and will not be repeated here.

[0019] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0021] Figure 1 This is a schematic diagram of the structure of a cable-driven robotic arm with a buffering function according to an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of the forearm assembly of a rope-driven robotic arm with a buffering function according to an embodiment of the present invention.

[0023] Figure 3 This is a schematic diagram of the elbow assembly of a cable-driven robotic arm with a buffering function according to an embodiment of the present invention.

[0024] Figure 4 This is a schematic diagram of the structure of the boom assembly of a cable-driven robotic arm with a buffering function according to an embodiment of the present invention.

[0025] Figure 5 This is a schematic diagram of the forearm assembly of a cable-driven robotic arm with a buffering function according to an embodiment of the present invention.

[0026] Figure label:

[0027] 100 cable-driven robotic arm with cushioning function

[0028] Forearm assembly 1, first buffer 11, second buffer 12, mounting groove 13, first sliding part 131, rotating shaft 141, 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, upper arm assembly 3, drive component 31, drive wheel 32, mounting plate 33, connecting plate 34, protective cover 35, load assembly 4, load 41, load envelope 42, second sliding part 43, mating space 44, first pressing part 45, second pressing part 46, buffer structure 5, buffer spring 51, winding wheel 52, shoulder assembly 6, drive motor 61, first flange 62, second flange 63, third flange 64. Detailed Implementation

[0029] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0030] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0031] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0032] The following is for reference. Figures 1-5The present invention describes a cable-driven robotic arm 100 with a buffering function. By providing a buffer spring 51 between the load assembly 4 and the forearm assembly 1, the load assembly 4 can be subjected to a reverse buffering force after moving relative to the forearm assembly 1 in a first direction. This can effectively buffer the impact force of the load assembly 4's movement, thereby protecting the various structures of the cable-driven robotic arm 100 from damage and reducing the impact on the operator, thus improving the safety of the robotic arm.

[0033] like Figures 1-5 As shown, a rope-driven robotic arm 100 with a buffering function according to an embodiment of the present invention includes: a forearm assembly 1, a main arm assembly 3, a load assembly 4, and a buffer structure 5.

[0034] Forearm assembly 1 and upper arm assembly 3 are rotatably connected via elbow assembly 2. Forearm assembly 1 is adapted to be driven by cable drive structure 21 to rotate relative to upper arm assembly 3, that is, upper arm assembly 3 can drive the movement of forearm assembly 1 through cable drive structure 21.

[0035] Specifically, the forearm assembly 1 and the upper arm assembly 3 can simulate the movements 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 upper arm assembly 3. The elbow assembly 2 and the upper arm assembly 3 can be connected by a rope drive structure 21. The rope drive structure 21 is a mechanism for transmitting power through ropes or cables. One end of the upper arm assembly 3 can be used as the power source. In this way, the power at the upper arm assembly 3 is transmitted to the elbow assembly 2 through the rope drive structure 21. The elbow assembly 2 drives the forearm assembly 1 to rotate in at least two directions relative to the upper arm assembly 3 to meet the various rotation requirements of the forearm assembly 1.

[0036] The load assembly 4 is slidably mounted on the forearm assembly 1. 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 forearm 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 forearm assembly 1 through a slide rail assembly or a specific track, etc., so that the load assembly 4 can slide relative to the forearm assembly 1. In this way, the sliding mechanism can improve the motion accuracy of the load assembly 4, make the motion smoother, and avoid unnecessary collisions and other damage.

[0037] Furthermore, in different usage scenarios, only load 41 needs to be replaced, or the entire load component 4 can be replaced, making the operation simpler and easier to maintain and replace. Load 41 can be an actuator, tool, or other mechanical parts.

[0038] The buffer structure 5 includes a buffer spring 51, which is connected to the forearm assembly 1 and the load assembly 4 respectively, and is adapted to provide a reverse buffering force when the load assembly 4 slides relative to the forearm assembly 1 in a first direction. That is, the reverse buffering 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 specific tool with recoil force, and the two ends of the buffer spring 51 are respectively fixed to two structures, such as... Figure 2 As shown, the buffer spring 51 is connected between the load assembly 4 and the forearm assembly 1. The buffer spring 51 can be a constant force spring, providing a relatively constant force during compression or tension. Its primary direction can be backward or downward, etc. When the load assembly 4 generates a high-amplitude recoil force after its movement, the constant force spring applies a reverse buffering force, achieving a tightening effect. This slows down the movement speed of the load assembly 4, preventing it from sliding too quickly and reducing the impact force. Furthermore, the buffer spring 51 can also be constructed as other types of springs, as long as they provide stable elastic tension.

[0040] The tension of the buffer spring 51 is greater than the weight of the load component 4. In the initial state, the buffer spring 51 is in a taut state. This can buffer the load component 4 when the cable-driven robotic arm 100 moves, and make the load component 4 generate only the reverse buffering force of the buffer spring 51 on the forearm component 1. This can greatly reduce the damage to the cable-driven robotic arm 100 caused by the high-burst recoil of the load component 4, and can also greatly reduce the force exerted by the high-burst recoil on the user.

[0041] Therefore, by setting the buffer spring 51 as the buffer structure 5 of the forearm assembly 1, the buffer spring 51 can provide consistent resistance throughout the entire range of motion, preventing impact or damage to the system due to rapid movement. It can absorb impact and vibration, reduce the impact on other parts of the mechanical system, and improve operator safety. When the load assembly 4 moves to the limit position, the constant force spring can provide additional stability, prevent displacement caused by inertia, and improve the durability of the forearm assembly 1. Furthermore, the constant force characteristic provided by the buffer spring 51 is suitable for application scenarios that require precise control of the position of the load assembly 4.

[0042] Furthermore, the cable-driven structure 21 provides a greater range of motion and flexibility, enabling the forearm assembly 1 to move precisely in multiple directions. Compared to direct drive, the cable-driven structure 21 reduces the space occupied by mechanical components, resulting in a more compact overall design. The cable-driven structure 21 is also lightweight, lower in cost, and easier to maintain and replace. Unlike rigid connections, cable breakage does not lead to serious mechanical failures, providing better safety performance, improving the manipulator's operational flexibility and durability, and broadening its applicability. Moreover, in close-range operations, under challenges of limited field of vision and reconnaissance capabilities, this buffered cable-driven manipulator 100 allows for more flexible, concealed, and precise tooling, effectively improving individual task performance efficiency.

[0043] In some embodiments, the forearm assembly 1 is further provided with a first buffer 11 and a second buffer 12. The load assembly 4 is cushioned against the first buffer 11 when sliding to the limit position relative to the forearm assembly 1 in a first direction, and is cushioned against the second buffer 12 when sliding to the limit position relative to the forearm assembly 1 in a second direction. The first direction is opposite to the second direction.

[0044] Specifically, both the first buffer 11 and the second buffer 12 serve to buffer and dampen shocks. The first buffer 11 and the second buffer 12 are located at opposite ends of the forearm assembly 1. Both the first buffer 11 and the second buffer 12 can be constructed as elastic elements and can be made of materials such as rubber to achieve a good buffering effect. The load assembly 4 moves linearly relative to the forearm assembly 1. The first direction and the second direction are parallel and opposite. 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 backward, and the second direction forward.

[0045] Furthermore, under the recoil force, the load assembly 4 will slide rapidly backward relative to the forearm assembly 1. The tension of the buffer spring 51 provides negative acceleration, thus mitigating the impact of the load assembly 4 moving backward. When the load assembly 4 moves backward to its limit position, it makes contact with the first buffer 11, which can buffer and dampen shocks, and also serve as a limit. After the speed of the load assembly 4 reaches zero, the tension of the buffer spring 51 will cause the load assembly 4 to move forward and return to its original position. During the return to the original position, the load assembly 4 makes contact with the second buffer 12 due to inertia, which can also buffer, dampen shocks, and limit movement.

[0046] Therefore, through the cooperation of the buffer spring 51 with the first buffer 11 and the second buffer 12, the sliding range of the load assembly 4 is limited, which reduces the speed of the load assembly 4 at its two extreme positions. The buffers absorb impacts, preventing the load assembly 4 from directly impacting the end of the mechanical structure, thus reducing the risk of damage. Furthermore, it prevents the load assembly 4 from sliding out of the mounting slot 13 and causing greater risks, resulting in higher safety. It also ensures the mechanical system remains stable when the load 41 changes, avoiding instability caused by impacts.

[0047] In some embodiments, the forearm assembly 1 has a mounting groove 13, the load assembly 4 is slidably mounted in the mounting groove 13, and the first buffer 11 and the second buffer 12 are respectively mounted at both ends of the mounting groove 13.

[0048] Specifically, the mounting groove 13 is used to connect and fix the forearm assembly 1 to other structures. The forearm assembly 1 is constructed as a rectangular structure, and the mounting groove 13 that matches the forearm assembly 1 is formed inside to provide more space for installing more and larger structures. The mounting groove 13 has an open side, so that the installation of other structures such as the load assembly 4 can start from the open side. The load assembly 4 can be slidably connected to the mounting groove 13 through a slide rail assembly or a movable slide table. The two ends of the mounting groove 13 are respectively connected to a first buffer 11 and a second buffer 12, which can be detachably connected by fasteners such as bolts, or glued together with adhesive.

[0049] Correspondingly, the load assembly 4 has a first pressing part 45 and a second pressing part 46 at both ends. The first pressing part 45 elastically presses against the first buffer 11, and the second pressing part 46 elastically presses against the second buffer 12. The length of the first pressing part 45 is shorter than the length of the second pressing part 46. The first pressing part 45 is used for elastic pressing when the load assembly 4 moves to its limit position, and its length requirement is not high. The length of the second pressing part 46 can be set according to the magnitude of the force on the load assembly 4 as it moves forward, so as to ensure that the load assembly 4 returns to the same position each time, thereby improving the reset accuracy of the load assembly 4. Furthermore, the arrangement of the load assembly 4 with the first buffer 11 and the second buffer 12 is not limited to the above description, as long as it can meet the requirements of effective buffering, shock absorption, and limiting effect.

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

[0051] Specifically, the load assembly 4 is slidably connected to the bottom of the mounting groove 13. That is, a first sliding part 131 is provided on the inner bottom wall of the mounting groove 13, and a second sliding part 43 is provided on the bottom of the load assembly 4. In actual design, the first sliding part 131 and the second sliding part 43 can be slidably engaged by a slide rail and a slider. In this way, one of the first sliding part 131 and the second sliding part 43 is constructed as a slide rail, and the other is constructed as a slider. Thus, through the sliding engagement of the slide rail and the slider, the load assembly 4 can slide relative to the mounting groove 13 in the first direction and the second direction. The structure is simple, easy to assemble and disassemble, and low in cost.

[0052] Therefore, the movement of the load component 4 relative to the forearm component 1 can be precisely controlled by the sliding fit, ensuring that the load component 4 can be accurately positioned along the predetermined trajectory, reducing friction between them, thereby reducing energy consumption, improving system efficiency, improving the reliability and durability of the entire system, and helping the rope-driven robotic arm 100 with a buffer function to maintain dynamic balance when performing fast or complex movements.

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

[0054] In some embodiments, the forearm assembly 1 is provided with a rotating shaft 141, and a buffer spring 51 is wound around the rotating shaft 141. The buffer spring 51 is adapted to slide and unfold relative to the load assembly 4 in a first direction and perform elastic energy storage.

[0055] Specifically, the rotating shaft 141 is used to connect the buffer spring 51 to the load assembly 4, and the rotating shaft 141 is detachably connected to the forearm assembly 1, such as... Figure 1 and Figure 2As shown, the rotating shaft 141 is arranged along the width direction of the forearm assembly 1 and perpendicular to the first and second directions. The forearm assembly 1 has mounting holes at both ends of its width. The two ends of the rotating shaft 141 can be connected to the two mounting holes through deep groove ball bearings, which can realize the rotational support of the rotating shaft 141 and the forearm assembly 1, and the rotation process is smooth and reliable. Among them, the buffer spring 51 is a constant force spring. The constant force spring has the ability to coil up, which can store energy and release it when needed. The constant force spring is coiled outside the rotating shaft 141. When the load assembly 4 is subjected to recoil force and slides relative to the forearm assembly 1 in the first direction, its recoil force is greater than the coiling force of the constant force spring itself, which can cause the constant force spring to unfold along the first direction, thereby storing elastic potential energy and reducing the movement speed of the load assembly 4, reducing damage to the mechanical structure.

[0056] Furthermore, 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 reset of the load component 4. By storing and rapidly 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 winding wheel 52 is fitted over the rotating shaft 141, the winding wheel 52 is located at the bottom of the load assembly 4, and a buffer spring 51 is wound around the winding wheel 52.

[0058] Specifically, the winding wheel 52 is used to wind up the buffer spring 51. The buffer spring 51 can be installed outside the rotating shaft 141 through the winding wheel 52. The winding wheel 52 is located at the bottom of the load assembly 4. One end of the buffer spring 51 is connected to the front end of the load assembly 4. When the load assembly 4 is not subjected to recoil force, the buffer spring 51 and the load assembly 4 are in a tensioned state, and the buffer spring 51 is wound outside the winding wheel 52. When the load assembly 4 is subjected to a backward recoil force, the load assembly 4 pulls the buffer spring 51 and the winding wheel 52 to rotate relative to the rotating shaft 141, and the buffer spring 51 gradually unfolds, reducing the backward movement speed of the load assembly 4 and storing energy. After the speed of the load assembly 4 is zero, the buffer spring 51 releases energy to pull the load assembly 4 forward to reset. During the reset process of the load assembly 4, the rotating shaft 141 rotates in the opposite direction, which allows the buffer spring 51 to be wound back onto the winding wheel 52, thereby realizing the unfolding and winding 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 mounted on the upper arm assembly 3, the second pulley 23 is mounted on the forearm assembly 1, and the upper arm assembly 3 is equipped with a drive member 31.

[0060] Specifically, the auxiliary pulley 24, the first pulley 22, and the second pulley 23 are distributed sequentially along the power transmission direction from the boom assembly 3 to the forearm assembly 1, as follows: Figure 1 , Figure 3 and Figure 4 As shown, the boom assembly 3 includes two mounting plates 33 and a connecting plate 34. The two mounting plates 33 are vertically spaced to form a mounting 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 via mounting shafts 26, which are vertically distributed. 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. The elbow assembly 2 also includes two forearm connecting plates 25, which are vertically spaced to form a mounting space for the second pulley 23. The second pulley 23 is connected to the two forearm connecting plates 25 via mounting shafts 26. A connecting support plate 27 is connected between the mounting shafts 26 of the second pulley 23 and the first pulley 22 to maintain a relatively stable center distance between them.

[0061] The rope drive structure 21 includes a connecting rope 211, which is wound around an auxiliary pulley 24, a first pulley 22, and a second pulley 23. The drive member 31 is adapted to pull the second pulley 23 around the first pulley 22 via the connecting rope 211 to drive the forearm assembly 1 to rotate.

[0062] Specifically, such as Figure 1 , Figure 3 and Figure 4 As shown, the upper arm assembly 3 has a drive member 31 at the end away from the elbow assembly 2. The drive member 31 can be configured as a drive motor 61. The output shaft of the drive motor 61 extends vertically, and a drive wheel 32 is sleeved on the output shaft. The drive wheel 32, auxiliary pulley 24, first pulley 22, and second pulley 23 are key components of the rope drive structure 21. The rope drive structure 21 includes a connecting rope 211, which is wound around the drive wheel 32, auxiliary pulley 24, first pulley 22, and second pulley 23, and then wound in the opposite direction around the second pulley 23, first pulley 22, auxiliary pulley 24, and drive wheel 32. Its winding direction is as follows: Figure 4 As shown, the auxiliary pulley 24 can be used to change the direction of the tension of the connecting rope 211. In this way, the drive motor 61 drives the drive wheel 32 to rotate in the forward direction, so as 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 makes pure rolling motion around the first pulley 22, which can realize that the forearm assembly 1 rotates in one direction relative to the upper arm assembly 3.

[0063] Conversely, when the drive motor 61 drives the drive wheel 32 to rotate in the opposite direction, it drives the connecting rope 211 to move in the opposite direction, transmitting the driving force to the second pulley 23. This causes the second pulley 23 to perform pure rolling motion around the first pulley 22, enabling the forearm assembly 1 to rotate in the opposite direction relative to the upper arm assembly 3. This allows for the forward and reverse rotation of the forearm assembly 1 to meet different usage requirements. The auxiliary pulley 24, the first pulley 22, and the second pulley 23 may or may not move, as long as they enable the driving motion of the connecting rope 211.

[0064] Therefore, by setting up the rope drive structure 21, the connecting rope 211 can transmit force between multiple pulleys. This can change the direction of force, increase the efficiency of force transmission, or achieve different motion control effects through the combination of pulleys. It also reduces the weight and complexity of the rope-driven robotic arm 100 with a cushioning effect, resulting in a lightweight overall structure with high motion flexibility. This achieves lightweight and low energy consumption, enabling the rope-driven robotic arm 100 with a cushioning effect to better adapt to various task environments and improve operational efficiency. Furthermore, the rope drive structure 21 allows adjustment of the length of the connecting rope 211, easily changing the range of motion of the forearm assembly 1. This allows the operator to operate the rope-driven robotic arm 100 with a cushioning effect from a safe position, improving concealment and reducing the risk of detection.

[0065] Among them, such as Figure 4 As shown, the boom assembly 3 has a protective cover 35 on one side of the connecting plate 34. There are two protective covers 35, which are detachably connected to the two sides of the two mounting plates 33. This can protect the drive component 31 of the boom assembly 3 and ensure a neat appearance.

[0066] In some embodiments, the cable-driven robotic arm 100 with a cushioning function further includes a shoulder assembly 6, which is connected to the 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 supports the upper arm assembly 3 and allows the upper arm assembly 3 to move relative to the base, such as... Figure 1 and Figure 5As shown, the shoulder assembly 6 is located at the end of the upper arm assembly 3 away from the elbow assembly 2 and is detachably connected to the upper arm assembly 3. The end of the shoulder assembly 6 away from the upper arm assembly 3 is movably connected to the base, and the base is connected to the placement surface of the cable-driven robotic arm 100 with a buffering function. The shoulder assembly 6 may include two drive motors 61, a first flange 62, a second flange 63, and a third flange 64. The upper arm assembly 3 has a connecting plate 34 at the end near 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 upper arm assembly 3 through the second flange 63. 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 upper arm 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 present invention also proposes a mechanical device.

[0069] According to the mechanical device of the present invention, a rope-driven robotic arm 100 with a buffering function as described in any of the above embodiments is provided. The rope-driven robotic arm 100 with a buffering function can be applied to different mechanical devices such as robots. By providing a buffer spring 51 between the load component 4 and the forearm component 1, the load component 4 can be subjected to a reverse buffering force after moving relative to the forearm component 1 in the first direction. This can effectively buffer the impact force of the load component 4's movement, thereby protecting the various structures of the rope-driven robotic arm 100 with a buffering function from damage and reducing the impact on the operator, thus improving the safety of the rope-driven robotic arm 100 with a buffering function. Furthermore, the forearm component 1 can be driven by the rope drive structure 21, achieving lightweight and low energy consumption of the entire rope-driven robotic arm 100 with a buffering function. This improves the operational flexibility and durability of the rope-driven robotic arm 100 with a buffering function and broadens its applicability. Combined with the control system of the rope-driven robotic arm 100 with a buffering function and the above-described structural design, fast and stable control performance is achieved, improving operational accuracy and task execution efficiency.

[0070] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0071] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A cable-driven robotic arm with a buffering function, characterized in that, include: Forearm assembly and upper arm assembly, the forearm assembly and the upper arm assembly being rotatably connected via an elbow assembly, the forearm assembly being adapted to be driven by a cable-driven structure to rotate relative to the upper arm assembly; A load assembly, which is slidably mounted on the forearm assembly; A buffer structure, comprising a buffer spring connected to the forearm assembly and the load assembly respectively, and adapted to provide a reverse buffering force when the load assembly slides relative to the forearm assembly in a first direction; The forearm assembly is further provided with a first buffer and a second buffer. When the load assembly slides to its limit position relative to the forearm assembly in a first direction, it cushions against the first buffer, and when it slides to its limit position relative to the forearm assembly in a second direction, it cushions against the second buffer. The first direction is opposite to the second direction. The forearm assembly is provided with a rotating shaft, and the buffer spring is wound outside the rotating shaft. The buffer spring is adapted to slide and unfold in a first direction relative to the forearm assembly and perform elastic energy storage.

2. The cable-driven robotic arm with a buffering function according to claim 1, characterized in that, The forearm assembly has a mounting groove, the load assembly is slidably mounted in the mounting groove, and the first buffer and the second buffer are respectively mounted at both ends of the mounting groove.

3. The cable-driven robotic arm with a buffering function according to claim 2, characterized in that, The inner bottom wall of the mounting groove is provided with a first sliding part, and the load component is provided with a second sliding part. The first sliding part and the second sliding part slide in cooperation along the first direction or the second direction.

4. The cable-driven robotic arm with a buffering function according to claim 3, characterized in that, The bottom of the load component has a mating space, and the second sliding part is located within the mating space.

5. The cable-driven robotic arm with a buffering function according to claim 1, characterized in that, The rotating shaft is fitted with a winding wheel, which is located at the bottom of the load assembly, and the buffer spring is wound around the winding wheel.

6. The cable-driven robotic arm with a buffering function according to any one of claims 1-5, characterized in that, The elbow assembly includes a first pulley, a second pulley, and an auxiliary pulley. The first pulley and the auxiliary pulley are both mounted on the upper arm assembly, the second pulley is mounted on the forearm assembly, and the upper arm assembly is equipped with a drive component. The rope drive structure includes a connecting rope wound around the auxiliary pulley, the first pulley, and the second pulley. The drive member is adapted to pull the second pulley around the first pulley via the connecting rope to drive the forearm assembly to rotate.

7. The cable-driven robotic arm with a buffering function according to claim 6, characterized in that, It also includes a shoulder assembly connected to the end of the upper arm assembly away from the elbow assembly, and the shoulder assembly is movably connected to the base.

8. A mechanical device, characterized in that, The device is equipped with a cable-driven robotic arm with a buffering function as described in any one of claims 1-7.

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