Robotic arm

Abstract

The application discloses a mechanical arm, which comprises an arm part, a palm base movably connected to one end of the arm part, the palm base comprising a plate body and a first boss arranged on a side of the plate body close to the arm part, and a driving member installed on the arm part, the output end of the driving member being movably connected to the first boss through a connecting shaft, so that the palm base is driven to move, wherein the extension line of the connecting shaft intersects with the plate body. According to the mechanical arm, the connecting shaft with the extension direction intersecting with the plate body of the palm base is arranged on the palm base, and the output end of the driving member is movably connected to the palm base through the connecting shaft, so that the angle at which the driving member drives the palm base to rotate to one side of the arm part is larger than the angle at which the driving member drives the palm base to rotate to the other side of the arm part, the movement range of the palm base can be ensured to be substantially the same as the movement range of the human wrist, the flexibility of the palm base movement can be improved, 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 adopt a symmetrical rotating structure at the palm base, meaning that the palm base in the initial position rotates at the same angle in opposite directions. This results in a significant difference between the range of motion of the palm base and the range of motion of the human wrist, affecting the anthropomorphic effect of the robotic arm and 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 good anthropomorphic properties.

[0004] According to an embodiment of the present invention, a robotic arm includes: an arm portion; a palm base movably connected to one end of the arm portion, the palm base including a plate and a first boss, the first boss being disposed on the side of the plate near the arm portion; and a drive member mounted on the arm portion, the output end of the drive member being movably connected to the first boss via a connecting shaft to drive the palm base to move, wherein the extension line of the connecting shaft intersects the plate.

[0005] According to the embodiments of the present invention, the robotic arm has a connecting shaft on the palm base whose extension direction intersects with the plate body, and the output end of the drive member is rotatably connected to the palm base through the connecting shaft. This allows the angle at which the drive member drives the palm base to rotate relative to the arm to one side to be greater than the angle at which the drive member drives the palm base to rotate relative to the arm to the other side. This ensures that the range of motion of the palm base is approximately the same as the range of motion of the human wrist, improves the flexibility of the palm base's movement, and enhances the anthropomorphic effect of the robotic arm.

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

[0007] In some embodiments, the output end of the drive member is connected to the connecting shaft via a ball joint assembly, and the first boss has a clearance notch to avoid the ball joint assembly.

[0008] According to some embodiments of the present invention, the palm base further includes a connector, the connector being rotatably connected to the first boss via a first rotating shaft, and the arm being rotatably connected to the connector via a second rotating shaft, wherein the axes of the first rotating shaft, the second rotating shaft, and the connecting shaft extend in different directions.

[0009] In some embodiments, the axis of the first rotating shaft and the axis of the second rotating shaft are 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 base further includes a second boss, which is partially arranged opposite to the first boss, and the connector is connected between the second boss and the first boss via the first pivot.

[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, and the connector is rotatably connected to the first mating section. The second mating section is located on the side of the first mating section opposite to the plate body. The second mating section extends along the extension direction of the connecting shaft. The connecting shaft is inserted into the second mating section, and both ends of the connecting shaft extend out of the second mating section.

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

[0014] In some embodiments, the driving member can drive the palm base to rotate about the axis of the second rotating shaft, and the swing angle of the palm base about the second rotating shaft is -50° to 85°.

[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 This is a schematic diagram of the palm base according to some embodiments of the present invention;

[0020] Figure 4 This is a partial structural schematic diagram of the palm base from one perspective according to some embodiments of the present invention;

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

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

[0023] Figure 7 This is a partial structural schematic diagram of the palm base from another perspective according to some embodiments of the present invention.

[0024] Figure label:

[0025] Robotic arm 100,

[0026] Arm 10,

[0027] 20, base, first boss, first mating section, second mating section, 212, clearance notch, second boss, plate, 23, connecting shaft, 24, ball joint assembly, 25, connector, 26, first rotating shaft, 27, second rotating shaft, 28.

[0028] Drive component 30. 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 1-7 A robotic arm 100 according to an embodiment of the present invention is described.

[0033] like Figures 1-7 As shown, the robotic arm 100 according to an embodiment of the present invention includes: an arm portion 10, a palm base 20, and a drive unit 30. The palm base 20 can be connected to one end of the arm portion 10 (e.g., ...). Figure 1 The lower end shown), and the palm base 20 can move relative to the arm 10. The palm base 20 may include a plate 23 and a first boss 21. The first boss 21 may be disposed on the side of the plate 23 near the arm 10 (e.g., Figure 3 As shown on the upper side), the drive member 30 can be mounted on the arm 10. The output end of the drive 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 drive member 30 can drive the palm seat 20 to rotate relative to the arm 10.

[0034] In this design, the extension line of the connecting shaft 24 can intersect the plate 23. Compared to a design where the connecting shaft 24 is parallel to the plate 23, this allows the palm base 20 in its initial position to rotate at different angles in opposite directions. Specifically, by reducing the rotation angle of the palm base 20 in one direction (e.g., ... Figure 2 The angle of rotation (as shown in the back-to-front direction) increases the angle of the palm base 20 in the other direction (e.g.) Figure 2 The angle of rotation (as shown in the front-to-back direction) helps to ensure that the range of motion of the palm base 20 is roughly the same as that of the human wrist, thereby improving the flexibility of the palm base 20 and enhancing the anthropomorphic effect of the robotic arm 100.

[0035] According to the embodiments of the present invention, the robotic arm 100 has a connecting shaft 24 on the palm base 20 whose extension direction intersects with its plate 23, and the output end of the drive member 30 is rotatably connected to the palm base 20 through the connecting shaft 24. This allows the angle at which the drive member 30 drives the palm base 20 to rotate relative to the arm 10 to one side to be greater than the angle at which the drive member 30 drives the palm base 20 to rotate relative to the arm 10 to the other side. This ensures that the range of motion of the palm base 20 is approximately the same as the range of motion of the human wrist, thereby improving the flexibility of the palm base 20 and enhancing 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 two ends of the connecting shaft 24 (e.g.) Figure 4 The front and rear ends shown can be located on both sides of the first boss 21 (e.g., the front and rear ends shown). Figure 4 (As shown on the front and rear sides), the drive unit 30 may include two, and the output ends of the two drive units 30 may be connected to the two ends of the connecting shaft 24 respectively, so that the two drive units 30 cooperate to drive the palm base 20 to rotate relative to the arm 10 in multiple directions.

[0038] For example, the output ends of the two drive components 30 can move synchronously and in the same direction to drive the palm base 20 to rotate relative to the arm 10, and the output ends of the two drive components 30 can move synchronously and in opposite directions to drive the palm base 20 to rotate relative to the arm 10. This can increase the degree of freedom at the connection between the palm base 20 and the arm 10, increase the range of motion of the palm base 20, improve the flexibility of the palm base 20, and enhance the anthropomorphic effect of the robotic arm 100. It can be understood that the drive component 30 and the arm 10 can be rotatably connected. The drive component 30 can be a linear actuator motor. The output end of the linear actuator motor's push rod can be rotatably connected to the connecting shaft 24, so that the drive component 30 can drive the palm base 20 to rotate relative to the arm 10, thereby improving the flexibility of the palm base 20.

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

[0040] Therefore, the drive member 30 can finely adjust its position when the palm base 20 moves, which can increase the range of motion of the palm base 20 and improve the flexibility of the palm base 20. The first boss 21 can have a clearance notch 213. The clearance notch 213 can avoid the ball joint assembly 25 when the drive member 30 drives the connecting shaft 24 to rotate to drive the palm base 20 to rotate. This can prevent the ball joint assembly 25 from interfering with the palm base 20 when the palm base 20 rotates relative to the arm 10, which can increase the range of motion of the palm base 20 and improve the reliability of the palm base 20's movement.

[0041] It is understood that the ball joint assembly 25 may include a ball head and a ball head seat. The ball head seat may be located at the output end of the drive member 30. The ball head may be fixedly connected to both ends of the connecting shaft 24. The connecting shaft 24 can provide power to the palm seat 20 without interfering with it when the palm seat 20 moves through the cooperation of the ball head and the ball head seat. At the same time, it 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 base 20 may further include a connector 26. The connector 26 can be rotatably connected to the first boss 21 via a first rotating shaft 27. The arm 10 and the connector 26 can be rotatably connected via a second rotating shaft 28. This enables the palm base 20 and the wall to be rotatably connected, allowing the two driving members 30 to cooperate and drive the palm base 20 to rotate relative to the arm 10 around the first rotating shaft 27 and also drive the palm base 20 to rotate relative to the arm 10 around the second rotating shaft 28. This increases the degree of freedom at the connection between the palm base 20 and the arm 10, increases the range of motion of the palm base 20, improves the flexibility of the palm base 20, and enhances 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 components 30 can cooperate to drive the palm base 20 to rotate relative to the arm 10 around the first rotating shaft 27 and the second rotating shaft 28 at the same time. This allows the palm base 20 to perform more complex movements, improves the flexibility of the palm base 20, and enhances the anthropomorphic effect of the robotic arm 100.

[0044] The axis of the first rotating shaft 27 can be along a first direction (e.g., Figure 1 Extending in the left-right direction (as shown), the two drive members 30 can drive the palm base 20 to rotate forward (e.g., the palm swings forward) or backward (e.g., the palm swings backward), and the axis of the second rotating shaft 28 can extend along the second direction (e.g., the left-right direction). Figure 1 Extending in the front-to-back direction as shown, the two drive members 30 can drive the palm base 20 to rotate to the left (as if the palm swings to the left) or to the right (as if the palm swings 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 parallel to the plate 23, so that the palm base 20 can rotate around the first rotating shaft 27 in an attitude in which the plate 23 is parallel to the first rotating shaft 27, and the palm base 20 can rotate around the second rotating shaft 28 in an attitude in which the plate 23 is parallel to the second rotating shaft 28. This allows the palm base 20 to move in a more human-like posture, which is beneficial to improving the human-like effect of the robotic arm 100.

[0046] The axis of the second rotating shaft 28 can be perpendicular to the axis of the first rotating shaft 27, which is beneficial for further adjusting the movement posture of the palm base 20 and improving the anthropomorphic effect of the robotic arm 100. Furthermore, the axis of the second rotating shaft 28 does not intersect with the axis of the first rotating shaft 27, which can improve the independence of the first rotating shaft 27 and the second rotating shaft 28. That is, the two driving components 30 can drive the palm base 20 to rotate around the first rotating shaft 27 or the second rotating shaft 28, or the two driving components 30 can drive the palm base 20 to rotate around the first rotating shaft 27 and the second rotating shaft 28 simultaneously, which can enable the palm base 20 to perform more complex movements, improve the flexibility of the palm base 20, and enhance the anthropomorphic effect of the robotic arm 100.

[0047] like Figure 3 , Figure 4 and Figure 7 As shown, in some embodiments, the palm base 20 may further include a second boss 22, which may be partially arranged opposite to the first boss 21. The connector 26 may be connected between the second boss 22 and the first boss 21 via a first rotating shaft 27, i.e., the two ends of the first rotating shaft 27 (e.g., Figure 7 The left and right ends shown 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 connector 26 rotating relative to the plate 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 23 can be integrally formed, which can improve the structural strength of the connection between the plate 23 and the connector 26, and can also improve the structural strength of the connection between the plate 23 and the drive component 30. This is beneficial to improving the service life of the palm base 20, facilitating maintenance, and also making it easier to process, which helps to reduce processing costs.

[0049] like Figure 1 , Figure 2 and Figure 7 As shown, in some embodiments, the first boss 21 may have a first mating section 211 and a second mating section 212. The first mating section 211 may be connected to the plate 23, and the connector 26 may be rotatably connected to the first mating section 211. That is, the first mating section 211 and the second boss 22 of the first boss 21 may be arranged opposite to each other, and the first rotating shaft 27 may be rotatably connected to the first mating section 211. The second mating section 212 may be located on the side of the first mating section 211 away from the plate 23 (e.g., Figure 7 (as shown on the upper side).

[0050] Furthermore, the second mating section 212 can extend along the extension direction of the connecting shaft 24. The connecting shaft 24 and the second mating section 212 can be plugged into each other, and both ends of the connecting shaft 24 extend out of the second mating section 212 respectively. This facilitates the output end of the drive unit 30 to be rotatably connected through the connecting shaft 24 and the second mating section 212 of the first boss 21. At the same time, it can increase the distance between the second mating section 212 and the plate 23, which can prevent the connecting shaft 24 from interfering with the plate 23 when the palm base 20 rotates relative to the arm 10. This can increase the range of motion of the palm base 20 and improve the flexibility of the palm base 20, thereby improving 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 drive unit 30 can drive the palm base 20 to rotate around the axis of the first rotating shaft 27, so that the palm base 20 rotates forward (e.g., the palm swings forward) or backward (e.g., the palm swings backward). In the initial state, the palm of the robotic arm 100 hangs down naturally and the palm faces the robot body. At this time, the relative angle between the palm base 20 and the arm 10 is 0°.

[0052] The relative angle between the palm base 20 and the arm 10 is negative when the palm base 20 rotates forward, and positive when the palm base 20 rotates backward. If the angle of the palm base 20 rotating forward is too large or the angle of the palm base 20 rotating backward is too small, the range of motion of the palm base 20 will deviate significantly from the range of motion of the human wrist, affecting the anthropomorphic effect of the robotic arm 100. Therefore, the angle of rotation of the palm base 20 around the first axis 27 can be limited to the range of -15° to 45°, which can ensure that the range of motion of the palm base 20 is roughly the same as the range of motion of the human wrist, 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 drive unit 30 can drive the palm base 20 to rotate around the axis of the second rotating shaft 28, so that the palm base 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 hangs down naturally and the palm faces the robot body. At this time, the relative angle between the palm base 20 and the arm 10 is 0°.

[0054] The relative angle between the palm base 20 and the arm 10 is negative when the palm base 20 rotates in the direction closer to the robot body, and positive when the palm base 20 rotates in the direction away from the robot body. Taking the right arm as an example, if the palm base 20 rotates too little to the right or too much to the left, the range of motion of the palm base 20 will deviate significantly from the range of motion of the human wrist, affecting the anthropomorphic effect of the robotic arm 100. Therefore, the angle of rotation of the palm base 20 around the second axis 28 can be limited to the range of -50° to 85°, which can ensure that the range of motion of the palm base 20 is roughly the same as the range of motion of the human wrist, thereby improving the anthropomorphic effect of the robotic arm 100.

[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: arm; A palm base, which is movably connected to one end of the arm, the palm base including a plate and a first boss, the first boss being disposed on the side of the plate near the arm; A driving component is mounted on the arm, and its output end is movably connected to the first boss via a connecting shaft to drive the palm base to move. Wherein, the extension line of the connecting shaft intersects with the plate body; The palm base also includes a connector, which is rotatably connected to the first boss via a first rotating shaft. The arm is rotatably connected to the connector via a second rotating shaft. The axes of the first rotating shaft, the second rotating shaft, and the connecting shaft extend in different directions. The axis of the first rotating shaft and the axis of the second rotating shaft are parallel to the plate body, and the axis of the second rotating shaft is perpendicular to the axis of the first rotating shaft and they do not intersect. The palm base further includes a second boss, which is partially arranged opposite to the first boss, and the connector is connected between the second boss and the first boss via the first rotating shaft.

2. The robotic arm according to claim 1, characterized in that, The two ends of the connecting shaft are located on both sides of the first boss. The driving component includes two components, and the output ends of the two driving components are respectively connected to the two ends of the connecting shaft.

3. The robotic arm according to claim 2, characterized in that, The output end of the drive component is connected to the connecting shaft via a ball joint assembly, and the first boss has a clearance notch to avoid the ball joint assembly.

4. The robotic arm according to claim 1, characterized in that, The first boss, the second boss, and the plate are integrally formed.

5. The robotic arm according to claim 1, characterized in that, 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 located 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 inserted into the second mating section and both ends of the connecting shaft extend out of the second mating section.

6. The robotic arm according to claim 1, characterized in that, The driving component can drive the palm base to rotate around the axis of the first rotating shaft, and the angle range of the palm base rotating around the first rotating shaft is -15° to 45°.

7. The robotic arm according to claim 1, characterized in that, The driving component can drive the palm base to rotate around the axis of the second rotating shaft, and the swing angle of the palm base around the second rotating shaft is -50° to 85°.

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