Robotic arm

Abstract

The application discloses a mechanical arm, which comprises a first arm part and a second arm part, the first arm part and the second arm part are rotationally connected; a first arm part driving element is arranged on the first arm part; a connecting rod assembly is connected with the first arm part and the second arm part, and the first arm part driving element is connected with the connecting rod assembly, so that the first arm part driving element can drive the second arm part to move between an initial position and a limit position. According to the mechanical arm, the first arm part driving element is arranged on the first arm part, and the connecting rod assembly is connected with the first arm part and the second arm part, so that the first arm part driving element can drive the second arm part to rotate relative to the first arm part through the connecting rod assembly, the occupied space of the first arm part driving element at the connecting position of the first arm part and the second arm part can be reduced, the mechanical arm is more compact as a whole, the first arm part driving element can be prevented from protruding out of the human envelope, and the humanization effect of the mechanical arm can be improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a robotic arm. Background Technology

[0002] In related technologies, existing robotic arms generally use drive motors to directly drive the forearm to rotate and lift, which causes the drive motors to occupy additional space at the joints of the robotic arm (such as the elbow joint) and easily protrude from the human body's envelope, leaving room for improvement. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one object of the present invention is to provide a robotic arm with a more compact structure and better anthropomorphic appearance.

[0004] A robotic arm according to an embodiment of the present invention includes: a first arm portion and a second arm portion, the first arm portion and the second arm portion being rotatably connected; a first arm portion drive member disposed on the first arm portion; and a linkage assembly connecting the first arm portion and the second arm portion, the first arm portion drive member being connected to the linkage assembly so that the first arm portion drive member can drive the second arm portion to move between an initial position and a limit position.

[0005] According to an embodiment of the present invention, the robotic arm is provided with a first arm drive member on a first arm and a linkage assembly is provided to connect the first arm and the second arm respectively. This allows the first arm drive member to drive the second arm to rotate relative to the first arm through the linkage assembly. This reduces the space occupied by the first arm drive member at the connection between the first arm and the second arm, making the robotic arm more compact overall. It also prevents the first arm drive member from protruding from the human body's envelope, thus improving the anthropomorphic effect of the robotic arm.

[0006] According to some embodiments of the present invention, the linkage assembly, the lower part of the first arm, the upper part of the second arm, the hinge point where the drive end of the first arm drive member is hinged, and the hinge point of the first arm and the second arm form a polygon, wherein the polygon is a quadrilateral.

[0007] In some embodiments, the linkage assembly includes a first link and a second link, the two ends of the first link being rotatably connected to the first arm and the drive end of the first arm drive member, respectively, the two ends of the second link being rotatably connected to the drive end of the first arm drive member and the second arm, respectively, and the included angle between the first link and the second link is less than 90°.

[0008] In some embodiments, at the initial position, the interior angle of the polygon at the hinge point of the first arm and the second arm is greater than 90°, and the interior angle of the polygon at the hinge point of the first arm and the first link is less than 90°.

[0009] In some embodiments, the first arm includes a support frame, the end of the support frame near the second arm includes two legs, the second arm is rotatably connected to the two legs respectively, the first link is rotatably connected to at least one leg, wherein a clearance space is formed between the two legs, and in the extreme position, a portion of the second arm is located in the clearance space.

[0010] In some embodiments, the first link includes a first support rod and two second support rods connected to each other. The first support rod is connected to the first arm drive member, and the two second support rods are located between the two legs and are respectively connected to the two legs one by one.

[0011] In some embodiments, the two legs are connected by a fixed shaft, and the hinge points form a polygon located on the radial periphery of the fixed shaft.

[0012] In some embodiments, the support frame defines a receiving cavity open on one side, the first arm drive member is located on the open side of the support frame, and a portion of the first arm drive member can extend into the receiving cavity during the movement of the first arm drive member driving the second arm.

[0013] In some embodiments, the first arm drive includes a first arm motor, a telescopic rod, and a connecting shaft. The first arm motor can drive the telescopic rod to extend or retract. The axis of the connecting shaft is perpendicular to the extension and retraction direction of the telescopic rod. The middle part of the connecting shaft is rotatably connected to the telescopic rod. The first connecting rod and the second connecting rod are rotatably connected to the two ends of the connecting shaft, respectively.

[0014] According to some embodiments of the present invention, the swing angle of the second arm is 0-145°.

[0015] 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

[0016] 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:

[0017] Figure 1 This is a schematic diagram of the structure of a robotic arm according to some embodiments of the present invention;

[0018] Figure 2 This is a partial structural schematic diagram of a robotic arm according to some embodiments of the present invention;

[0019] Figure 3 yes Figure 2 A schematic diagram of a partial structure of the shown structure from one perspective;

[0020] Figure 4 yes Figure 2 A partial structural diagram of the structure shown from another perspective;

[0021] Figure 5 This is a schematic diagram of the linkage assembly according to some embodiments of the present invention from one viewpoint;

[0022] Figure 6 This is a schematic diagram of the linkage assembly according to some embodiments of the present invention from another perspective;

[0023] Figure 7 This is a schematic diagram of the structure of the first arm portion according to some embodiments of the present invention;

[0024] Figure 8 This is a partial structural schematic diagram of the first arm according to some embodiments of the present invention.

[0025] Figure label:

[0026] Robotic arm 100,

[0027] First arm 11, first arm drive unit 111, first arm motor 1111, telescopic rod 1112, connecting shaft 1113, support frame 112, outrigger 1121, clearance space 1122, receiving cavity 1123, support plate 113, fixed shaft 114, second arm 12.

[0028] Linkage assembly 40, first link 41, first support 411, second support 412, second link 42. 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 1-8 A robotic arm 100 according to an embodiment of the present invention is described.

[0033] like Figures 1-8 As shown, the robotic arm 100 according to an embodiment of the present invention may include a first arm 11, a second arm 12, a first arm drive 111, and a linkage assembly 40. The first arm 11 and the second arm 12 are rotatably connected. The first arm drive 111 may be disposed on the first arm 11. The linkage assembly 40 may connect the first arm 11 and the second arm 12. The first arm drive 111 may be connected to the linkage assembly 40 so that the first arm drive 111 can drive the second arm 12 to move between an initial position and a limit position.

[0034] The linkage assembly 40 can be located at the connection between the first arm 11 and the second arm 12 (such as at the elbow joint), and the first arm drive 111 can be mounted on the first arm 11 and drive the second arm 12 to rotate relative to the first arm 11 through the linkage assembly 40. This can reduce the space occupied by the first arm drive 111 at the connection between the first arm 11 and the second arm 12, making the space at the connection between the first arm 11 and the second arm 12 more compact, and making the overall robotic arm 100 more compact. This can prevent the first arm drive 111 from protruding out of the human body, thereby improving the aesthetics of the robotic arm 100 and enhancing its anthropomorphic effect.

[0035] According to an embodiment of the present invention, the robotic arm 100, by providing a first arm drive member 111 on a first arm 11 and by providing a connecting rod assembly 40 connected to the first arm 11 and the second arm 12 respectively, allows the first arm drive member 111 to drive the second arm 12 to rotate relative to the first arm 11 through the connecting rod assembly 40. This reduces the space occupied by the first arm drive member 111 at the connection between the first arm 11 and the second arm 12, making the robotic arm 100 more compact overall, and preventing the first arm drive member 111 from protruding out of the human body's embrace, thereby improving the anthropomorphic effect of the robotic arm 100.

[0036] like Figure 1 As shown in this application, the robot may include two robotic arms 100, which are movably disposed on opposite sides of the robot body. That is, the two robotic arms 100 can be the left arm and the right arm of the robot, and the robotic arm 100 described below can be the right arm of the robot.

[0037] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, according to some embodiments of the present invention, the link assembly 40 can be hinged to the lower part of the first arm 11, the link assembly 40 can be hinged to the upper part of the second arm 12, the link assembly 40 can be hinged to the driving end of the first arm drive member 111, and the first arm 11 can be hinged to the second arm 12. The above four hinge points can form a polygon, and the polygon can be a quadrilateral.

[0038] That is, the first arm 11, the second arm 12 and the linkage assembly 40 can cooperate to form a four-bar linkage between the first arm 11 and the second arm 12. This is beneficial to increase the rotation angle range of the second arm 12 relative to the first arm 11 (e.g., the maximum rotation angle can reach 145°), and to improve the relative rotation efficiency between the second arm 12 and the first arm 11. This can increase the range of motion of the second arm 12, improve the flexibility of the second arm 12, and enhance the anthropomorphic effect of the robotic arm 100.

[0039] Understandably, the first arm drive 111 can be rotatably connected to the first arm 11. The first arm drive 111 can be connected to the second arm 12 via the connecting rod assembly 40. The first arm drive 111 can be a linear actuator motor. The drive end of the telescopic rod 1112 of the linear actuator motor can be rotatably connected to the connecting rod of the connecting rod assembly 40, so that the first arm drive 111 can drive the second arm 12 to rotate relative to the first arm 11, which can increase the range of motion of the second arm 12 and improve the flexibility of the second arm 12.

[0040] Of course, the drive end of the telescopic rod 1112 and the connecting rod assembly 40 can be connected by a ball joint, which can increase the degree of freedom at the connection between the first arm drive member 111 and the connecting rod assembly 40. The first arm drive member 111 and the first arm 11 can be connected by a ball joint, which can increase the degree of freedom at the connection between the first arm drive member 111 and the first arm 11. This allows the first arm drive member 111 to finely adjust its position when the second arm 12 moves, which can increase the range of motion of the second arm 12 and improve the flexibility of the second arm 12.

[0041] like Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, in some embodiments, the linkage assembly 40 may include a first linkage 41 and a second linkage 42. The two ends of the first linkage 41 may be rotatably connected to the driving ends of the first arm 11 and the first arm drive member 111, respectively, so that the hinge point located at the driving end of the first arm drive member 111 may rotate around the hinge point located between the first linkage 41 and the first arm 11. The two ends of the second linkage 42 may be rotatably connected to the driving end of the first arm drive member 111 and the second arm 12, respectively, so that the first arm drive member 111 may drive the second linkage 42 to move, thereby causing the second arm 12 to rotate relative to the first arm 11.

[0042] The included angle between the first link 41 and the second link 42 can be less than 90°, which is beneficial for the first arm drive member 111 to drive the second arm 12 to rotate closer to the first arm 11 (such as raising the forearm) through the link assembly 40. This is beneficial for optimizing the above-mentioned four-bar linkage, increasing the rotation angle range of the second arm 12 relative to the first arm 11, and improving the minimum equivalent torque of the second arm 12 when rotating relative to the first arm 11. This also helps to improve the relative rotation efficiency between the second arm 12 and the first arm 11, thereby increasing the range of motion of the second arm 12 and improving the flexibility of the second arm 12, and enhancing the anthropomorphic effect of the robotic arm 100.

[0043] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, in some embodiments, when the second arm 12 is in the initial position, the interior angle of the polygon at the hinge point of the first arm 11 and the second arm 12 can be greater than 90°, and the interior angle of the polygon at the hinge point of the first arm 11 and the first link 41 can be less than 90°. This is beneficial for the first arm drive member 111 to drive the second arm 12 to rotate closer to the first arm 11 (such as raising the forearm) through the link assembly 40. This is beneficial for optimizing the four-bar linkage, increasing the rotation angle range of the second arm 12 relative to the first arm 11, and improving the minimum equivalent torque of the second arm 12 when rotating relative to the first arm 11. This is beneficial for improving the relative rotation efficiency of the second arm 12 and the first arm 11, thereby increasing the range of motion of the second arm 12 and improving the flexibility of the second arm 12. This can improve the anthropomorphic effect of the robotic arm 100.

[0044] like Figure 1 , Figure 2 , Figure 7 and Figure 8 As shown, in some embodiments, the first arm 11 may include a support frame 112, and one end of the support frame 112 near the second arm 12 (e.g. Figure 7 The lower end shown may include two legs 1121. The second arm 12 can be rotatably connected to the two legs 1121 respectively, so that the second arm 12 can rotate relative to the first arm 11. The first link 41 can be rotatably connected to one leg 1121, which can ensure that the first arm drive member 111 drives the second arm 12 to rotate relative to the first arm 11 normally through the link assembly 40. Alternatively, the first link 41 can be rotatably connected to the two legs 1121, which can improve the reliability and stability of the rotation of the second arm 12 relative to the first arm 11.

[0045] Among them, a clearance space 1122 can be formed between the two support legs 1121. When the second arm 12 is in the extreme position, part of the second arm 12 can be located within the clearance space 1122, which can achieve clearance between the second arm 12 and prevent the second arm 12 from interfering with the first arm 11 during rotation. This can increase the range of motion of the second arm 12, improve the flexibility of the second arm 12, and enhance the anthropomorphic effect of the robotic arm 100.

[0046] like Figure 3 , Figure 4 , Figure 5 and Figure 6As shown, in some embodiments, the first link 41 may include a first support rod 411 and two second support rods 412. The first support rod 411 and the two second support rods 412 can be connected to each other. The first support rod 411 can be connected to the driving end of the telescopic rod 1112 of the first arm drive member 111, that is, one end of the first support rod 411 can be hinged to the driving end of the telescopic rod 1112. The two second support rods 412 can be located between the two legs 1121, and the two second support rods 412 can be connected to the two legs 1121 one by one.

[0047] That is, one end of each of the two second support rods 412 can be connected to the other end of the first support rod 411, and the two second support rods 412 can be located on opposite sides of the first support rod 411 (e.g., Figure 3 As shown on the left and right sides, the other ends of the two second support rods 412 can be hinged to the two support legs 1121 respectively, thereby realizing the rotational connection between the first connecting rod 41 and the two support legs 1121, which can improve the reliability and stability of the rotation of the second arm 12 relative to the first arm 11.

[0048] like Figure 1 , Figure 2 , Figure 3 and Figure 7 As shown, in some embodiments, the two legs 1121 can be connected by a fixed shaft 114, which can improve the structural strength of the support frame 112 at the legs 1121. The four hinge points can form a polygon, which can be located on the radial outer periphery of the fixed shaft 114. On the one hand, this can make the legs 1121 bear force evenly when the second arm 12 rotates relative to the first arm 11, thereby improving the service life of the support frame 112. On the other hand, it can prevent the four-bar linkage from interfering with the fixed shaft 114 when the second arm 12 rotates relative to the first arm 11, thereby improving the reliability and stability of the rotation of the second arm 12 relative to the first arm 11.

[0049] like Figure 1 , Figure 2 , Figure 7 and Figure 8 As shown, in some embodiments, the support frame 112 may define a receiving cavity 1123, which may be located on one side (e.g., Figure 8 The front side (as shown) is open, and the first arm drive member 111 can be located on the open side of the support frame 112 (such as...). Figure 8 (as shown on the front side), and during the movement of the first arm drive member 111 driving the second arm 12, a portion of the first arm drive member 111 can extend into the receiving cavity 1123.

[0050] This allows for the concealment of the first arm drive component 111, enhancing the aesthetics of the robotic arm 100 and providing protection for it. It also improves the reliability of the rotation of the second arm 12 relative to the first arm 11, while reducing the space occupied by the first arm drive component 111 at the connection between the first arm 11 and the second arm 12. This makes the robotic arm 100 more compact overall, prevents the first arm drive component 111 from protruding from the human body's envelope, and enhances the anthropomorphic effect of the robotic arm 100.

[0051] The first arm 11 may also include a support plate 113, and the end of the support frame 112 away from the second arm 12 (e.g., Figure 7 The upper end shown can be connected to the support plate 113. The first arm drive member 111 can be connected to the first arm 11 by a ball joint or by a universal joint, which can increase the degree of freedom at the connection between the first arm drive member 111 and the first arm 11, so that the first arm drive member 111 can finely adjust its position when the second arm 12 moves, which can increase the range of motion of the second arm 12 and improve the flexibility of the second arm 12.

[0052] like Figure 1 , Figure 2 and Figure 7 As shown, in some embodiments, the first arm drive 111 may include a first arm motor 1111, a telescopic rod 1112 and a connecting shaft 1113. The first arm motor 1111 can drive the telescopic rod 1112 to extend or shorten. The axis of the connecting shaft 1113 may be perpendicular to the extension and retraction direction of the telescopic rod 1112, and the middle part of the connecting shaft 1113 may be rotatably connected to the telescopic rod 1112.

[0053] The first link 41 and the second link 42 can be connected to the two ends of the connecting shaft 1113 respectively (e.g., Figure 7 The left and right ends (as shown) are rotatably connected, so that the telescopic rod 1112 of the first arm motor 1111 can extend and retract to drive the linkage assembly 40 to move and drive the second arm 12 to rotate relative to the first arm 11. This ensures that the first arm drive 111 can normally drive the second arm 12 to rotate relative to the first arm 11 through the linkage assembly 40, and can improve the reliability and stability of the rotation of the second arm 12 relative to the first arm 11.

[0054] like Figure 3 and Figure 4As shown, according to some embodiments of the present invention, the angle of rotation of the second arm 12 relative to the first arm 11 is the swing angle of the second arm 12. If the swing angle of the second arm 12 is too large, it will affect the anthropomorphism of the robotic arm 100. Therefore, the swing angle of the second arm 12 can be limited to the range of 0-145°, which can increase the range of motion of the second arm 12 and improve the flexibility of the second arm 12, thereby improving the anthropomorphism of the robotic arm 100. Specifically, when the second arm 12 is in the initial position, the angle between the second arm 12 and the first arm 11 is the largest (the forearm hangs down naturally), and when the second arm 12 is in the extreme position, the angle between the second arm 12 and the first arm 11 is the smallest (the forearm is raised).

[0055] Other configurations and operations of the robotic arm 100 according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here. In the description of the present invention, "first feature" and "second feature" may include one or more of the features. The up-down direction, left-right direction, and front-back direction are defined as shown in the figures.

[0056] In the description of this invention, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features not in direct contact but through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature.

[0057] 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.

[0058] 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 robotic arm, characterized in that, include: The first arm and the second arm are rotatably connected; A first arm drive component is disposed on the first arm. A linkage assembly connecting a first arm and a second arm, wherein a first arm drive is connected to the linkage assembly such that the first arm drive can drive the second arm to move between an initial position and a limit position; The connecting rod assembly forms a polygon with the lower part of the first arm, the upper part of the second arm, the hinge point where the drive end of the first arm drive member is hinged, and the hinge point of the first arm and the second arm. The polygon is a quadrilateral. The linkage assembly includes a first linkage and a second linkage. The two ends of the first linkage are rotatably connected to the first arm and the driving end of the first arm drive member, respectively. The two ends of the second linkage are rotatably connected to the driving end of the first arm drive member and the second arm, respectively. The included angle between the first linkage and the second linkage is less than 90°. The first arm includes a support frame, and the end of the support frame near the second arm includes two legs. The second arm is rotatably connected to the two legs respectively. The first connecting rod is rotatably connected to at least one leg. A clearance space is formed between the two legs. In the extreme position, a portion of the second arm is located in the clearance space. The first link includes a first support rod and two second support rods connected to each other. The first support rod is connected to the first arm drive component, and the two second support rods are located between the two legs and are respectively connected to the two legs one by one.

2. The robotic arm according to claim 1, characterized in that, In the initial position, the interior angle of the polygon at the hinge point of the first arm and the second arm is greater than 90°, and the interior angle of the polygon at the hinge point of the first arm and the first connecting rod is less than 90°.

3. The robotic arm according to claim 1, characterized in that, The two legs are connected by a fixed shaft, and the hinge points form a polygon located on the outer periphery of the fixed shaft in the radial direction.

4. The robotic arm according to claim 1, characterized in that, The support frame defines a receiving cavity that is open on one side, the first arm drive member is located on the open side of the support frame, and a portion of the first arm drive member can extend into the receiving cavity during the movement of the second arm driven by the first arm drive member.

5. The robotic arm according to claim 1, characterized in that, The first arm drive component includes a first arm motor, a telescopic rod, and a connecting shaft. The first arm motor can drive the telescopic rod to extend or retract. The axis of the connecting shaft is perpendicular to the extension and retraction direction of the telescopic rod. The middle part of the connecting shaft is rotatably connected to the telescopic rod. The first connecting rod and the second connecting rod are rotatably connected to the two ends of the connecting shaft, respectively.

6. The robotic arm according to any one of claims 1-5, characterized in that, The swing angle of the second arm is 0-145°.

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