A biomimetic multi-segment intelligent robotic arm

Abstract

This invention relates to the field of robotic arm technology, and in particular to a biomimetic multi-segment intelligent robotic arm, comprising a base, a robotic arm body, and crossed roller bearings. The robotic arm body includes multiple connected unit arms. The crossed roller bearings are located between the base and the robotic arm body, and between two connected unit arms. Each crossed roller bearing includes an inner bushing, an outer ring bushing, rollers, and a separator block. The inner bushing has a 90-degree V-shaped annular groove, and the rollers are evenly distributed within the V-shaped annular groove, with adjacent rollers perpendicular to each other. The separator block is located between adjacent rollers. The outer ring bushing and the inner bushing are respectively mounted on the base and the robotic arm body, or on two connected unit arms. The separator block has an arc surface adapted to the rollers. Lubricating oil is filled between the rollers and the separator block, and an elastic buffer mechanism is provided between the rollers and the separator block to reduce wear on the rollers. This invention provides a robotic arm with the advantage of reducing roller wear.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a biomimetic multi-segment intelligent robotic arm. Background Technology

[0002] A robotic arm is a complex system characterized by high precision, multiple inputs and multiple outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in fields such as industrial assembly and safety and explosion protection.

[0003] Crossed roller bearings are a special type of bearing with a split inner ring and a rotating outer ring. Due to their special structure, they are commonly used as joint bearings in industrial robots. With their compact structure, high rigidity, high precision, and ability to withstand complex loads, crossed roller bearings are very suitable for critical areas such as the rotary joints, end effectors, wrists, and base rotation parts of robotic arms.

[0004] However, the high-frequency or low-frequency reciprocating motions of different joints of the robotic arm cause high-frequency or low-frequency starting, stopping, acceleration, and deceleration of the crossed roller bearings, which easily leads to wear between the rollers and the release blocks in the crossed roller bearings. Moreover, since the contact between the rollers and the release blocks is localized, the aforementioned wear is mainly concentrated at the contact points, making the wear at the contact points more severe. This not only affects the normal operation of the crossed roller bearings but also affects the operation of the robotic arm, potentially causing abnormal noises and jamming when the robotic arm rotates its joints, thus affecting the normal operation of the robotic arm. Summary of the Invention

[0005] This invention provides a biomimetic multi-segment intelligent robotic arm that can reduce the wear on the rollers in the crossed roller bearings during the operation of the moving structure in existing robotic arms.

[0006] The present invention provides a biomimetic multi-segment intelligent robotic arm using the following technical solution:

[0007] A biomimetic multi-segment intelligent robotic arm includes a base, a robotic arm body, and a cross roller bearing. The robotic arm body includes multiple connected unit arms, one of which is mounted on the base. The cross roller bearing is disposed between the base and the robotic arm body, between the interconnected unit arms, an outer ring, rollers, and a separator block. A 90-degree V-shaped annular groove is formed on the outer surface of the inner bushing. Rollers are evenly distributed along the circumference of the V-shaped annular groove, and adjacent rollers are perpendicular to each other. The separator block is disposed between adjacent rollers. The outer ring is fitted on the outside of the inner bushing and is mounted on the base and the robotic arm body, or on two interconnected unit arms, respectively. The separator block has an arc surface on the side facing the roller that matches the side of the roller. Lubricating oil is filled between the roller and the separator block, and an elastic buffer mechanism is provided between the roller and the separator block to reduce wear on the roller.

[0008] The elastic buffer mechanism includes a buffer rod, a first elastic element, and a second elastic element. The buffer rod is disposed between the roller and the arc surface on the separating block. The length direction of the buffer rod is parallel to the corresponding arc surface on the separating block. The first elastic element and the second elastic element are respectively fixed at both ends of the buffer rod. The ends of the first elastic element and the second elastic element away from the buffer rod are respectively connected to the arc surface on the separating block.

[0009] The elastic buffer mechanism also includes an inclined groove and a sliding groove. Both the inclined groove and the sliding groove are opened on the arc surface of the separation block. There are two sliding grooves. Both sliding grooves are parallel to the axial direction of the arc surface of the separation block where they are located. The two sliding grooves are close to the two sides of the arc surface on the corresponding arc surface. The two ends of the first elastic member and the second elastic member are slidably disposed in the two sliding grooves respectively. The inclined groove is located between the two sliding grooves.

[0010] A guide rod is fixed to one side of the buffer rod facing the arc surface of the corresponding separation block. The end of the guide rod away from the buffer rod is inserted into the inclined groove. The inclined groove is configured such that when the roller drives the buffer rod to move, the buffer rod can slide along the inclined groove.

[0011] Furthermore, the outer ring sleeve includes a first outer ring and a second outer ring, both of which are sleeved on the outside of the inner bushing and are located on both sides of the V-shaped annular groove, and the first outer ring and the second outer ring are connected by bolts.

[0012] Furthermore, both ends of the first elastic member and the second elastic member are provided with slide bars that are adapted to the sliding groove, and the slide bars at both ends of the first elastic member and the second elastic member are respectively slidably disposed in the corresponding sliding groove.

[0013] Furthermore, the first elastic element and the second elastic element are elastic metal sheets.

[0014] Furthermore, the guide rod is a cylindrical rod.

[0015] Furthermore, the separation block has multiple sets of elastic buffer mechanisms on its arc surface, which are evenly distributed along the axial direction of the arc surface of the separation block.

[0016] Furthermore, the inclined groove is a narrow groove, and the width of the narrow groove is 0-1mm larger than the cross-sectional width of the guide rod;

[0017] The cross roller bearing with a narrow groove is used in the moving structure of the robot arm body during low-frequency movements.

[0018] Furthermore, the inclined groove is a wide groove, and the width of the wide groove is 1-3mm larger than the cross-sectional width of the guide rod;

[0019] The cross roller bearing with a wide groove is used in the high-frequency moving structure of the robotic arm body.

[0020] The beneficial effects of this invention are:

[0021] The robotic arm body is mounted on the base via a cross roller bearing. The elastic buffer mechanism set in the cross roller bearing can reduce the wear on the rollers when they rotate. This not only enables the invention to have higher precision, but also increases the service life of the invention due to the reduced roller wear, thereby reducing the cost of using the invention.

[0022] Furthermore, the buffer rod in the elastic buffer mechanism can replace the separation block in contact with the roller. The buffer rod is elastically set on the arc surface side of the separation block by the first elastic element and the second elastic element. The first elastic element and the second elastic element can provide elastic force for the movement of the buffer rod, so that the buffer rod can return to its original shape after the movement.

[0023] When the roller rotates, it can drive the buffer rod to move through the friction when it contacts the buffer rod, thereby reducing the relative movement distance between the roller and the buffer rod and reducing the wear between them. At the same time, when the roller drives the buffer rod to move, the lubricating oil located on the front side of the roller's rotation direction can enter the gap between the buffer rod and the roller, thereby lubricating the roller's sliding on the buffer rod and further reducing the wear of the roller and the buffer rod.

[0024] Furthermore, the inclined grooves opened on the arc surface of the separating block allow the buffer rod to move along the inclined grooves via the guide rod when the roller moves, thereby causing the buffer rod to deviate. After the deviation, the position of the buffer rod corresponding to the roller changes, thus avoiding excessive wear on the corresponding part of the roller due to the buffer rod corresponding to a fixed area of ​​the roller for a long time. This helps to make the wear on the roller surface more even. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the structure of a biomimetic multi-segment intelligent robotic arm provided in an embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram of the cross roller bearing in a biomimetic multi-segment intelligent robotic arm provided in an embodiment of the present invention;

[0028] Figure 3 A schematic cross-sectional view of a cross roller bearing in a biomimetic multi-segment intelligent robotic arm provided in an embodiment of the present invention;

[0029] Figure 4 for Figure 3 A magnified structural diagram of part A in the middle;

[0030] Figure 5 This is a schematic diagram of the structure of a cross roller bearing in a biomimetic multi-segment intelligent robotic arm when the first outer ring is removed, provided by an embodiment of the present invention.

[0031] Figure 6 This is a schematic diagram of the installation structure between the separator block and the roller in a cross roller bearing of a biomimetic multi-segment intelligent robotic arm, provided by an embodiment of the present invention.

[0032] Figure 7 A side view of the separator block in the cross roller bearing of a biomimetic multi-segment intelligent robotic arm provided in an embodiment of the present invention;

[0033] Figure 8 for Figure 7 A schematic diagram of the cross-sectional structure along the BB direction;

[0034] Figure 9 for Figure 7 A schematic diagram of the cross-sectional structure along the CC direction;

[0035] Figure 10 This is a partial exploded structural diagram of the separation block in the crossed roller bearing of a biomimetic multi-segment intelligent robotic arm, provided as an embodiment of the present invention.

[0036] Figure 11 A side view of the separation block moving as the rollers in the crossed roller bearing of a biomimetic multi-segment intelligent robotic arm rotate, as provided in an embodiment of the present invention.

[0037] Figure 12 This is a schematic diagram of a cross roller bearing in a biomimetic multi-segment intelligent robotic arm, provided by an embodiment of the present invention, showing a narrow groove on the separator block.

[0038] Figure 13 This is a schematic diagram of a cross roller bearing in a biomimetic multi-segment intelligent robotic arm, provided as an embodiment of the present invention, in which a wide groove is provided on the separator block.

[0039] In the diagram: 100, base; 200, robotic arm body; 300, crossed roller bearing; 310, inner bushing; 311, V-shaped annular groove; 320, outer ring sleeve; 321, first outer ring; 322, second outer ring; 330, roller; 340, separating block; 410, buffer rod; 411, guide rod; 420, first elastic element; 423, slide bar; 430, second elastic element; 440, inclined groove; 441, wide groove; 442, narrow groove; 450, sliding groove. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] The component designations used in this document, such as "first" and "second," are merely for distinguishing the described objects and do not have any sequential or technical meaning. The terms "connection" and "linkage" used in this invention, unless otherwise specified, include both direct and indirect connections (linkages). It should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are used only for the convenience of describing the invention and simplifying the description. They 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 limiting the invention.

[0042] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is 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. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0043] like Figures 1 to 13 As shown in the figure, an embodiment of the present invention provides a biomimetic multi-segment intelligent robotic arm body 200, including a base 100, a robotic arm body 200, and a crossed roller bearing 300. The robotic arm body 200 is mounted on the base 100 and includes multiple interconnected unit arms. Each unit arm of the robotic arm body 200 can be a lever, which is connected to a rotating joint or a rotatable actuator or other components. The unit arm located at the end of the robotic arm body 200 is rotatably mounted on the base 100, while other unit arms are rotatably mounted on adjacent unit arms.

[0044] A crossed roller bearing 300 is disposed between the robot arm body 200 and the base 100 or between two interconnected unit arms. The crossed roller bearing 300 includes an inner bushing 310, an outer ring bushing 320, rollers 330, and a separator block 340. The inner bushing 310 is an annular sleeve, and a V-shaped annular groove 311 with a V-shaped cross-section is formed on the outer surface of the inner bushing 310. The included angle between the bottoms of the two sides of the V-shaped annular groove 311 is 90 degrees. The rollers 330 are all cylindrical structures, and the rollers 330 are evenly distributed circumferentially within the V-shaped annular groove, with the axial directions of adjacent rollers 330 perpendicular to each other.

[0045] The separating block 340 is a spacer block disposed between two adjacent and axially perpendicular rollers 330. The separating block 340 has two arc surfaces corresponding to the sides of the rollers 330, with the axial directions of the two arc surfaces parallel to the axial directions of the rollers 330 on either side. The outer ring sleeve 320 is fitted onto the outer surface of the inner bushing 310, and the inner wall of the outer ring sleeve 320 has a groove that matches the portion of the roller 330 extending into the V-shaped annular groove 311. The groove on the inner side of the outer ring sleeve 320 and the V-shaped annular groove 311 on the inner bushing 310 can form a complete annular groove for the movement and axial rotation of the roller 330.

[0046] In this invention, the inner bushing 310 and outer ring sleeve 320 of the crossed roller bearing 300 can be respectively installed between the base 100 and the robot arm body 200, or between two interconnected unit arms on the robot arm body 200. Specifically, the outer ring sleeve 320 of the crossed roller bearing 300 can be installed in a mounting groove opened on the base 100, and its inner bushing 310 can be sleeved on the fixed shaft in one end of the unit arm of the robot arm body 200, so as to realize the rotational installation between the robot arm body 200 and the base 100.

[0047] When the robotic arm body 200 is mounted on the base 100 via the cross roller bearing 300, the cross roller bearing 300 can improve the motion accuracy of the robotic arm body 200, enhance the load capacity of the robotic arm body 200, and reduce the frictional loss during the movement of the robotic arm body 200.

[0048] Lubricating oil is filled between the roller 330 and the separating block 340, and an elastic buffer mechanism is provided between the roller 330 and the separating block 340. The elastic buffer mechanism can reduce the wear of the roller 330 when it rotates, thereby enabling the robotic arm body and its unit arms of the present invention to rotate more smoothly.

[0049] The operating principle of this invention is as follows:

[0050] First, the robotic arm body 200 is mounted on the base 100 via a cross roller bearing 300. The base 100 has an installation groove, and the cross roller bearing 300 is installed in the installation groove. The fixed shaft on the unit arm at the end of the robotic arm body 200 is inserted into the inner bushing 310 of the cross roller bearing 300 and fixedly connected to the inner bushing 310, thereby realizing the installation of the robotic arm body 200 on the base 100.

[0051] The robotic arm body 200 is mounted on the base 100 and can be driven by an external motor. When the robotic arm body 200 rotates, its rollers 330 can apply a certain pressure to the separating block 340 adjacent to the rollers 330 and can rotate relative to the separating block 340. When the rollers 330 rotate relative to the separating block 340, the pressure applied by the rollers 330 to the separating block 340 can cause wear on both the rollers 330 and the separating block 340. Although lubricating oil suitable for bearings can be added to the gap between the rollers 330 and the separating block 340, if the invention is not used for a long time, the lubricating oil filling the gap between the rollers 330 and the separating block 340 may gradually harden, which will hinder the rotation of the robotic arm body 200 on the base 100. As a result, when the robotic arm body 200 rotates, the rollers 330 may press more tightly against the separating block 340 due to the obstruction of the lubricating oil, which may further increase the degree of wear between the rollers 330 and the separating block.

[0052] The elastic buffer mechanism set between the separating block 340 and the roller 330 can reduce the wear on the roller 330 when it rotates, making the rotation of each unit arm smoother during the operation of the invention. This not only makes the invention more accurate, but also improves its service life.

[0053] Furthermore, the outer ring sleeve 320 includes a first outer ring 321 and a second outer ring 322. The first outer ring 321 and the second outer ring 322 are both sleeved on the outside of the inner bushing 310 and are located on both sides of the V-shaped annular groove 311, respectively. The two are connected by bolts.

[0054] The outer ring 320 is divided into a first outer ring 321 and a second outer ring 322, which makes it easier to install the crossed roller bearing 300 in this invention. After the first outer ring 321 and the second outer ring 322 are assembled in the mounting position, the first outer ring 321 and the second outer ring 322 are fixed by bolts to realize the installation of the crossed roller bearing 300 in the mounting position.

[0055] In some embodiments, the elastic buffer mechanism includes a buffer rod 410, a first elastic element 420, and a second elastic element 430. The buffer rod 410 is disposed between the roller 330 and the arc surface on the separating block 340. The buffer rod 410 is a bent rod, and its length direction is parallel to the arc surface on the separating block 340. The first elastic element 420 and the second elastic element 430 are respectively fixed to both ends of the buffer rod 410. In this invention, the first elastic element 420 and the second elastic element 430 can be elastic metal sheets, such as steel sheets, titanium alloy sheets, or other elastic metal sheets. The two ends of the first elastic element 420 and the second elastic element 430 away from the buffer rod 410 are both fixed to the corresponding arc surface of the separating block 340, and are respectively close to the two ends of the arc surface of the separating block 340.

[0056] In this embodiment, assuming the robotic arm body 200 is mounted on the base 100 via a crossed roller bearing 300, when the robotic arm body 200 rotates on the base 100, the unit arm at the end of the robotic arm body 200 can drive the inner bushing 310 of the crossed roller bearing 300 to rotate, thereby driving the roller 330 disposed in the V-shaped annular groove 311 to rotate. When the roller 330 rotates, it can drive the buffer rod 410 it abuts to move a certain distance accordingly, and the first spring disposed on the buffer rod 410... The elastic element 420 and the second elastic element 430 deform under the action of the buffer rod 410. Compared to the roller 330 directly abutting against the arc surface of the separating block 340, the relative sliding distance between the buffer rod 410 and the roller 330 is shorter. Furthermore, as the buffer rod 410 slides with the roller 330, lubricating oil can enter the gap between the buffer rod 410 and the roller 330 from the direction opposite to the rotation of the buffer rod 410, thus replenishing the lubricating oil between them in a timely manner. Especially when the robotic arm body 200 rotates only once at long intervals, the buffer rod 410 can significantly reduce the wear of the roller 330.

[0057] To further explain, when the robotic arm body 200 and its unit arms do not rotate for a long time, the lubricating oil between the buffer rod 410 and the roller 330 may harden. When the robotic arm body 200 suddenly rotates, the roller 330 can slide relative to the buffer rod 410. At this time, the lubricating oil located behind the rotation direction of the roller 330 does not enter the gap between the roller 330 and the buffer rod 410 in time, resulting in greater wear when the roller 330 and the buffer rod 410 slide relative to each other. However, due to the elasticity of the first elastic element 420 and the second elastic element 430, the buffer rod 410 can... As the roller 330 rotates, it rotates with the roller 330 for a period of time, thereby reducing the relative sliding distance between the roller 330 and the buffer rod 410, which reduces the wear on the roller 330. Furthermore, as the buffer rod 410 rotates with the roller 330, the lubricating oil located in front of the roller 330 in the direction of rotation does not rotate synchronously with the roller 330 in time, and can enter the gap between the buffer rod 410 and the roller 330, thereby lubricating the relative sliding between the buffer rod 410 and the roller 330, further reducing the degree of wear between the roller 330 and the buffer rod 410.

[0058] Furthermore, in this embodiment, the elastic buffer mechanism also includes an inclined groove 440 and a sliding groove 450. Both the inclined groove 440 and the sliding groove 450 are formed on the arc-shaped side of the separating block 340. The inclined groove 440 is a groove whose length direction is inclined to the axial direction of the arc-shaped surface, and its opening side is adapted to the arc-shaped surface. The sliding groove 450 is a long strip-shaped groove whose length direction is parallel to the axial direction of the arc-shaped surface. Two sliding grooves 450 are formed, each close to one side of the arc-shaped surface on the separating block 340, with the inclined groove 440 located between the two sliding grooves 450.

[0059] A guide rod 411 is fixed to the side of the buffer rod 410 facing the arc surface of the corresponding separating block 340. The end of the guide rod 411 away from the buffer rod 410 is inserted into the inclined groove 440. When the buffer rod 410 moves with the roller 330, the buffer rod 410 can slide along the inclined groove 440, thereby causing the buffer rod 410 to move in a direction parallel to the axial direction of the arc surface. This changes the contact area between the roller 330 and the buffer rod 410, preventing a certain part of the roller 330 from being in contact with the buffer rod 410 for a long time, thus increasing the degree of wear between them.

[0060] More specifically, the inclined groove 440 can be a groove with a parallelogram cross-section, and the center of the inclined groove 440 is located on the central axis of its arc surface. The guide rod 411 can be a cylindrical rod, and the end of the guide rod 411 away from the buffer rod 410, that is, the end inserted into the inclined groove 440, is a rounded end. As the buffer rod 410 rotates with the roller 330, the guide rod 411 on the buffer rod 410 can slide within the inclined groove 440. The cylindrical shape and rounded end of the guide rod 411 can reduce the friction generated when the guide rod 411 contacts the groove wall of the inclined groove 440 when it slides within the inclined groove 440, which is more conducive to the movement of the guide rod 411 within the inclined groove 440, and makes it easier for the buffer rod 410 to shift, thereby reducing the degree of friction between the buffer rod 410 and the roller 330.

[0061] Furthermore, both ends of the first elastic member 420 and the second elastic member 430 are provided with slide bars 423 that are adapted to the sliding groove 450. The slide bars 423 of the first elastic member 420 and the second elastic member 430 away from the buffer rod 410 are respectively slidably disposed in the corresponding sliding groove 450.

[0062] In this embodiment, the sliding groove 450 can be a cylindrical elongated groove, and the corresponding slide bar 423 at the ends of the first elastic member 420 and the second elastic member 430 is a cylindrical strip rod adapted to the sliding groove 450. When the guide rod 411 slides along the inclined groove 440, it can cause the buffer rod 410 to shift. The shift of the buffer rod 410 can drive the first elastic member 420 and the second elastic member 430 at the ends of the buffer rod 410 to move, thereby causing the slide bar 423 connected to the ends of the first elastic member 420 and the second elastic member 430 to slide within the corresponding sliding groove 450. The sliding arrangement between the first elastic member 420 and the second elastic member 430 and the arc surface reduces the resistance encountered when the buffer rod 410 shifts, making it easier for the buffer rod 410 to shift and reducing the degree of wear between the buffer rod 410 and the roller 330.

[0063] In some embodiments, the separation block 340 is provided with multiple sets of elastic buffer mechanisms on its arc surface, and the multiple sets of elastic buffer mechanisms are evenly distributed along the arc surface axial direction of the separation block 340.

[0064] Specifically, the multiple sets of elastic buffer mechanisms refer to multiple buffer rods 410, all of which are set on the arc surface side of the separating block 340 through the first elastic element 420 and the second elastic element 430, and are evenly spaced along the axial direction of the arc surface. The arrangement of multiple sets of elastic buffer mechanisms can make the roller 330 more stable when placed between the separating blocks 340, avoiding direct contact between the roller 330 and the arc surface on the separating block 340. This ensures that the structural components in contact with the roller 330 are all elastically movable buffer rods 410, thereby avoiding contact between the roller 330 and fixed points on the separating block 340, and preventing wear between the roller 330 and the separating block 340.

[0065] In some embodiments, the inclined groove 440 formed on the arc side of the separating block 340 is a narrow groove 442. The width of the narrow groove 442 is 0-1mm larger than the cross-sectional width of the guide rod 411 fixed on the buffer rod 410, i.e., the cross-sectional diameter. Of course, the specific width of the narrow groove 442 needs to be determined according to the actual situation. The above is only for reference.

[0066] In the robotic arm body 200, the rotating structure between the robotic arm body and the base is the moving structure of low-frequency motion.

[0067] Since the robotic arm body 200 has not rotated on the base 100 for a long time, the lubricating oil in the cross roller bearing 300 at the end of the robotic arm body 200 and between the unit arm and the base gradually hardens. When the unit arm begins to rotate on the base 100, the roller 330 can drive the buffer rod 410 to move. During the movement of the buffer rod 410, due to the narrow groove 442, the position of the buffer rod 410 relative to the arc surface of the separation block 340 or relative to the side of the roller 330 will change in a short time. This makes the buffer rod 410 avoid friction with the fixed points on the roller 330 as much as possible, and allows the robotic arm body 200 to rotate more smoothly on the base 100.

[0068] In some other embodiments, the inclined groove 440 formed on the arc side of the separating block 340 is a wide groove 441. The width of the wide groove 441 is 1-3 mm larger than the cross-sectional width of the guide rod 411 fixed on the buffer rod 410, i.e., the cross-sectional diameter. Of course, the specific width of the wide groove 441 needs to be determined according to the actual situation. The above is only for reference.

[0069] In the robotic arm body 200, a robotic hand can be installed on a unit arm that is far away from the base. The rotation between the unit arm and the robotic hand is the active structure with high-frequency motion.

[0070] When the robotic arm on the main body 200 rotates on the corresponding unit arm, the lubricating oil in the crossed roller bearing 300 is relatively soft due to the high rotation frequency of the robotic arm on the unit arm. When the roller 330 rotates, even if it drives the buffer rod 410 to move, it will be restored to its initial state by the first elastic element 420 and the second elastic element 430 due to the low friction. The wide groove 441 makes it difficult for the buffer rod 410 to have relative displacement with the roller 330 in the axial direction, even if the buffer rod 410 rotates with the roller 330. This reduces the amount of relative sliding between the roller 330 and the buffer rod 410, thereby reducing the wear between the two.

[0071] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A biomimetic multi-segment intelligent robotic arm, characterized in that, include: Base; The robotic arm body includes multiple interconnected unit arms, one of which is mounted on a base; Crossed roller bearings are installed between the base and the robot arm body, as well as between the interconnected unit arms; The crossed roller bearing includes an inner bushing, an outer ring bushing, rollers, and a separator block. A 90-degree V-shaped annular groove is formed on the outer side of the inner bushing. The rollers are evenly distributed in the V-shaped annular groove along its circumference, and adjacent rollers are perpendicular to each other. The separator block is set between adjacent rollers. The outer ring bushing is fitted on the outside of the inner bushing and is mounted on the base and the robot arm body, or on two interconnected unit arms, respectively. The separating block has an arc surface on the side facing the roller that matches the side of the roller. Lubricating oil is filled between the roller and the separating block, and an elastic buffer mechanism is provided between the roller and the separating block to reduce the wear on the roller. The elastic buffer mechanism includes a buffer rod, a first elastic element, and a second elastic element. The buffer rod is disposed between the roller and the arc surface on the separating block. The length direction of the buffer rod is parallel to the corresponding arc surface on the separating block. The first elastic element and the second elastic element are respectively fixed at both ends of the buffer rod. The ends of the first elastic element and the second elastic element away from the buffer rod are respectively connected to the arc surface on the separating block. The elastic buffer mechanism also includes an inclined groove and a sliding groove. Both the inclined groove and the sliding groove are opened on the arc surface of the separation block. There are two sliding grooves. Both sliding grooves are parallel to the axial direction of the arc surface of the separation block where they are located. The two sliding grooves are close to the two sides of the arc surface on the corresponding arc surface. The two ends of the first elastic member and the second elastic member are slidably disposed in the two sliding grooves respectively. The inclined groove is located between the two sliding grooves. A guide rod is fixed to one side of the buffer rod facing the arc surface of the corresponding separation block. The end of the guide rod away from the buffer rod is inserted into the inclined groove. The inclined groove is configured such that when the roller drives the buffer rod to move, the buffer rod can slide along the inclined groove.

2. The biomimetic multi-segment intelligent robotic arm according to claim 1, characterized in that: The outer ring sleeve includes a first outer ring and a second outer ring. Both the first outer ring and the second outer ring are sleeved on the outside of the inner shaft sleeve and are located on both sides of the V-shaped annular groove. The first outer ring and the second outer ring are connected by bolts.

3. The biomimetic multi-segment intelligent robotic arm according to claim 1, characterized in that: Both ends of the first elastic member and the second elastic member are provided with slide bars that are adapted to the sliding groove, and the slide bars at both ends of the first elastic member and the second elastic member are respectively slidably disposed in the corresponding sliding groove.

4. The biomimetic multi-segment intelligent robotic arm according to claim 1, characterized in that: The first elastic element and the second elastic element are elastic metal sheets.

5. The biomimetic multi-segment intelligent robotic arm according to claim 1, characterized in that: The guide rod is a cylindrical rod.

6. The biomimetic multi-segment intelligent robotic arm according to claim 1, characterized in that: The separation block has multiple sets of elastic buffer mechanisms on its arc surface, and these multiple sets of elastic buffer mechanisms are evenly distributed along the axial direction of the arc surface of the separation block.

7. The biomimetic multi-segment intelligent robotic arm according to claim 1, characterized in that: The inclined groove is a narrow groove, and the width of the narrow groove is 0-1mm larger than the cross-sectional width of the guide rod; The cross roller bearing with a narrow groove is used in the moving structure of the robot arm body during low-frequency movements.

8. The biomimetic multi-segment intelligent robotic arm according to claim 1, characterized in that: The inclined groove is a wide groove, and the width of the wide groove is 1-3mm larger than the cross-sectional width of the guide rod; The cross roller bearing with a wide groove is used in the high-frequency moving structure of the robotic arm body.

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