Mechanical arm

Abstract

The invention discloses a mechanical arm. The mechanical arm comprises an arm part; the palm seat is movably connected to one end of the arm part, the palm seat comprises a plate body and a first boss, and the first boss is arranged on the side, close to the arm part, of the plate body; the driving part is installed on the arm part, the output end of the driving part is movably connected with the first boss through a connecting shaft so as to drive the palm seat to move, and the extension line of the connecting shaft intersects with the plate body. According to the mechanical arm provided by the embodiment of the invention, the palm seat is provided with the connecting shaft of which the extending direction is intersected with the plate body, and the output end of the driving piece is rotationally connected with the palm seat through the connecting shaft; the angle of the palm seat driven by the driving piece to rotate towards one side relative to the arm part can be larger than the angle of the palm seat driven by the driving piece to rotate towards the other side relative to the arm part, it can be guaranteed that the movement range of the palm seat is roughly the same as the movement range of the wrist of the human body, the movement flexibility of the palm seat can be improved, and the anthropomorphic effect of the mechanical arm can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a robotic arm. Background Art

[0002] In the related art, existing robotic arms generally adopt a symmetrically designed rotation structure at the palm seat, that is, the palm seat in the initial position generally rotates at the same angle in two opposite directions, resulting in a large difference between the range of motion of the palm seat and the range of motion of the human wrist, affecting the anthropomorphic effect of the robotic arm, and there is room for improvement. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a robotic arm having a good anthropomorphic effect.

[0004] According to an embodiment of the present invention, the robotic arm includes: an arm; a palm seat, which is movably connected to one end of the arm, and the palm seat includes a plate body and a first boss, and the first boss is arranged on a side of the plate body close to the arm; a driving member, which is installed on the arm, and the output end of the driving member is movably connected to the first boss via a connecting shaft to drive the palm seat to move, wherein the extension line of the connecting shaft intersects with the plate body.

[0005] According to the robotic arm of the embodiment of the present invention, a connecting shaft is provided on the palm seat, the extension direction of which intersects with its plate body, and the output end of the driving member is rotatably connected to the palm seat through the connecting shaft, so that the angle at which the driving member drives the palm seat to rotate toward one side relative to the arm can be greater than the angle at which the driving member drives the palm seat to rotate toward the other side relative to the arm. This can ensure that the range of motion of the palm seat is roughly the same as the range of motion of the human wrist, improve the flexibility of the palm seat movement, and improve the anthropomorphic effect of the robotic arm.

[0006] According to some embodiments of the present invention, two ends of the connecting shaft are located on both sides of the first boss, the driving members include two, and the output ends of the two driving members are respectively connected to the two ends of the connecting shaft.

[0007] In some embodiments, the output end of the driving member is connected to the connecting shaft via a ball joint assembly, and the first boss has an avoidance gap for avoiding the ball joint assembly.

[0008] According to some embodiments of the present invention, the palm seat also includes a connecting member, which is rotatably connected to the first boss via a first rotating shaft, and the arm is rotatably connected to the connecting member via a second rotating shaft, and the axis of the first rotating shaft, the axis of the second rotating shaft, and the axis of the connecting shaft have different extension directions.

[0009] In some embodiments, the axis of the first rotating shaft and the axis of the second rotating shaft are respectively parallel to the plate body, and the axis of the second rotating shaft is perpendicular to the axis of the first rotating shaft and does not intersect.

[0010] In some embodiments, the palm seat further includes: a second boss, the second boss is arranged partially opposite to the first boss, and the connecting member is connected between the second boss and the first boss through the first rotating shaft.

[0011] In some embodiments, the first boss, the second boss, and the plate are integrally formed.

[0012] In some embodiments, the first boss has a first mating section and a second mating section, the first mating section is connected to the plate body, the connecting member is rotatably connected to the first mating section, the second mating section is arranged on the side of the first mating section away from the plate body, the second mating section extends along the extension direction of the connecting shaft, the connecting shaft is plugged into the second mating section and both ends of the connecting shaft extend out of the second mating section respectively.

[0013] In some embodiments, the driving member can drive the palm seat to rotate around the axis of the first rotating shaft, and the angle range of the palm seat rotating around the first rotating shaft is -15° to 45°.

[0014] In some embodiments, the driving member can drive the palm seat to rotate around the axis of the second rotating shaft, and the palm seat swings around the second rotating shaft at an angle of -50° to 85°.

[0015] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

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

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

[0019] Figure 3 is a schematic diagram of the structure of a palm seat according to some embodiments of the present invention;

[0020] Figure 4 is a schematic diagram of a partial structure of a palm rest according to some embodiments of the present invention at a certain viewing angle;

[0021] Figure 5 is a schematic diagram of a partial structure of a palm seat according to some embodiments of the present invention from another perspective;

[0022] Figure 6 is a schematic diagram of a partial structure of a palm seat according to some embodiments of the present invention from another perspective;

[0023] Figure 7 2 is a schematic diagram of the partial structure of a palm seat according to some embodiments of the present invention from another perspective.

[0024] Reference numerals:

[0025] Robotic arm 100,

[0026] Arm 10,

[0027] Palm seat 20, first boss 21, first matching section 211, second matching section 212, avoidance notch 213, second boss 22, plate 23, connecting shaft 24, ball joint assembly 25, connecting piece 26, first rotating shaft 27, second rotating shaft 28,

[0028] Driving member 30. DETAILED DESCRIPTION

[0029] The following describes embodiments of the present invention in detail. Examples of the embodiments 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 intended only to explain the present invention and are not to be construed 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 orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply 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 limiting the present invention. In addition, features defined as "first" or "second" may explicitly or implicitly include one or more of such 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 expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0032] Reference below Figure 1-Figure 7 A robot arm 100 according to an embodiment of the present invention is described.

[0033] like Figure 1-Figure 7 As shown, the robot arm 100 according to an embodiment of the present invention includes: an arm 10, a palm seat 20 and a driving member 30, and the palm seat 20 can be connected to one end of the arm 10 (such as Figure 1 The lower end shown in FIG), and the palm seat 20 can move relative to the arm 10. The palm seat 20 can include a plate 23 and a first boss 21. The first boss 21 can be provided on one side of the plate 23 close to the arm 10 (as shown in FIG). Figure 3 The driving member 30 can be installed on the arm 10, and the output end of the driving member 30 can be movably connected to the first boss 21 through the connecting shaft 24 to drive the palm seat 20 to move, that is, the driving member 30 can drive the palm seat 20 to rotate relative to the arm 10.

[0034] The extension line of the connecting shaft 24 and the plate 23 can intersect, and compared with the solution of adopting the connecting shaft 24 and the plate 23 being parallel, the palm seat 20 in the initial position can be rotated at different angles in two opposite directions, that is, by reducing the palm seat 20 in one direction (such as Figure 2 The angle of rotation of the palm seat 20 in the other direction (as shown in the back to front direction) is increased. Figure 2 The angle of rotation (from front to back direction as shown) is conducive to ensuring that the range of motion of the palm seat 20 is roughly the same as the range of motion of the human wrist, thereby improving the flexibility of the palm seat 20 and improving the anthropomorphic effect of the robotic arm 100.

[0035] According to the robotic arm 100 of the embodiment of the present invention, a connecting shaft 24 is provided on the palm seat 20, the extension direction of which intersects with the plate body 23 thereof, and the output end of the driving member 30 is rotatably connected to the palm seat 20 via the connecting shaft 24, so that the angle at which the driving member 30 drives the palm seat 20 to rotate toward one side relative to the arm 10 can be greater than the angle at which the driving member 30 drives the palm seat 20 to rotate toward the other side relative to the arm 10, thereby ensuring that the range of motion of the palm seat 20 is roughly the same as the range of motion of the human wrist, thereby improving the flexibility of the palm seat 20 and enhancing the anthropomorphic effect of the robotic arm 100.

[0036] like Figure 1 As shown, in the present application, the robot may include two robotic arms 100, which are movably arranged on opposite sides of the robot body, that is, the two robotic arms 100 may be the left arm and the right arm of the robot, and the robotic arm 100 described below may 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 two ends of the connecting shaft 24 (such as Figure 4 The front and rear ends shown in FIG. 2 may be located on both sides of the first boss 21 (as shown in FIG. Figure 4 The front and rear sides shown in the figure) can include two driving members 30, and the output ends of the two driving members 30 can be connected to the two ends of the connecting shaft 24 respectively, so that the two driving members 30 cooperate to drive the palm seat 20 to rotate relative to the arm 10 in multiple directions.

[0038] For example, the output ends of the two driving members 30 can move synchronously and in the same direction to drive the palm seat 20 to rotate relative to the arm 10, and the output ends of the two driving members 30 can move synchronously and in opposite directions to drive the palm seat 20 to rotate relative to the arm 10, thereby increasing the degree of freedom of the connection between the palm seat 20 and the arm 10, increasing the movable range of the palm seat 20, and improving the flexibility of the movement of the palm seat 20, which can improve the anthropomorphic effect of the robotic arm 100. It can be understood that the driving member 30 and the arm 10 can be rotatably connected, and the driving member 30 can be a linear push rod motor. The output end of the push rod of the linear push rod motor can be rotatably connected to the connecting shaft 24, so that the driving member 30 can drive the palm seat 20 to rotate relative to the arm 10, which can improve the flexibility of the movement of the palm seat 20.

[0039] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 7 As shown, in some embodiments, the output end of the driving member 30 can be connected to the connecting shaft 24 through a ball joint assembly 25, that is, the output end of the driving member 30 can be connected to the connecting shaft 24 by a ball joint, which can increase the degree of freedom of the connection between the driving member 30 and the palm seat 20, and the driving member 30 and the arm 10 can be connected by a ball joint, which can increase the degree of freedom of the connection between the driving member 30 and the arm 10.

[0040] As a result, the driving member 30 can fine-tune its own position when the palm seat 20 moves, which can increase the range of motion of the palm seat 20 and improve the flexibility of the movement of the palm seat 20. The first boss 21 can have an avoidance notch 213. The avoidance notch 213 can avoid the ball joint assembly 25 when the driving member 30 drives the connecting shaft 24 to rotate to drive the palm seat 20 to rotate, which can prevent the ball joint assembly 25 from interfering with the palm seat 20 when the palm seat 20 rotates relative to the arm 10, thereby increasing the movable range of the palm seat 20 and improving the reliability of the movement of the palm seat 20.

[0041] It can be understood that the ball joint assembly 25 may include a ball head and a ball head seat. The ball head seat can be set at the output end of the driving member 30. The ball head can be fixedly connected to the two ends of the connecting shaft 24, and the connecting shaft 24 can be matched with the ball head and the ball head seat. When the palm seat 20 moves, the driving member 30 can provide power without interfering with the palm seat 20, and can also absorb the alignment error caused by manufacturing error or wear to a certain extent.

[0042] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 7 As shown, according to some embodiments of the present invention, the palm seat 20 may further include a connecting member 26, which may be rotatably connected to the first boss 21 via a first rotating shaft 27, and the arm 10 and the connecting member 26 may be rotatably connected via a second rotating shaft 28, thereby realizing a rotational connection between the palm seat 20 and the wall portion, so that the two driving members 30 cooperate with each other, thereby driving the palm seat 20 to rotate relative to the arm 10 around the first rotating shaft 27, and thereby driving the palm seat 20 to rotate relative to the arm 10 around the second rotating shaft 28, thereby increasing the degree of freedom of the connection between the palm seat 20 and the arm 10, thereby increasing the movable range of the palm seat 20, and thereby improving the flexibility of the palm seat 20 movement, thereby improving the anthropomorphic effect of the robotic arm 100.

[0043] like Figure 1 and Figure 4 As shown, the extension directions of the axis of the first rotating shaft 27, the axis of the second rotating shaft 28 and the axis of the connecting shaft 24 can be different, so that the two driving members 30 can cooperate to drive the palm seat 20 to rotate around the first rotating shaft 27 and the second rotating shaft 28 relative to the arm 10 at the same time, which can enable the palm seat 20 to perform more complex movements, improve the flexibility of the palm seat 20, and improve the anthropomorphic effect of the robotic arm 100.

[0044] The axis of the first rotating shaft 27 can be along the first direction (such as Figure 1 The two driving members 30 can drive the palm seat 20 to rotate forward (such as the palm swings forward) or backward (such as the palm swings backward), and the axis of the second rotating shaft 28 can be along the second direction (such as the left and right directions shown in FIG. Figure 1 The palm seat 20 extends in the front-to-back direction as shown in the figure, so that the two driving members 30 can drive the palm seat 20 to rotate leftward (such as swinging the palm to the left) or rightward (such as swinging the palm to the right).

[0045] like Figure 4 、 Figure 5 、 Figure 6 and Figure 7 As shown, in some embodiments, the axis of the first rotating shaft 27 and the axis of the second rotating shaft 28 can be respectively parallel to the plate body 23, so that the palm seat 20 can rotate around the first rotating shaft 27 when the plate body 23 is parallel to the first rotating shaft 27, and the palm seat 20 can rotate around the second rotating shaft 28 when the plate body 23 is parallel to the second rotating shaft 28, so that the palm seat 20 can move in a more anthropomorphic posture, which is beneficial to improving the anthropomorphic effect of the robotic arm 100.

[0046] Among them, the axis of the second rotating shaft 28 can be perpendicular to the axis of the first rotating shaft 27, which is conducive to further adjusting the active posture of the palm seat 20, and can improve the anthropomorphic effect of the robotic arm 100. The axis of the second rotating shaft 28 and the axis of the first rotating shaft 27 do not intersect, which can improve the independence of the first rotating shaft 27 and the second rotating shaft 28, that is, the two driving members 30 can drive the palm seat 20 to rotate around the first rotating shaft 27 or the second rotating shaft 28, or, the two driving members 30 can drive the palm seat 20 to rotate around the first rotating shaft 27 and the second rotating shaft 28 at the same time, which can enable the palm seat 20 to perform more complex movements, improve the flexibility of the palm seat 20 movement, and improve the anthropomorphic effect of the robotic arm 100.

[0047] like Figure 3 、 Figure 4 and Figure 7 As shown, in some embodiments, the palm seat 20 may further include a second boss 22, the second boss 22 and the first boss 21 may be partially arranged opposite each other, and the connecting member 26 may be connected between the second boss 22 and the first boss 21 through a first rotating shaft 27, that is, the two ends of the first rotating shaft 27 (such as Figure 7 The left and right ends shown in the figure can be rotatably connected to the first boss 21 and the second boss 22 respectively, which can improve the support effect of the first rotating shaft 27, improve the reliability of the connection member 26 rotating relative to the plate body 23 through the first rotating shaft 27, and improve the reliability of the palm seat 20 rotating relative to the arm 10.

[0048] like Figure 3 、 Figure 4 and Figure 7As shown, in some embodiments, the first boss 21, the second boss 22 and the plate body 23 can be integrally formed, which can improve the structural strength of the connection between the plate body 23 and the connecting member 26, and can improve the structural strength of the connection between the plate body 23 and the driving member 30, which is beneficial to increasing the service life of the palm seat 20, facilitating maintenance, and facilitating processing, which is beneficial to reducing processing costs.

[0049] like Figure 1 、 Figure 2 and Figure 7 As shown, in some embodiments, the first boss 21 can have a first mating segment 211 and a second mating segment 212, the first mating segment 211 can be connected to the plate body 23, and the connecting member 26 can be rotatably connected to the first mating segment 211, that is, the first mating segment 211 and the second boss 22 of the first boss 21 can be arranged relative to each other, and the first rotating shaft 27 can be rotatably connected to the first mating segment 211, and the second mating segment 212 can be arranged on the side of the first mating segment 211 away from the plate body 23 (such as Figure 7 upper side shown).

[0050] The second mating section 212 can extend along the extension direction of the connecting shaft 24, and the connecting shaft 24 and the second mating section 212 can be plugged in and matched, and the two ends of the connecting shaft 24 extend out of the second mating section 212 respectively, so that the output end of the driving member 30 is rotatably connected through the connecting shaft 24 and the second mating section 212 of the first boss 21, and at the same time, the distance between the second mating section 212 and the plate body 23 can be increased, and the connecting shaft 24 can be prevented from interfering with the plate body 23 when the palm seat 20 rotates relative to the arm 10, thereby increasing the range of movement of the palm seat 20, and improving the flexibility of the palm seat 20, which can improve the anthropomorphic effect of the robotic arm 100.

[0051] like Figure 1 、 Figure 2 、 Figure 3 and Figure 5 As shown, in some embodiments, the driving member 30 can drive the palm seat 20 to rotate around the axis of the first rotating shaft 27 to rotate the palm seat 20 forward (such as swinging the palm forward) or backward (such as swinging the palm backward). In the initial state, the palm of the robotic arm 100 naturally hangs down and the palm faces the robot body. At this time, the relative angle between the palm seat 20 and the arm 10 is 0°.

[0052] The relative angle between the palm seat 20 and the arm 10 is a negative number when the palm seat 20 rotates forward, and the relative angle between the palm seat 20 and the arm 10 is a positive number when the palm seat 20 rotates backward. If the angle at which the palm seat 20 rotates forward is too large or the angle at which the palm seat 20 rotates backward is too small, the range of motion of the palm seat 20 and the range of motion of the human wrist deviate greatly, affecting the anthropomorphic effect of the robotic arm 100. Therefore, the angle at which the palm seat 20 rotates around the first rotation axis 27 can be limited to within the range of -15° to 45°, which can ensure that the range of motion of the palm seat 20 and the range of motion of the human wrist are roughly the same, thereby improving the anthropomorphic effect of the robotic arm 100.

[0053] like Figure 1 、 Figure 2 、 Figure 3 and Figure 5 As shown, in some embodiments, the driving member 30 can drive the palm seat 20 to rotate around the axis of the second rotating shaft 28 so that the palm seat 20 rotates to the left (such as the palm swings to the left) or to the right (such as the palm swings to the right). In the initial state, the palm of the robotic arm 100 naturally hangs down and the palm faces the robot body. At this time, the relative angle between the palm seat 20 and the arm 10 is 0°.

[0054] The relative angle between the palm seat 20 and the arm 10 is a negative number when the palm seat 20 rotates in a direction close to the robot body, and is a positive number when the palm seat 20 rotates in a direction away from the robot body. Taking the right arm as an example, if the angle of rotation of the palm seat 20 to the right is too small or the angle of rotation to the left is too large, the deviation between the range of motion of the palm seat 20 and the range of motion of the human wrist is large, affecting the anthropomorphic effect of the robot arm 100. Therefore, the rotation angle of the palm seat 20 around the second rotation axis 28 can be limited to within the range of -50° to 85°, which can ensure that the range of motion of the palm seat 20 and the range of motion of the human wrist are roughly the same, and the anthropomorphic effect of the robot arm 100 can be improved.

[0055] The other components and operations of the robotic arm 100 according to the embodiment of the present invention are well 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 these features. The vertical direction, left-right direction, and front-back direction are based on the vertical direction, left-right direction, and front-back direction shown in the figure.

[0056] In the description of the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or the first and second features being in contact not directly but through another feature therebetween. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is at a higher level than the second feature.

[0057] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, 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 any one or more embodiments or examples.

[0058] While 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 invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A robotic arm, characterized in that: include: Arm; a palm seat movably connected to one end of the arm, the palm seat comprising a plate body and a first boss, the first boss being provided on a side of the plate body close to the arm; A driving member is mounted on the arm, and an output end of the driving member is movably connected to the first boss via a connecting shaft to drive the palm seat to move. Wherein, the extension line of the connecting axis intersects with the plate body.

2. The robotic arm according to claim 1, wherein: The two ends of the connecting shaft are located on both sides of the first boss. The driving members include two, and the output ends of the two driving members are respectively connected to the two ends of the connecting shaft.

3. The robotic arm according to claim 2, wherein: The output end of the driving member is connected to the connecting shaft through a ball joint assembly, and the first boss has an avoidance gap for avoiding the ball joint assembly.

4. The robotic arm according to claim 1, wherein: The palm seat also includes a connecting member, which is rotatably connected to the first boss via a first rotating shaft, and the arm is rotatably connected to the connecting member via a second rotating shaft. The axis of the first rotating shaft, the axis of the second rotating shaft, and the axis of the connecting shaft extend in different directions.

5. The robotic arm according to claim 4, characterized in that: The axis of the first rotating shaft and the axis of the second rotating shaft are respectively parallel to the plate body, and the axis of the second rotating shaft is perpendicular to the axis of the first rotating shaft and does not intersect.

6. The robotic arm according to claim 4, characterized in that: The palm seat further includes: a second boss, which is arranged partially opposite to the first boss, and the connecting member is connected between the second boss and the first boss via the first rotating shaft.

7. The robotic arm according to claim 6, wherein: The first boss, the second boss and the plate body are integrally formed.

8. The robotic arm according to claim 4, wherein: The first boss has a first mating section and a second mating section, the first mating section is connected to the plate body, the connecting piece is rotatably connected to the first mating section, the second mating section is arranged on the side of the first mating section away from the plate body, the second mating section extends along the extension direction of the connecting shaft, the connecting shaft is plugged into the second mating section and both ends of the connecting shaft extend out of the second mating section respectively.

9. The robotic arm according to claim 4, characterized in that: The driving member can drive the palm seat to rotate around the axis of the first rotating shaft, and the angle range of the palm seat rotating around the first rotating shaft is -15° to 45°.

10. The robotic arm according to claim 4, wherein: The driving member can drive the palm seat to rotate around the axis of the second rotating shaft, and the palm seat swings around the second rotating shaft at an angle of -50° to 85°.

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