Multi-degree-of-freedom robot arm and robot

Abstract

The application provides a multi-degree-of-freedom mechanical arm and robot, comprising a large arm and a shoulder base, the shoulder base is fixedly connected with a trunk, the upper end of the large arm is connected with the shoulder base, and the shoulder base is provided with a first flexible transmission mechanism and a second flexible transmission mechanism for driving the large arm to swing left and right and front and back respectively. The multi-degree-of-freedom mechanical arm and robot provided by the application can effectively reduce the inertia of the limb end, optimize the overall mass distribution of the robot, and improve the motion performance and energy efficiency of the robot while ensuring the structural rigidity and motion accuracy.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a multi-degree-of-freedom robotic arm and robot. Background Technology

[0002] Humanoid robots, also known as bionic robots, are designed to mimic the appearance, form, and behavior of humans, especially robots with a human-like appearance. In recent years, with the rapid development of artificial intelligence technology, the intelligence level of humanoid robots has significantly improved, enabling them to perform complex tasks in various scenarios such as industrial production, home services, and medical rehabilitation, greatly expanding their versatility and application prospects.

[0003] In the mechanical structure of humanoid robots, the power module that drives the upper or lower limbs is one of the core components, and its performance directly determines the robot's motion performance, load capacity, and dynamic response. Currently, existing power module drive solutions mainly include the following: 1. Linkage mechanism drive: This solution uses a motor-driven linkage mechanism to move the limb's extremities. Its advantages lie in its simple structure and high transmission strength. However, such mechanisms typically have significant weight and inertia, and a large overall size. Furthermore, the linkage mechanism lacks damping during movement, resulting in strong impact forces, which negatively impacts precise motion control.

[0004] 2. Worm gear mechanism drive: This solution utilizes the reduction transmission characteristics of worm gears to achieve a large transmission ratio, resulting in high strength and high load-bearing capacity. However, its drawbacks are equally obvious: the mechanism itself has a large weight and inertia, leading to high manufacturing costs. It also suffers from large spatial dimensions, lack of damping, and strong impact, which are not conducive to achieving lightweight robots and long-distance drive.

[0005] 3. Direct connection flange drive: This design connects the output of the power module directly to the end effector (such as the hand or foot) via a flange. This compact structure provides good system rigidity and helps improve motion control accuracy. However, because the weight of the power module is directly loaded onto the end effector, it significantly increases the weight and inertia of the end effector. This not only places higher power demands on the power module but also increases the overall weight burden on the robot, thus affecting the robot's dynamic response speed and energy efficiency.

[0006] In summary, existing humanoid robot power modules generally struggle to achieve a good balance between lightweight design, high dynamic response, high control precision, and high load-bearing capacity. How to effectively reduce the inertia of limb ends and optimize the overall mass distribution of the robot while ensuring structural rigidity and motion accuracy, thereby improving the robot's motion performance and energy efficiency, is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0007] The problem solved by this invention is to overcome at least one defect in the prior art and provide a multi-degree-of-freedom robotic arm and robot that can effectively reduce the inertia of the limb end and optimize the overall mass distribution of the robot while ensuring structural rigidity and motion accuracy, thereby improving the robot's motion performance and energy efficiency.

[0008] To address the above problems, the present invention provides a multi-degree-of-freedom robotic arm, comprising: upper arm; A shoulder base is used for fixed connection with the torso. The upper end of the upper arm is connected to the shoulder base, and the shoulder base is provided with a first flexible transmission mechanism and a second flexible transmission mechanism for driving the upper arm to swing left and right and back and forth, respectively.

[0009] Furthermore, the shoulder base is provided with a first base that can swing left and right, and the first flexible transmission mechanism is used to drive the first base to swing left and right; the first base is provided with a second base that can swing back and forth, the upper end of the upper arm is connected to the second base, and the second flexible transmission mechanism is used to drive the second base to swing back and forth respectively.

[0010] As one embodiment, the first flexible transmission mechanism includes a first driving wheel, a first driven wheel, a first driving member that drives the first driving wheel to rotate, and a first flexible member sleeved on the first driving wheel and the first driven wheel. The first driven wheel is fixedly connected to the first base to drive it to swing left and right.

[0011] Furthermore, the second flexible transmission mechanism includes a second driving wheel, a second driven wheel, a second driving member that drives the second driving wheel to rotate, and a second flexible member sleeved on the second driving wheel and the second driven wheel. A first rotating shaft extending back and forth is provided on the shoulder base. One end of the first rotating shaft is connected to the second driven wheel. A gear set for driving the second base to swing back and forth is provided on the first rotating shaft.

[0012] Preferably, the gear set includes a first bevel tooth and a second bevel tooth. The first bevel tooth is fitted and fixed on the first rotating shaft. The second base is provided with a second rotating shaft arranged perpendicular to the first rotating shaft. The second bevel tooth is fitted and fixed on the second rotating shaft and meshes with the first bevel tooth.

[0013] Furthermore, a connecting shaft extending forward and backward is provided on the shoulder base, the first driven wheel is connected to one end of the connecting shaft, and the connecting shaft is a hollow shaft coaxial with the first rotating shaft, the first rotating shaft is inserted inside the hollow shaft, and the first base is fixedly connected to the connecting shaft.

[0014] In another embodiment, the shoulder base is provided with a third base that can swing back and forth, and the third base is provided with a fourth base that can swing left and right. The upper end of the upper arm is connected to the fourth base. The first flexible transmission mechanism is used to drive the fourth base to swing left and right, and the second flexible transmission mechanism is used to drive the third base to swing back and forth.

[0015] Furthermore, the first flexible transmission mechanism includes a first driving wheel, a first driven wheel, a first driving member that drives the first driving wheel to rotate, and a first flexible member sleeved on the first driving wheel and the first driven wheel, and the third base is fixedly connected to the first driven wheel.

[0016] Furthermore, the second flexible transmission mechanism includes a second driving wheel, a second driven wheel, a second driving member that drives the second driving wheel to rotate, and a second flexible member sleeved on the second driving wheel and the second driven wheel. The free end of the third base is provided with a third rotating shaft extending back and forth. The fourth base is rotatably connected to the third base through the third rotating shaft. The second driven wheel is connected to one end of the third rotating shaft.

[0017] Preferably, the first driving wheel, the first driven wheel, the second driving wheel, and the second driven wheel are all sprockets, and the first flexible member and the second flexible member are chains that cooperate with the corresponding sprockets.

[0018] Furthermore, the upper arm is rotatably connected to the shoulder base, and the shoulder base is also provided with a third driving member for driving the upper arm to rotate around its own axis.

[0019] Furthermore, it also includes a forearm, one end of which is connected to the lower end of the upper arm, and the upper arm is provided with a third flexible transmission mechanism for driving the forearm to swing left and right and a fourth flexible transmission mechanism for driving the forearm to swing back and forth.

[0020] Additionally, the present invention provides a robot, including a torso and a multi-degree-of-freedom robotic arm, wherein the shoulder base of the multi-degree-of-freedom robotic arm is fixedly connected to the torso.

[0021] The multi-degree-of-freedom robotic arm and robot of the present invention have the following advantages compared with the prior art: Firstly, this invention utilizes a flexible transmission mechanism consisting of chains and sprockets to construct the power transmission system for the swinging motion of the upper or lower arm. Compared to existing rigid transmission structures, this offers advantages such as long-distance power transmission, increased reduction ratio, lower power specifications for the power module, transfer of limb end mass and inertia to the robot body, and reduced overall weight. Furthermore, the chain drive system provides an additional reduction ratio, effectively reducing speed and increasing torque. This reduces the power requirements of the drive module, resulting in weight and cost reduction. Simultaneously, it allows for a greater load on the arm. Different sprocket designs enable customized speed ratios. Input and output sprockets with varying tooth counts can be used to amplify or reduce the transmission torque. Using a small-tooth input sprocket and a large-tooth output sprocket achieves speed reduction and torque increase.

[0022] Secondly, by transferring the drive module from the robot's upper or lower arm end to the body (torso) or upper arm, the weight and rotational inertia of the limb end are reduced, thereby reducing the system's motion inertia, reducing the power of the drive module, and improving the system's control flexibility.

[0023] Furthermore, the design employs two vertically arranged conical teeth to achieve a 90-degree conversion of the boom's swing freedom. The connecting shaft that drives the boom to swing left and right is coaxial with the first rotating shaft that drives the boom to swing forward and backward. Specifically, a hollow shaft is used to connect the solid shaft inside the hollow shaft, enabling independent power transmission for the two degrees of freedom of the boom's left and right swing and forward and backward swing. This simplifies the power drive structure, makes the layout more reasonable, and reduces the space occupied.

[0024] Other improvements and advantages of this application will be set forth in the following detailed description and will be apparent in part from the specification or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained through the structures particularly pointed out in the specification and drawings. Attached Figure Description

[0025] Figure 1 This is a three-dimensional structural diagram of a first embodiment of the multi-degree-of-freedom robotic arm of the present invention; Figure 2 This is a partial structural diagram of a first embodiment of the multi-degree-of-freedom robotic arm of the present invention; Figure 3 A front view of a first embodiment of the multi-degree-of-freedom robotic arm of the present invention; Figure 4 for Figure 3 A partial schematic diagram of the AA-direction cross-sectional structure in the image; Figure 5 This is another structural view of a first embodiment of the multi-degree-of-freedom robotic arm of the present invention; Figure 6 This is another structural view of a first embodiment of the multi-degree-of-freedom robotic arm of the present invention; Figure 7 This is another structural view of a first embodiment of the multi-degree-of-freedom robotic arm of the present invention; Figure 8 for Figure 7 Enlarged view of a portion of the connection and drive structure between the upper arm and lower arm in the structure; Figure 9 This is a three-dimensional structural diagram of a second embodiment of the multi-degree-of-freedom robotic arm of the present invention; Figure 10 This is another structural view of Embodiment 2 of the multi-degree-of-freedom robotic arm of the present invention; Figure 11 This is a schematic diagram of the robot according to Embodiment 3 of the present invention.

[0026] Explanation of reference numerals in the attached figures: 1. Boom; 2. Shoulder base; 201. First base; 2011. Fixing flange; 2012. Connecting plate; 202. Second base; 203. Third base; 204. Fourth base; 205. Front fixing plate; 206. Rear fixing plate; 207. Support rib; 208. Fixing seat; 209. Support plate; 3. First flexible transmission mechanism; 301. First driving wheel; 302. First driven wheel; 303. First driving component; 304. First flexible component; 4. Second flexible transmission mechanism Structure; 401, Second driving wheel; 402, Second driven wheel; 403, Second driving component; 404, Second flexible component; 5, Gear set; 501, First bevel gear; 502, Second bevel gear; 6, First rotating shaft; 7, Second rotating shaft; 8, Connecting shaft; 9, Third driving component; 10, Tensioner wheel; 11, Forearm; 12, Forearm mounting bracket; 13, Fifth base; 14, Third flexible transmission mechanism; 15, Fourth flexible transmission mechanism; 16, Third rotating shaft; 17, Fourth rotating shaft; 18, Torso. Detailed Implementation

[0027] First, those skilled in the art should understand that these embodiments are merely used to explain the technical principles of the embodiments of this application and are not intended to limit the scope of protection of the embodiments of this application. Those skilled in the art can make adjustments as needed to adapt to specific application scenarios.

[0028] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" 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. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0029] In the embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply 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 that the first feature is at a lower horizontal level than the second feature.

[0030] Example 1: like Figures 1-8 As shown, this application embodiment provides a multi-degree-of-freedom robotic arm, including an upper arm 1 and a shoulder base 2, wherein the shoulder base 2 is used to be fixedly connected to the robot's torso 18, the upper end of the upper arm 1 is connected to the shoulder base 2, and the shoulder base 2 is provided with a first flexible transmission mechanism 3 and a second flexible transmission mechanism 4 for driving the upper arm 1 to swing left and right and forward and backward, respectively.

[0031] Specifically, the shoulder base 2 is provided with a first base 201 that can swing left and right. The first flexible transmission mechanism 3 is used to drive the first base 201 to swing left and right to drive the upper arm 1 to swing left and right. The first base 201 is provided with a second base 202 that can swing back and forth. The upper end of the upper arm 1 is connected to the second base 202. The second flexible transmission mechanism 4 is used to drive the second base 202 to swing back and forth to drive the upper arm 1 to swing in the back and forth direction. That is, the upper arm 1 can swing in two degrees of freedom, left and right and back and forth, through two flexible transmission structures. Both flexible transmission mechanisms are set on the shoulder base 2. Compared with the prior art, it has the advantages of long-distance power transmission, increasing the reduction ratio, reducing the power module power specification, transferring the mass and inertia of the limb end to the robot body, and reducing the overall weight.

[0032] like Figure 2 As shown, in this embodiment, preferably, the first flexible transmission mechanism 3 includes a first driving wheel 301, a first driven wheel 302, a first driving member 303 that drives the first driving wheel 301 to rotate, and a first flexible member 304 sleeved on the first driving wheel 301 and the first driven wheel 302. The first base 201 is fixedly connected to the first driven wheel 302. In this structure, the first driving wheel 301 and the first driven wheel 302 rotate in the plane (X plane) in the left-right direction. One end of the first base 201 is directly fixedly connected to the first driven wheel, that is, while the first driven wheel 302 rotates, it drives the first base 201 to rotate in the X plane. One end of the first base 201 is directly fixedly connected to the first driven wheel, that is, the first base 201 rotates in the X plane to drive the upper arm 1 to swing in the left-right direction.

[0033] like Figure 2 As shown, the second flexible transmission mechanism 4 includes a second driving wheel 401, a second driven wheel 402, a second driving member 403 that drives the second driving wheel 401 to rotate, and a second flexible member 404 sleeved on the second driving wheel 401 and the second driven wheel 402. A first rotating shaft 6 extending forward and backward is provided on the shoulder base 2. One end of the first rotating shaft 6 is connected to the second driven wheel 402. A gear set 5 for driving the second base 202 to swing back and forth is provided on the first rotating shaft 6. Similarly, the second driving wheel 401 and the second driven wheel 402 also rotate in the plane (X plane) in the left-right direction. At this time, it is necessary to drive the second base 202 to rotate in the plane (Y plane) in the front-back direction, that is, it is necessary to realize the conversion of the power direction. The gear set 5 solves the problem of converting the power direction of the drive, converting the power input in the X plane to the power output in the Y plane, thereby driving the second base 202 to swing back and forth.

[0034] like Figure 4 , 5 As shown in Figure 6, preferably, the gear set 5 includes a first bevel tooth 501 and a second bevel tooth 502. The first bevel tooth 501 is fitted and fixed on the first rotating shaft 6. The second base 202 is provided with a second rotating shaft 7 arranged perpendicularly to the first rotating shaft 6 at one end away from the upper arm 1. The second bevel tooth 502 is fitted and fixed on the second rotating shaft 7 and meshes with the first bevel tooth 501. The 90-degree change of the power direction is achieved through the two perpendicular bevel teeth, so that the first flexible transmission mechanism 3 and the second flexible transmission mechanism 4 can be arranged simultaneously in the X-plane, the spatial layout is more reasonable, and they will not interfere with each other.

[0035] like Figure 4 As shown, in this embodiment, more specifically, a connecting shaft 8 extending forward and backward is provided on the shoulder base 2. The second driven wheel 402 is connected to one end of the connecting shaft 8, and the connecting shaft 8 is a hollow shaft coaxial with the first rotating shaft 6. The first rotating shaft 6 is inserted inside the connecting shaft 8, and the end of the first base 201 away from the upper arm 1 is fixedly connected to the other end of the connecting shaft 8. In this structure, a hollow shaft is used to enclose a solid shaft, realizing the independent power transmission process of the two swing arm degrees of freedom in the X plane and Y plane, and they are independent of each other. In addition, the first driven wheel 302 and the second driven wheel 402 are coaxially arranged, occupying less space and making the control of the robot more flexible.

[0036] In the above structure, such as Figure 4As shown, the shoulder base 2 includes two spaced-apart front fixing plates 205 and rear fixing plates 206, which are fixedly connected by support ribs 207. The rear fixing plate 206 is used to fixally connect to the robot's torso 18. The first flexible transmission mechanism 3 and the second flexible transmission mechanism 4 are both mounted on the front fixing plate 205, and the first driving member 303 and the second driving member 403 are positioned in the gap between the front and rear fixing plates 206, which provides both protection and optimizes the spatial structure. In addition, the two ends of the first rotating shaft 6 are rotatably connected to the front and rear fixing plates 206, respectively, and the first driven wheel 302 and the second driven wheel 402 are both located on the front side of the front fixing plate 205.

[0037] like Figure 6 As shown, the first base 201 includes a fixed flange 2011 for connecting to the second base 202 and two opposing connecting plates 2012. One end of each connecting plate 2012 is vertically fixed to one end of the fixed flange 2011, and the other ends of each connecting plate 2012 are rotatably fitted onto the outside of the first rotating shaft 6. One of the connecting plates 2012 is fixedly connected to the connecting shaft 8. In this structure, a receiving cavity is formed between the fixed flange 2011 and the two connecting plates 2012. The gear set 5 is disposed within the receiving cavity, achieving a reasonable layout between the drive components, reducing the volume, and preventing interference between multiple components.

[0038] In this embodiment, the first driving wheel 301, the first driven wheel 302, the second driving wheel 401, and the second driven wheel 402 are all sprockets, and the first flexible member 304 and the second flexible member 404 are chains that cooperate with the corresponding sprockets. In addition, in this structure, multiple tensioning wheels 10 are provided on the front fixed plate 205 for adjusting the tension of the two chains.

[0039] In some other embodiments, the first driving pulley 301, the first driven pulley 302, the second driving pulley 401 and the second driven pulley 402 may also be pulleys, and the first flexible member 304 and the second flexible member 404 may also be conveyor belts.

[0040] In another aspect, in this embodiment, the upper arm 1 is rotatably connected to the shoulder base 2, and the shoulder base 2 is also provided with a third driving member 9 for driving the upper arm 1 to rotate around its own axis. Specifically, in this structure, the upper end of the upper arm 1 is rotatably connected to the second base 202, and the second base 202 is provided with a third driving member 9 for driving the upper arm 1 to rotate around its own axis.

[0041] In this embodiment, the first drive component 303, the second drive component 403, and the third drive component 9 are electric motors or hydraulic motors, or conventional rotary drive elements.

[0042] like Figure 7 , 8 As shown, in this embodiment, more specifically, it also includes a forearm 11, one end of which is connected to the lower end of the upper arm 1. The upper arm 1 is provided with a third flexible transmission mechanism 14 for driving the forearm 11 to swing left and right, and a fourth flexible transmission mechanism 15 for driving the forearm 11 to swing back and forth. In this structure, the third flexible transmission mechanism 14 and the fourth flexible transmission mechanism 15 have the same structure as the aforementioned first flexible transmission mechanism 3 and second flexible transmission mechanism 4, all including a driving sprocket, a driven sprocket, a rotary drive component for driving the driving sprocket to rotate, and a transmission chain sleeved on the driving sprocket and the driven sprocket; and the arrangement of the third flexible transmission mechanism 14 and the fourth flexible transmission mechanism 15 is also the same as that of the first flexible transmission mechanism 3 and the second flexible transmission mechanism 4, which will not be elaborated here.

[0043] Specifically, to facilitate the installation of the forearm 11 and the upper arm 1, in this embodiment, a forearm mounting bracket 12 and a fifth base 13 are connected to the lower end of the upper arm 1. The fifth base 13 is connected to the lower end of the upper arm 1 in a way that allows it to swing left and right, and the fifth base 13 is connected to the power output end of the third flexible transmission mechanism 14. The forearm mounting bracket 12 and the fifth base 13 are connected in a way that allows them to swing back and forth. Similarly, the power output end of the fourth flexible transmission mechanism 15 is connected to the forearm mounting bracket 12 through a power steering gear set 5. That is, the forearm 11 is driven to swing left and right and back and forth through the third flexible transmission mechanism 14 and the fourth flexible transmission mechanism 15.

[0044] Example 2: like Figure 9 , 10 As shown, the structure of the robotic arm in this embodiment is largely the same as that in Embodiment 1. The only difference is that the structure of the shoulder base 2, the first flexible transmission mechanism 3, and the second flexible transmission mechanism 4 are different in terms of structure and layout.

[0045] Specifically, in this embodiment, the shoulder base 2 is provided with a third base 203 that can swing back and forth, and the third base 203 is provided with a fourth base 204 that can swing left and right. The upper end of the upper arm 1 is connected to the fourth base 204. The first flexible transmission mechanism 3 is used to drive the fourth base 204 to swing left and right to drive the upper arm 1 to swing in the left and right direction. The second flexible transmission mechanism 4 is used to drive the third base 203 to swing back and forth to drive the upper arm 1 to swing in the back and forth direction.

[0046] In addition, in this embodiment, the shoulder base 2 includes a fixed base 208 that is fixedly connected to the robot torso 18. The third base 203 is rotatably connected to the fixed base 208. The second drive member 403 and the second drive wheel 401 of the second flexible transmission mechanism 4 are disposed on the fixed base 208. The fixed base 208 is also provided with a fourth rotating shaft 17 extending to the left and right. The second driven wheel 402 of the second flexible transmission mechanism 4 is fixed to one end of the fourth rotating shaft 17, and the third base 203 is fixed to the other end of the fourth rotating shaft 17. The fourth rotating shaft 17 is driven to rotate by the second flexible transmission mechanism 4, so as to drive the third base 203 to swing back and forth with degrees of freedom.

[0047] More specifically, a support plate 209 is fixed on the third base 203, and the first drive member 303 and the first drive wheel 301 of the first flexible transmission mechanism 3 are connected to the support plate 209; the third base 203 is also provided with a third rotating shaft 16 extending forward and backward, the first driven wheel 302 of the first flexible transmission mechanism 3 is connected to the third rotating shaft 16, and the fourth base 204 is rotatably connected to the third base 203 through the third rotating shaft 16. The third rotating shaft 16 is driven to rotate by the first flexible transmission mechanism 3 to drive the fourth base 204 to swing left and right, thereby driving the left and right degrees of freedom of the boom 1 to swing.

[0048] In this embodiment, specifically, the first flexible transmission mechanism 3 includes a first driving wheel 301, a first driven wheel 302, a first driving member 303 that drives the first driving wheel 301 to rotate, and a first flexible member 304 sleeved on the first driving wheel 301 and the first driven wheel 302. The first driving wheel 301 and the first driven wheel 302 rotate in the plane (X plane) in the left and right directions. One end of the third base 203 is directly fixedly connected to one end of the first driven wheel 302 in the axial direction. That is, the rotation of the first driven wheel 302 drives the third base 203 to rotate synchronously in the X plane, so as to drive the arm 1 to swing in the left and right directions.

[0049] The second flexible transmission mechanism 4 includes a second driving wheel 401, a second driven wheel 402, a second driving member 403 that drives the second driving wheel 401 to rotate, and a second flexible member 404 sleeved on the second driving wheel 401 and the second driven wheel 402. The second driving wheel 401 and the second driven wheel 402 rotate in the plane (Y plane) in the front-back direction. The second flexible transmission mechanism 4 drives the front and rear free ends of the third base 203 to rotate, thereby driving the entire robotic arm to swing back and forth.

[0050] Example 3: like Figure 11 As shown in the figure, this application also discloses a robot, including a torso 18 and a multi-degree-of-freedom robotic arm as described in Embodiment 1 or Embodiment 2, wherein the shoulder base 2 of the robotic arm is fixedly connected to the torso 18.

[0051] In the description of this invention, references to terms such as "this embodiment," "some embodiments," etc., indicate that a specific feature, mechanism, 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, mechanisms, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0052] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A multi-degree-of-freedom robotic arm, characterized in that, include: Upper arm (1); A shoulder base (2) is used to fix it to the torso (18). The upper end of the upper arm (1) is connected to the shoulder base (2). The shoulder base (2) is provided with a first flexible transmission mechanism (3) and a second flexible transmission mechanism (4) for driving the upper arm (1) to swing left and right and forward and backward, respectively.

2. The multi-degree-of-freedom robotic arm according to claim 1, characterized in that: The shoulder base (2) is provided with a first base (201) that can swing left and right, and the first flexible transmission mechanism (3) is used to drive the first base (201) to swing left and right; the first base (201) is provided with a second base (202) that can swing back and forth, the upper end of the upper arm (1) is connected to the second base (202), and the second flexible transmission mechanism (4) is used to drive the second base (202) to swing back and forth.

3. The multi-degree-of-freedom robotic arm according to claim 2, characterized in that: The first flexible transmission mechanism (3) includes a first driving wheel (301), a first driven wheel (302), a first driving member (303) that drives the first driving wheel (301) to rotate, and a first flexible member (304) sleeved on the first driving wheel (301) and the first driven wheel (302). The first driven wheel (302) is fixedly connected to the first base (201) to drive it to swing left and right.

4. The multi-degree-of-freedom robotic arm according to claim 3, characterized in that: The second flexible transmission mechanism (4) includes a second driving wheel (401), a second driven wheel (402), a second driving member (403) that drives the second driving wheel (401) to rotate, and a second flexible member (404) sleeved on the second driving wheel (401) and the second driven wheel (402). A first rotating shaft (6) extending back and forth is provided on the shoulder base (2). One end of the first rotating shaft (6) is connected to the second driven wheel (402). A gear set (5) is provided on the first rotating shaft (6) for driving the second base (202) to swing back and forth.

5. The multi-degree-of-freedom robotic arm according to claim 4, characterized in that: The gear set (5) includes a first bevel tooth (501) and a second bevel tooth (502). The first bevel tooth (501) is fixedly mounted on the first rotating shaft (6). The second base (202) is provided with a second rotating shaft (7) arranged perpendicularly to the first rotating shaft (6). The second bevel tooth (502) is fixedly mounted on the second rotating shaft (7) and meshes with the first bevel tooth (501).

6. The multi-degree-of-freedom robotic arm according to claim 4 or 5, characterized in that: The shoulder base (2) is provided with a connecting shaft (8) extending forward and backward. The first driven wheel (302) is connected to one end of the connecting shaft (8). The connecting shaft (8) is a hollow shaft coaxial with the first rotating shaft (6). The first rotating shaft (6) passes through the hollow shaft. The first base (201) is fixedly connected to the connecting shaft (8).

7. The multi-degree-of-freedom robotic arm according to claim 1, characterized in that: The shoulder base (2) is provided with a third base (203) that can swing back and forth, and the third base (203) is provided with a fourth base (204) that can swing left and right. The upper end of the upper arm (1) is connected to the fourth base (204). The first flexible transmission mechanism (3) is used to drive the fourth base (204) to swing left and right, and the second flexible transmission mechanism (4) is used to drive the third base (203) to swing back and forth.

8. The multi-degree-of-freedom robotic arm according to claim 7, characterized in that: The first flexible transmission mechanism (3) includes a first driving wheel (301), a first driven wheel (302), a first driving member (303) that drives the first driving wheel (301) to rotate, and a first flexible member (304) sleeved on the first driving wheel (301) and the first driven wheel (302). The third base (203) is fixedly connected to the first driven wheel (302).

9. The multi-degree-of-freedom robotic arm according to claim 8, characterized in that: The second flexible transmission mechanism (4) includes a second driving wheel (401), a second driven wheel (402), a second driving member (403) that drives the second driving wheel (401) to rotate, and a second flexible member (404) sleeved on the second driving wheel (401) and the second driven wheel (402). The free end of the third base (203) is provided with a third rotating shaft (16) extending back and forth. The fourth base (204) is rotatably connected to the third base (203) through the third rotating shaft (16). The second driven wheel (402) is connected to one end of the third rotating shaft (16).

10. The multi-degree-of-freedom robotic arm according to claim 4 or 8, characterized in that: The first driving wheel (301), the first driven wheel (302), the second driving wheel (401) and the second driven wheel (402) are all sprockets, and the first flexible member (304) and the second flexible member (404) are chains that cooperate with the corresponding sprockets.

11. The multi-degree-of-freedom robotic arm according to claim 1, characterized in that: The upper arm (1) is rotatably connected to the shoulder base (2), and the shoulder base (2) is also provided with a third driving member (9) for driving the upper arm (1) to rotate around its own axis.

12. The multi-degree-of-freedom robotic arm according to claim 1 or 11, characterized in that: It also includes a forearm (11), one end of which is connected to the lower end of the upper arm (1), and the upper arm (1) is provided with a third flexible transmission mechanism (14) for driving the forearm (11) to swing left and right and a fourth flexible transmission mechanism (15) for driving the forearm (11) to swing back and forth.

13. A robot comprising a torso (18), characterized in that: It also includes a multi-degree-of-freedom robotic arm as described in any one of claims 1 to 12, wherein the shoulder base (2) of the robotic arm is fixedly connected to the torso (18).

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