A biomimetic robotic arm

Abstract

The application belongs to the field of intelligent robot bionics, and discloses a bionic mechanical arm, which comprises a shoulder module, an elbow module and a wrist module connected in sequence, and has seven degrees of freedom in total, the shoulder module has three degrees of freedom rotation axes, the three degrees of freedom rotation axes of the shoulder module intersect at a first intersection point, the elbow module has one degree of freedom rotation axis, the elbow joint pitch degree of freedom rotation axis intersects with the shoulder joint yaw degree of freedom rotation axis at a second intersection point, the wrist module has three degrees of freedom rotation axes, the three degrees of freedom rotation axes of the wrist module intersect at a third intersection point, and the first intersection point, the second intersection point and the third intersection point are located on the same straight line. The bionic mechanical arm of the application adopts modular design, has seven degrees of freedom, the axes are aligned, the hollow hidden wiring is convenient for kinematics calculation, the flexibility and operability of the mechanical arm are improved, and the overall appearance is still maintained after wiring.

Description

Technical Field

[0001] This invention belongs to the field of bionic technology for intelligent robots, and specifically relates to a bionic robotic arm. Background Technology

[0002] Most robotic arms currently on the market have low sensitivity and limited degrees of freedom, limiting them to simple tasks. The vast majority of patented robotic arm patents indicate limited degrees of freedom, allowing only rotation in a single direction or movement within a single plane, making it difficult to perform tasks requiring high sensitivity.

[0003] Furthermore, most bionic robotic arms currently on the market use single-end support, which can lead to insufficient structural strength. Over time, the mechanical components may deform. Additionally, aligning the relative positions of the joint axes in these bionic robotic arms is difficult. For example, patent application CN201721837012.5 discloses a seven-DOF humanoid robotic arm, including three degrees of freedom for the shoulder joint, two for the elbow joint, and two for the wrist joint. However, in practical applications, aligning the relative positions of the axes for each degree of freedom is challenging, resulting in complex kinematic calculations. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a bionic robotic arm that adopts a modular design, has 7 degrees of freedom, aligned axes, and hollow concealed wiring, which facilitates kinematic calculations, improves the flexibility and operability of the robotic arm, and maintains an overall aesthetic appearance even after wiring.

[0005] The technical solution to achieve the above objective is: a bionic robotic arm, comprising a shoulder module, an elbow module, and a wrist module connected in sequence, wherein the shoulder module, elbow module, and wrist module are each designed in a modular manner; The bionic robotic arm has a total of seven degrees of freedom, of which the shoulder module has three degrees of freedom rotation axes, namely the shoulder joint pitch rotation axis, the shoulder joint roll rotation axis, and the shoulder joint yaw rotation axis; the three degrees of freedom rotation axes of the shoulder module intersect at the first intersection point; The elbow module has a rotation axis of one degree of freedom, which is the elbow joint pitch rotation axis. The elbow joint pitch rotation axis intersects the shoulder joint yaw rotation axis at a second intersection point. The wrist module has three degrees of freedom rotation axes, namely the wrist joint pitch rotation axis, the wrist joint roll rotation axis, and the wrist joint yaw rotation axis, and the three degrees of freedom rotation axes of the wrist module intersect at the third intersection point; The first intersection point, the second intersection point, and the third intersection point are located on the same straight line.

[0006] In the aforementioned bionic robotic arm, the shoulder module includes a shoulder R main structural component and a shoulder Y structural component. One end of the shoulder R main structural component is connected to a shoulder pitch joint module. A shoulder roll joint module is disposed on the inner side of the shoulder R main structural component and is connected to the flange of the shoulder Y structural component. A shoulder yaw joint module is disposed at the lower part of the shoulder Y structural component. The shoulder R main support end of the shoulder R main structural component is connected to one side of the flange of the shoulder Y structural component through a mating recess. The shoulder R secondary support end of the shoulder R main structural component is located on the other side of the flange of the shoulder Y structural component, and the shoulder R secondary support end is connected to the shoulder Y structural component through a shoulder cover plate and is provided with a shoulder shaft cover for applying positive pressure to the shoulder R secondary support end. The shoulder cover plate and the shoulder shaft cover form a double-end support for the shoulder R secondary support end.

[0007] In the aforementioned bionic robotic arm, the elbow module includes an elbow R main structural component and an elbow Y structural component. The upper end of the elbow R main structural component is connected to the lower end of the elbow Y structural component. An elbow pitch joint module is provided in the lower end of the elbow R main structural component and is connected to the flange of the elbow Y structural component. One end of the elbow R main structural component is connected to one side of the flange of the elbow Y structural component through a mating recess. The elbow secondary support end of the elbow R main structural component is located on the other side of the flange of the elbow Y structural component. The elbow secondary support end is connected to the elbow Y structural component through an elbow cover plate and is provided with an elbow shaft cover for applying positive pressure to the elbow secondary support end. The elbow cover plate and the elbow shaft cover form a double-end support for the elbow secondary support end.

[0008] The aforementioned bionic robotic arm includes a wrist module comprising a wrist R main structural component, a wrist P main structural component, and a wrist end effector connected sequentially from top to bottom. The upper part of the wrist R main structural component is connected to the lower part of the elbow Y structural component, and a wrist yaw joint module is connected to the upper part of the wrist R main structural component. A wrist roll joint module is disposed in the lower part of the wrist R main structural component, and a wrist pitch joint module is disposed in the wrist P main structural component. The wrist R main structural component and the wrist P main structural component are connected by a four-bar linkage mechanism, which is used to lower the rotation axis of the wrist roll degree of freedom so that the three rotation axes of the wrist module intersect at a third intersection point. The wrist end effector is used to connect to an end effector.

[0009] In the aforementioned bionic robotic arm, the four-bar linkage is composed of two links. The four-bar linkage is located on one side of the wrist module. The upper and lower ends of each link of the four-bar linkage are connected to the wrist R main structural component and the wrist P main structural component in a one-to-one correspondence. Each connection end adopts a hinge structure composed of a pivot bolt and a self-lubricating copper sleeve. When the wrist roll joint module is working, it drives the four-bar linkage to move and drive the P main structural component to achieve roll motion, thereby shifting the axis of rotation of the wrist roll degree of freedom downward.

[0010] In the aforementioned bionic robotic arm, the wrist module adopts a redundant support structure. The wrist module also includes a wrist R secondary support end, which is connected to the wrist R main structural member through a wrist cover plate. A secondary support end connecting rod is also provided, and the upper and lower ends of the secondary support end connecting rod are rotatably connected to the wrist R main structural member and the wrist P main structural member respectively.

[0011] In the aforementioned bionic robotic arm, the wrist end-effector has a hollow cavity for accommodating the power board of the end effector.

[0012] The aforementioned bionic robotic arm employs concealed internal wiring. Specifically, the shoulder pitch joint module, shoulder roll joint module, shoulder yaw joint module, elbow pitch joint module, and wrist yaw joint module all utilize hollow wiring channels within the motors. The cables are arranged along the internal paths of the corresponding structural components, and cable tie holes are provided along the wiring paths for securing the cables.

[0013] In the aforementioned bionic robotic arm, the shoulder Y-structure is provided with cable routing holes, through which cables passing through the hollow structures of each joint module of the shoulder return to the interior of the shoulder Y-structure; the shoulder Y-structure is also provided with cable tie holes for fixing cables.

[0014] The aforementioned bionic robotic arm also includes three zero-position calibration structures, namely: A first calibration structure is provided at the yaw degree of freedom rotation axis of the shoulder joint and / or the yaw degree of freedom rotation axis of the wrist joint. The first calibration structure is a calibration slot provided on the corresponding structural component. When the calibration slots on the two connected structural components are aligned, the rotation axis of the corresponding joint is at zero position. A second calibration structure is provided at the axis of rotation of the wrist joint's roll degree of freedom. The second calibration structure includes a wrist pin hole set on the connecting rod of the secondary support end and two wrist pin holes set on the main structural component of the wrist P. When the three wrist pin holes form an isosceles triangle, it is the zero position of the axis of rotation of the wrist joint's degree of freedom. A third calibration structure is provided at the rotation axis of the shoulder joint roll degree of freedom, the rotation axis of the elbow joint pitch degree of freedom, and / or the rotation axis of the wrist joint pitch degree of freedom. The third calibration structure includes calibration pin holes provided on the corresponding structural components. When the calibration pin holes on two connected structural components coincide, the rotation axis of the corresponding joint is at zero position.

[0015] The bionic robotic arm of the present invention has the following advantages compared with the prior art: (1) The shoulder module of the present invention has three degrees of freedom, the elbow module has one degree of freedom, and the wrist module has three degrees of freedom, for a total of seven degrees of freedom. They are integrated into a 7-degree-of-freedom bionic arm structure. Its range of motion and flexibility can achieve a high degree of consistency with the human body. The human body's movement posture can be completely reproduced by the bionic robotic arm. (2) It adopts a modular integrated design, with a compact and simple structure and strong interchangeability of parts. This structure can be rapidly iterated to meet the integration requirements of various joint modules with the same function but different performance parameters. (3) The double-end support design is adopted. In addition to fixing the fixed flange and output flange face of one end of the fixed joint module, the other suspended end of the mechanical structure is fixed by designing cover plate and shaft, so that the whole mechanical structure has an auxiliary support end, ensuring the stability of the whole arm during the movement. (4) Design hollow wiring, design holes for fixing cable ties at positions with no relative movement, and design slots at the end of the arm to place the power board, so that the end effector can also be concealed in the wiring, making the whole arm more aesthetically pleasing. (5) Adjust the relative position between the joint modules by adjusting the internal recess of the structural components to ensure that the intersection of the axes of each joint is in a straight line in space. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the bionic robotic arm of the present invention; Figure 2 This is a side view of the bionic robotic arm of the present invention; Figure 3 This is a three-dimensional structural diagram of the shoulder module of the bionic robotic arm of the present invention; Figure 4 This is a left view of the shoulder module of the bionic robotic arm of the present invention; Figure 5 This is a right view of the shoulder module of the bionic robotic arm of the present invention; Figure 6 A schematic diagram of the recessed platform on the shoulder R-structure component; Figure 7 A schematic diagram of the recessed platform on the Y-structure component of the shoulder; Figure 8 This is a three-dimensional structural diagram of the elbow module of the bionic robotic arm of the present invention; Figure 9 This is a front view of the elbow module of the bionic robotic arm of the present invention. Figure 10 This is a side view of the elbow module of the bionic robotic arm of the present invention; Figure 11 This is a three-dimensional structural diagram of the wrist module of the bionic robotic arm of the present invention; Figure 12 This is a side view of the wrist module of the bionic robotic arm of the present invention; Figure 13 This is a front view of the wrist module of the bionic robotic arm of the present invention; Figure 14 This is a diagram showing the usage state of the four-bar linkage of the wrist module (from one side). Figure 15 This is a diagram showing the usage state of the four-bar linkage of the wrist module (from the other side). Figure 16 This is a schematic diagram of the wiring of the bionic robotic arm of the present invention (isoaxial side view). Detailed Implementation

[0017] To enable those skilled in the art to better understand the technical solution of the present invention, its specific embodiments are described in detail below with reference to the accompanying drawings: Please see Figures 1 to 16 According to an embodiment of the present invention, a bionic robotic arm includes a shoulder module 1, an elbow module 2, and a wrist module 3 connected in sequence (see...). Figure 2 The shoulder module 1, elbow module 2, and wrist module 3 are all modularly designed, with clear modules that facilitate assembly, maintenance, and zero-position calibration. Please see again Figure 1 The bionic robotic arm has seven degrees of freedom. The shoulder module 1 has three rotational axes: shoulder joint pitch (101), shoulder joint roll (102), and shoulder joint yaw (103). These three axes intersect at a first intersection point a. The elbow module 2 has one rotational axis: elbow joint pitch (104), which intersects with shoulder joint yaw (103) at a second intersection point b. The wrist module 3 has three rotational axes: wrist joint pitch (107), wrist joint roll (106), and wrist joint yaw (105), which intersect at a third intersection point c. The first, second, and third intersection points a and c are on the same straight line. This arrangement of degrees of freedom facilitates motion control calculations.

[0018] The design of the relative positions of the joints of bionic robotic arms on the market is difficult to align. Therefore, this invention designs a recessed platform inside the structural component to ensure that the relative rotation centers of the motors can be in a straight line in space.

[0019] To meet the requirement of intersecting axes, internal recesses are designed on the main structural components of each module to adjust the relative positions of the motors. Please refer to [link / reference needed]. Figure 6 and Figure 7 In this example, the shoulder R main structural member 11 and the shoulder Y structural member 13 are used as examples. The shoulder R main structural member 11 has a shoulder R recess 111, and the shoulder Y structural member 13 has a shoulder Y recess 133. The shoulder R recess 111 and the shoulder Y recess 133 are connected to each other and can be used to adjust the shoulder joint yaw degree of freedom rotation axis 103 so that the shoulder joint yaw degree of freedom rotation axis 103 can intersect with the intersection point of the shoulder joint pitch degree of freedom rotation axis 101 and the shoulder joint roll degree of freedom rotation axis 102, so that the shoulder module 1 has three degree of freedom rotation axes intersecting at the first intersection point a.

[0020] Please see Figure 3 , Figure 4 and Figure 5 The shoulder module 1 includes a shoulder R main structural member 11 and a shoulder Y structural member 13. One end of the shoulder R main structural member 11 is connected to a shoulder pitch joint module 41, which drives the shoulder R main structural member 11 to enable the robotic arm to move in the shoulder pitch direction. A shoulder roll joint module 42 is provided on the inner side of the shoulder R main structural member and is connected to the flange 135 of the shoulder Y structural member 13. The shoulder roll joint module 42 drives the robotic arm to move in the shoulder roll direction through the flange 135 of the shoulder Y structural member 13. A shoulder yaw joint module 43 is provided on the lower part of the shoulder Y structural member 13. The shoulder R main support end of the shoulder R main structural member 11 is connected to one side of the flange 135 of the shoulder Y structural member 13 through a mating recess (see...). Figure 6 and Figure 7 The shoulder R recess 111 and shoulder Y recess 133 are connected to each other. The shoulder module 1 adopts redundant support, and the shoulder R main structural member 11 is supported at both ends, avoiding a cantilever structure and improving the overall structural rigidity. For example, the shoulder R secondary support end 12 of the shoulder R main structural member 11 is located on the other side of the flange 135 of the shoulder Y structural member 13, and the shoulder R secondary support end 12 is connected to the shoulder Y structural member 13 through the shoulder cover plate 121, and is provided with a shoulder shaft cover 122 to apply positive pressure to the shoulder R secondary support end 12, avoiding the upper side outward deviation caused by the shoulder cover plate 121 being fixed only at the lower side to the shoulder Y structural member 13, reducing the risk of outward deviation of the secondary support structure. The shoulder cover plate 121 and the shoulder shaft cover 122 form a double-end support for the shoulder R secondary support end 12.

[0021] Please see Figure 8 , Figure 9 and Figure 10 Elbow module 2 includes an elbow R main structural component 21 and an elbow Y structural component 23. The upper end of the elbow R main structural component 21 is connected to the lower end of the shoulder Y structural component 13. An elbow pitch joint module 44 is provided in the lower end of the elbow R main structural component 21 and is connected to the flange 231 of the elbow Y structural component 23. The elbow pitch joint module 44 drives the forearm of the robotic arm through the flange 231 of the elbow Y structural component 23, enabling it to move in the elbow pitch direction. One end of the elbow R main structural component 21 is connected to one side of the flange 231 of the elbow Y structural component 23 through a mating recess (see reference). Figure 6 and Figure 7 (Concave platform design drawing), which facilitates the adjustment of the installation position of the elbow pitch joint module 44, so that the elbow joint pitch degree of freedom rotation axis 104 intersects the shoulder joint yaw degree of freedom rotation axis 103 at the second intersection point b; the elbow auxiliary support end 22 of the elbow R main structural component 21 is located on the other side of the flange 231 of the elbow Y structural component 23.

[0022] Elbow module 2 employs redundant support, with both ends of the elbow R main structural member 21 supported. This prevents the cantilever beam structure from vibrating during movement, thus improving overall stiffness and stability. Similar to the shoulder redundant support structure, for example, the elbow secondary support end 23 is connected to the elbow Y structural member 23 via an elbow cover plate 221, and is equipped with an elbow shaft cap 222 to apply positive pressure to the elbow secondary support end 23. This prevents the upper side of the elbow cover plate 221 from being fixed only to the elbow Y structural member 23, thus reducing the risk of outward deviation of the secondary support structure. The elbow cover plate 221 and the elbow shaft cap 222 form a double-end support for the elbow secondary support end 22.

[0023] Please see Figure 11 , Figure 12 , Figure 13 , Figure 14 and Figure 15The wrist module 3 includes a wrist R main structure 31, a wrist P main structure 34, and a wrist end effector 35 connected sequentially from top to bottom. The upper part of the wrist R main structure 31 is connected to the lower part of the elbow Y structure 23. A wrist yaw joint module 45 is connected to the upper part of the wrist R main structure 31. The wrist yaw joint module 45 drives the wrist R main structure 31 to rotate, giving the robotic arm wrist a yaw direction degree of freedom. A wrist roll joint module 46 is installed in the lower part of the wrist R main structure 31, and a wrist pitch joint module 47 is installed in the wrist P main structure 34. The output end of the wrist pitch joint module 47 is connected to the wrist end effector 35, driving the end effector 5, giving the robotic arm the ability to move in the wrist pitch direction. The wrist R main structure 31 and the wrist P main structure 34 are connected by a communication mechanism. The wrist roll joint module 46 is connected to the four-bar linkage, which drives the four-bar linkage to give the end of the robotic arm a wrist roll direction degree of freedom. The four-bar linkage is used to move the rotation axis 106 of the wrist roll degree of freedom downward so that the rotation axes of the three degrees of freedom of the wrist module 3 intersect at the third intersection point c, which facilitates kinematic calculation. Specifically, a four-bar linkage structure is formed by two links 33. The four-bar linkage is set on one side of the wrist module 3. The upper and lower ends of each link 33 of the four-bar linkage are connected to the wrist R main structural member 31 and the wrist P main structural member 34 respectively. Each connection end is made of a hinge structure with a shaft pin bolt and a self-lubricating copper sleeve. When the wrist roll joint module 46 works, it drives the four-bar linkage to move and drive the P main structural member to achieve roll motion, thereby moving the wrist roll degree of freedom rotation axis 106 downward. The unique feature of this structure is that the wrist roll degree of freedom rotation axis is fixed by a pivot bolt 331, and a self-lubricating copper sleeve ensures that it can rotate around the axis during rotation. The four-bar structure composed of the two connecting rods 33 adopts a hinge design similar to that of the rotating end. The upper and lower ends of the connecting rods are composed of two standard parts, a pivot bolt and a self-lubricating copper sleeve, which can realize the downward movement of the rotation axis 1061 of the wrist roll joint module 46 to the wrist roll degree of freedom rotation axis 106 in this design, as shown in the attached figure. Figure 11 As shown, the wrist roll degree of freedom rotation axis 106 is moved downward. This design facilitates kinematic calculation and reduces overall cost.

[0024] The wrist module 3 adopts a redundant support structure. For example, the wrist module also includes a wrist R secondary support end 32, which is connected to the wrist R main structural member 31 through a wrist cover plate 321. A secondary support end connecting rod 36 is also designed. The four-bar linkage and the secondary support end connecting rod 36 are respectively located on both sides of the wrist module 3 (see...). Figure 14 and Figure 15The upper and lower ends of the auxiliary support connecting rod 36 are rotatably connected to the wrist R main structural component 31 and the wrist P main structural component 34, respectively, so that the wrist R main structural component 31 and the wrist P main structural component 34 are fixed at the center of the wrist roll degree of freedom rotation axis 106, ensuring that they are in a stable state during rotation. The unique feature of this structure is that the rotation axis is fixed by a shaft pin bolt 323, and a self-lubricating copper sleeve is used to ensure that it can rotate around the axis in an oriented manner during rotation.

[0025] The wrist end effector 35 is used to connect the end effector 5. The end effector usually has exposed wiring. The bionic robotic arm structure of the present invention takes into account the need to conceal the wiring inside the hollow structure. A hollow cavity 351 is designed inside the wrist end effector 35 to house the power board of the end effector 5 (in this example, a dexterous hand), thus solving the problem that the end effector 5 needs to have exposed cables for power supply.

[0026] Please see Figure 16 The bionic robotic arm of this invention employs concealed internal wiring. The shoulder pitch joint module 41, shoulder roll joint module 42, shoulder yaw joint module 43, elbow pitch joint module 44, and wrist yaw joint module 45 all utilize hollow motor wiring channels, achieving concealed wiring throughout the arm. The cables are arranged along the internal paths of the corresponding structural components, facilitating the illustration of the wiring layout. Figure 16 The diagram uses only one cable to indicate the wiring direction, but the actual wiring is segmented. Each joint module has a cable connection at its tail socket. Cable tie holes are designed along the cable and structural component paths according to the robot arm's movement to prevent the robot arm from moving freely or the cables from becoming tangled. For example, please refer to [further details omitted]. Figure 4 The shoulder Y-structure 13 is provided with a cable routing hole 131, through which cables passing through the hollow structure of each joint module of the shoulder return to the inside of the shoulder Y-structure 13; the shoulder Y-structure 13 is also provided with a cable tie hole 132 for fixing cables.

[0027] The bionic robotic arm of this invention also includes three zero-position calibration structures, namely: (1) A first calibration structure is provided at the yaw degree of freedom rotation axis 103 of the shoulder joint and / or the yaw degree of freedom rotation axis 105 of the wrist joint. The first calibration structure is a calibration slot set on the corresponding structural component. When the calibration slots on the two connected structural components are aligned, the rotation axis of the corresponding joint is at zero position; for example, please refer to Figure 4 and Figure 8 The design of the standard part includes a calibration slot 134 on the shoulder Y-structure 13 (see...). Figure 4The elbow R main structural member 21 has a calibration slot 211. The shoulder Y structural member 13 is connected to the elbow R main structural member 21. When the calibration slot 134 and the calibration slot 211 are aligned, the shoulder joint yaw is at zero. There are no restrictions on the zero-calibration structure; in this example, it is a slot. There are no restrictions on the zero-calibration auxiliary structure; correspondingly, round holes and square holes can all achieve the zero-calibration purpose.

[0028] (2) A second calibration structure is provided at the 106th position of the wrist joint's lateral roll degree of freedom rotation axis. Please refer to [link / reference]. Figure 12 The second calibration structure includes a wrist pin hole 322 set on the connecting rod 36 at the secondary support end and two wrist pin holes 322 set on the main structural component of the wrist P. When the three wrist pin holes 322 form an isosceles triangle, it is the zero position of the wrist joint degree of freedom rotation axis.

[0029] (3) A third calibration structure is provided at the following locations: the shoulder joint roll degree of freedom rotation axis 102, the elbow joint pitch degree of freedom rotation axis 104, and / or the wrist joint pitch degree of freedom rotation axis 107. The third calibration structure includes calibration pin holes on the corresponding structural components. When the calibration pin holes on two connected structural components coincide, the rotation axis of the corresponding joint is at zero position. For example, please refer to [reference needed]. Figure 8 A calibration pin hole 2211 is provided on the elbow cover plate 221, and a calibration pin hole is provided on the elbow main support end cover 223 of the elbow R main structural component 21. When the calibration pin holes of the two coincide, the elbow joint is at zero position.

[0030] The bionic robotic arm of this invention, except for the first joint fixed to the body, uses double-end support for all other joints. The shoulder and elbow double-end supports employ a shaft cap design to prevent outward deviation of the supports and facilitate disassembly. The wrist double-end support is designed with a linkage hinge structure to cooperate with the four-bar linkage transmission design, ensuring the stability of the four-bar linkage transmission.

[0031] The zero-point calibration design at the shoulder and elbow ensures accurate zero-point calibration between joints during motion control. The wrist employs a four-bar linkage mechanism, converging the three degrees of freedom axes of the wrist at a single point for easier motion control. The hinge structure at the end of the linkage uses a pin bolt, a standard component design that reduces the need for non-standard parts and lowers overall costs. Double-end support combined with the four-bar design provides stable wrist structure. Furthermore, the hollow structure at the wrist end conceals the circuit board, facilitating discreet wiring for dexterous hands.

[0032] The bionic robotic arm of the present invention has the following advantages: (1) Kinematically friendly: multiple axes are collinear and three points are collinear, which greatly simplifies the inverse kinematics solution; (2) Good structural rigidity: Key joints adopt redundant supports to avoid cantilever beam structure and reduce vibration; (3) Concealed and reliable wiring: The hollow structure of the motor and the internal channel are used to realize the wiring inside the entire arm, and the cable ties are used to fix it to avoid tangling; (4) Modularity and maintainability: The shoulder, elbow and wrist modules are clearly defined, which facilitates assembly, maintenance and zero-position calibration; (5) Cost control: Standard parts such as shaft pin bolts and self-lubricating copper bushings are used to reduce manufacturing costs.

[0033] The bionic robotic arm of this invention adopts a modular design, has 7 degrees of freedom, aligned axes, and hollow concealed wiring, which facilitates kinematic calculations, improves the flexibility and operability of the robotic arm, and maintains an overall aesthetic appearance even after wiring.

[0034] Those skilled in the art should recognize that the above embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Any variations or modifications to the above embodiments that are within the spirit and essence of the present invention will fall within the scope of the claims of the present invention.

Claims

1. A bionic robotic arm, characterized in that, It includes a shoulder module, an elbow module, and a wrist module connected in sequence, and the shoulder module, elbow module, and wrist module are all designed in a modular manner. The bionic robotic arm has a total of seven degrees of freedom, of which the shoulder module has three degrees of freedom rotation axes, namely the shoulder joint pitch rotation axis, the shoulder joint roll rotation axis, and the shoulder joint yaw rotation axis; the three degrees of freedom rotation axes of the shoulder module intersect at the first intersection point; The elbow module has a rotation axis of one degree of freedom, which is the elbow joint pitch rotation axis. The elbow joint pitch rotation axis intersects the shoulder joint yaw rotation axis at a second intersection point. The wrist module has three degrees of freedom rotation axes, namely the wrist joint pitch rotation axis, the wrist joint roll rotation axis, and the wrist joint yaw rotation axis, and the three degrees of freedom rotation axes of the wrist module intersect at the third intersection point; The first intersection point, the second intersection point, and the third intersection point are located on the same straight line.

2. The bionic robotic arm according to claim 1, characterized in that, The shoulder module includes a shoulder R main structural component and a shoulder Y structural component. One end of the shoulder R main structural component is connected to a shoulder pitch joint module. A shoulder roll joint module is provided on the inner side of the shoulder R main structural component and is connected to the flange of the shoulder Y structural component. A shoulder yaw joint module is provided at the lower part of the shoulder Y structural component. The shoulder R main support end of the shoulder R main structural component is connected to one side of the flange of the shoulder Y structural component through a mating recess. The shoulder R secondary support end of the shoulder R main structural component is located on the other side of the flange of the shoulder Y structural component, and the shoulder R secondary support end is connected to the shoulder Y structural component through a shoulder cover plate and is provided with a shoulder shaft cap for applying positive pressure to the shoulder R secondary support end. The shoulder cover plate and the shoulder shaft cap form a double-end support for the shoulder R secondary support end.

3. The bionic robotic arm according to claim 2, characterized in that, The elbow module includes an elbow R main structural component and an elbow Y structural component. The upper end of the elbow R main structural component is connected to the lower end of the elbow Y structural component. An elbow pitch joint module is provided in the lower end of the elbow R main structural component and is connected to the flange of the elbow Y structural component. One end of the elbow R main structural component is connected to one side of the flange of the elbow Y structural component through a mating recess. The elbow secondary support end of the elbow R main structural component is located on the other side of the flange of the elbow Y structural component. The elbow secondary support end is connected to the elbow Y structural component through an elbow cover plate and is provided with an elbow shaft cover for applying positive pressure to the elbow secondary support end. The elbow cover plate and the elbow shaft cover form a double-end support for the elbow secondary support end.

4. The bionic robotic arm according to claim 3, characterized in that, The wrist module includes a wrist R main structural component, a wrist P main structural component, and a wrist end structural component connected sequentially from top to bottom. The upper part of the wrist R main structural component is connected to the lower part of the elbow Y structural component, and a wrist yaw joint module is connected to the upper part of the wrist R main structural component. A wrist roll joint module is disposed in the lower part of the wrist R main structural component, and a wrist pitch joint module is disposed in the wrist P main structural component. The wrist R main structural component and the wrist P main structural component are connected by a four-bar linkage. The four-bar linkage is used to move the wrist roll degree of freedom rotation axis downward so that the three degree of freedom rotation axes of the wrist module intersect at the third intersection point. The wrist end effector is used to connect to the end effector.

5. A bionic robotic arm according to claim 4, characterized in that, The four-bar linkage consists of two links and is located on one side of the wrist module. The upper and lower ends of each link of the four-bar linkage are connected to the main structural components R and P of the wrist, respectively. Each connection end is constructed with a hinge structure consisting of a pivot bolt and a self-lubricating copper sleeve. When the wrist roll joint module is working, it drives the four-bar linkage to move and drive the main structural component P to achieve roll motion, thereby shifting the axis of rotation of the wrist roll degree of freedom downward.

6. A bionic robotic arm according to claim 5, characterized in that, The wrist module adopts a redundant support structure. The wrist module also includes a wrist R secondary support end, which is connected to the wrist R main structural member through a wrist cover plate. At the same time, a secondary support end connecting rod is provided. The upper and lower ends of the secondary support end connecting rod are rotatably connected to the wrist R main structural member and the wrist P main structural member respectively.

7. A bionic robotic arm according to claim 4, characterized in that, The wrist end effector has a hollow cavity inside, which is used to house the power board of the end effector.

8. A bionic robotic arm according to claim 4, characterized in that, The bionic robotic arm employs concealed internal wiring. Specifically, the shoulder pitch joint module, shoulder roll joint module, shoulder yaw joint module, elbow pitch joint module, and wrist yaw joint module all utilize hollow wiring channels within the motors. The cables are arranged along the internal paths of the corresponding structural components, and cable tie holes are provided along the wiring paths for securing the cables.

9. A bionic robotic arm according to claim 8, characterized in that, The shoulder Y-structure is provided with cable routing holes, through which cables passing through the hollow structure of each shoulder joint module return to the inside of the shoulder Y-structure; the shoulder Y-structure is also provided with cable tie holes for fixing cables.

10. A bionic robotic arm according to claim 6, characterized in that, It also includes three zero-point calibration structures, namely: A first calibration structure is provided at the yaw degree of freedom rotation axis of the shoulder joint and / or the yaw degree of freedom rotation axis of the wrist joint. The first calibration structure is a calibration slot provided on the corresponding structural component. When the calibration slots on the two connected structural components are aligned, the rotation axis of the corresponding joint is at zero position. A second calibration structure is provided at the axis of rotation of the wrist joint's roll degree of freedom. The second calibration structure includes a wrist pin hole set on the connecting rod of the secondary support end and two wrist pin holes set on the main structural component of the wrist P. When the three wrist pin holes form an isosceles triangle, it is the zero position of the axis of rotation of the wrist joint's degree of freedom. A third calibration structure is provided at the rotation axis of the shoulder joint roll degree of freedom, the rotation axis of the elbow joint pitch degree of freedom, and / or the rotation axis of the wrist joint pitch degree of freedom. The third calibration structure includes calibration pin holes provided on the corresponding structural components. When the calibration pin holes on two connected structural components coincide, the rotation axis of the corresponding joint is at zero position.

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