Robotic arm and robot

Abstract

This application relates to the field of robotic arm technology, providing a robotic arm and robot. The robotic arm includes a shoulder joint, an upper arm, and a forearm. The shoulder joint has an input end and an output end, and the output end can rotate relative to the input end about a first axis. The upper arm is connected to the output end and can rotate relative to the output end about a second axis, which is perpendicular to the first axis. The forearm is connected to the upper arm and can rotate relative to the upper arm about a third axis, which is perpendicular to the second axis. The forearm can also rotate relative to the upper arm about a fourth axis, which is perpendicular to the third axis. The forearm is used to connect to an output component. The robotic arm and robot provided in this application can improve the problems of low degrees of freedom and complex structural design of robotic arms in related technologies.

Description

Technical Field

[0001] This application relates to the field of robotic arm technology, and more particularly to a robotic arm and robot. Background Technology

[0002] A robotic arm achieves movement of other joints by controlling the movement of a few of its joints, as well as motors and transmission devices. It can mimic the movements of a human hand, automatically performing tasks such as grasping and handling according to given programs, trajectories, and requirements. Therefore, it is widely used in industries such as automotive manufacturing, electronics assembly, food processing, pharmaceuticals, logistics warehousing, and healthcare.

[0003] In recent years, robotic arms have gradually entered the home and personal fields, and have been applied to smart homes, personal care, and entertainment. However, the related technologies of robotic arms have low degrees of freedom and relatively complex structural designs. Summary of the Invention

[0004] This application provides a robotic arm and robot to improve the problems of low degrees of freedom and complex structural design of robotic arms in related technologies.

[0005] To achieve the above objectives, the embodiments of this application adopt the following technical solutions:

[0006] In a first aspect, embodiments of this application provide a robotic arm, the robotic arm comprising:

[0007] A shoulder joint having an input end and an output end, the output end being rotatable about a first axis relative to the input end;

[0008] The upper arm is connected to the output end, and the upper arm can rotate relative to the output end around a second axis, the second axis being perpendicular to the first axis;

[0009] The forearm is connected to the upper arm. The forearm can rotate relative to the upper arm about a third axis, which is perpendicular to the second axis. The forearm can also rotate relative to the upper arm about a fourth axis, which is perpendicular to the third axis. The forearm is used to connect to the output component.

[0010] The robotic arm provided in this application embodiment has at least the following technical effects:

[0011] Since the output end of the shoulder joint can rotate relative to its input end around the first axis, the upper arm connected to the output end can rotate relative to the output end around the second axis, and the forearm connected to the upper arm can rotate relative to the upper arm around the third and fourth axes, and the forearm is used to connect the output component, the range of motion of the output component is large, thus enabling the robotic arm to have a high degree of freedom. Furthermore, the shoulder joint, upper arm, and forearm are connected in series, making the structure relatively simple.

[0012] In some embodiments, the shoulder joint includes a first drive assembly for driving the output end to rotate about the first axis relative to the input end.

[0013] By adopting the above scheme, the first driving component can be used to automatically drive the output end to rotate relative to the input end around the first axis, which facilitates the rotational connection between the output end and the input end.

[0014] In some embodiments, the first drive component includes a first power member and two surrounding members, the input end and the output end are both connected to the first power member, the two surrounding members are detachably connected together, and the two surrounding members enclose an accommodating space, the first power member is disposed within the accommodating space.

[0015] By adopting the above solution, the first power component can be placed within the accommodating space, and two surrounding components can be used to protect the first power component, which facilitates the installation of the first power component and reduces the assembly difficulty.

[0016] In some embodiments, the output terminal includes a first limiting portion and two second limiting portions connected to each other, the two second limiting portions being opposite to each other and spaced apart, and the two surrounding members being disposed between the two second limiting portions, with the first limiting portion and / or the second limiting portion connected to the surrounding members.

[0017] By adopting the above scheme, it is easier to connect the first power component to the output end, and it can make the connection between the surrounding component and the output end tighter, thereby improving the overall strength.

[0018] In some embodiments, the first limiting portion is provided with a wiring groove that extends along an arc-shaped path around the first axis.

[0019] By adopting the above solution, the cables required by the robotic arm can be placed in the cable tray, thereby avoiding interference between the cables and other parts of the robotic arm during the rotation of the main arm relative to the output end around the second axis. This solves the problem of low local stiffness of the robotic arm due to the internal cable routing during large-range rotation.

[0020] In some embodiments, the upper arm is provided with a second drive assembly, which includes a second power component for driving the upper arm to rotate about the second axis relative to the output end.

[0021] By adopting the above scheme, the second drive component can be used to automatically drive the boom to rotate around the second axis relative to the output end, which facilitates the rotational connection between the boom and the output end and avoids the second drive component occupying additional space.

[0022] In some embodiments, the upper arm is provided with a third drive assembly for driving the lower arm to rotate relative to the upper arm about the third axis and the fourth axis.

[0023] By adopting the above scheme, the forearm can be automatically driven to rotate relative to the upper arm around the third and fourth axes using the third drive component, which facilitates the rotational connection between the upper arm and the forearm and avoids the third drive component occupying additional space.

[0024] In some embodiments, the forearm includes a winding portion; the third drive assembly includes a third power member, a winding wheel, and two traction ropes, the third power member being kinetically connected to the winding wheel, one end of each traction rope being wound around the winding wheel, and the other end of each traction rope being wound around the winding portion, wherein the winding direction of one traction rope on the winding wheel is opposite to the winding direction of the other traction rope on the winding wheel, and the winding direction of one traction rope on the winding portion is opposite to the winding direction of the other traction rope on the winding portion.

[0025] By adopting the above scheme, the winding wheel can be driven to rotate in different directions by the third power component, thereby pulling different traction ropes, and thus driving the winding part to rotate in opposite directions relative to the boom around the fourth axis.

[0026] In some embodiments, two of the third power component and two of the winding wheels are provided, and they are arranged in a one-to-one correspondence. One winding wheel corresponds to two traction ropes, and the winding part is located between the two winding wheels.

[0027] By adopting the above scheme, the winding part can be driven to rotate relative to the boom around the third axis by the traction ropes corresponding to the two winding wheels.

[0028] In some embodiments, two of the third power components are arranged sequentially along the length of the boom, with the output shaft of one of the third power components facing the opposite direction to the output shaft of the other third power component.

[0029] By adopting the above scheme, it is easier to arrange the positions of the components (such as timing belts or gears) required for the connection between the two third power components and the two winding wheel drives, thereby reducing their space occupation and compressing the space of the boom.

[0030] In some embodiments, the third drive assembly includes a first connector, a portion of which is located between two winding wheels, both of which are rotatably connected to the first connector, and the winding portion is rotatably connected to the first connector.

[0031] By adopting the above solution, it is convenient to fix the relative position of the winding part and the two winding wheels through the first connector, and the strength of the boom at the connection between the third drive assembly and the winding part is improved.

[0032] In some embodiments, one of the winding wheel and the winding portion is provided with a fixing mechanism, the other of the winding wheel and the winding portion is provided with a pre-tensioning mechanism, one end of the traction rope is connected to the fixing mechanism, and the other end of the traction rope is connected to the pre-tensioning mechanism.

[0033] By adopting the above scheme, it is easy to connect the winding wheel, winding part and traction rope through the fixing mechanism and the pre-tightening mechanism, and the traction rope can be pre-tightened through the pre-tightening mechanism.

[0034] In some embodiments, the pretensioning mechanism includes a fixed seat, an adjusting member, and a movable seat. One end of the adjusting member abuts against the surface of the fixed seat opposite to the movable seat, and the other end of the adjusting member passes through the fixed seat and is threadedly engaged with the movable seat. The movable seat is connected to the traction rope.

[0035] By adopting the above solution, the distance between the surface of the fixed seat facing away from the moving seat and the moving seat can be adjusted simply by rotating the adjusting component relative to the moving seat, thereby allowing the traction rope to be pre-tensioned.

[0036] In some embodiments, the traction rope includes a rope body and a connector disposed at the end of the rope body, and the fixing mechanism and / or the pretensioning mechanism is connected to the connector.

[0037] By adopting the above solution, when connecting the fixing mechanism and / or pretensioning mechanism to the traction rope, it is only necessary to connect the fixing mechanism and / or pretensioning mechanism to a relatively rigid connector, thereby facilitating the connection between the fixing mechanism and / or pretensioning mechanism and the traction rope.

[0038] In some embodiments, the robotic arm further includes a wrist joint connected to the forearm, the wrist joint being used to connect an output component, the wrist joint being rotatable relative to the forearm about a fifth axis perpendicular to the fourth axis, and the wrist joint being rotatable relative to the forearm about a sixth axis perpendicular to the fifth axis.

[0039] By adopting the above scheme, the range of motion of the output component can be increased, thereby enabling the robotic arm to have a higher degree of freedom.

[0040] In some embodiments, a fourth drive assembly is provided inside the forearm for driving the wrist joint to rotate relative to the forearm about the fifth and sixth axes.

[0041] By adopting the above scheme, the fourth drive component can be used to automatically drive the wrist joint to rotate relative to the forearm around the fifth and sixth axes, which facilitates the rotational connection between the forearm and the wrist joint and avoids the fourth drive component occupying additional space.

[0042] In some embodiments, the fourth drive assembly includes two fourth power components; the wrist joint includes two driven bevel gears and two driving bevel gears, with the two fourth power components and the two driving bevel gears arranged in a one-to-one correspondence, the fourth power components being driven by the driving bevel gears, the two driving bevel gears being arranged opposite each other and spaced apart, the axis of the driving bevel gears being collinear with the fifth axis, both driven bevel gears being connected to the output component, both driven bevel gears being located between the two driving bevel gears, the axis of the driven bevel gears being collinear with the sixth axis, and each driven bevel gear being driven by both driving bevel gears simultaneously.

[0043] By adopting the above scheme, the differential transmission between the two driving bevel gears and the two driven bevel gears can be used to enable the fourth drive component to automatically drive the wrist joint to rotate relative to the forearm around the fifth and sixth axes.

[0044] In some embodiments, the fourth drive component includes two synchronous pulleys, each corresponding to one of the two drive bevel gears. The synchronous pulleys and the drive bevel gears corresponding to the current synchronous pulleys are coaxially arranged and fixedly connected. The fourth power component is driven by the synchronous pulleys.

[0045] By adopting the above scheme, it is easy to arrange the relative positions of the two power components and the two driving bevel gears, and it is also convenient to realize the transmission connection between the fourth power component and the driving bevel gear.

[0046] In some embodiments, the forearm includes a forearm body, which includes a main body and two cantilever arms. The two cantilever arms are arranged opposite each other and spaced apart. The two synchronous pulleys and the two drive bevel gears are located between the two cantilever arms. The two cantilever arms and the two synchronous pulleys are arranged in a one-to-one correspondence. The drive bevel gears are connected to the cantilever arms through a first locking member, and the drive bevel gears are connected to the synchronous pulleys through a second locking member.

[0047] By adopting the above scheme, the driving bevel gear and the synchronous pulley can be connected first through the second locking member, and then the driving bevel gear and the synchronous pulley can be connected as a whole to the cantilever through the first locking member, which makes the installation process of the driving bevel gear and the synchronous pulley more convenient.

[0048] In some embodiments, the first locking member is mounted on the drive bevel gear and the cantilever along a first direction, and the second locking member is mounted on the drive bevel gear and the cantilever along a second direction. Both the first direction and the second direction are parallel to the arrangement direction of the two cantilever arms, and the first direction and the second direction are opposite to each other.

[0049] By adopting the above solution, the connection tightness of the active bevel gear, the synchronous pulley and the cantilever can be improved, and the strength of the forearm body at the cantilever can be increased.

[0050] In some embodiments, two of the fourth power components are arranged sequentially along the length of the forearm, with the output shaft of one of the fourth power components facing the opposite direction to the output shaft of the other fourth power component.

[0051] By adopting the above scheme, it is easier to arrange the positions of the components (such as timing belts or gears) required for the connection between the two third power components and the two winding wheel drives, thereby reducing their space occupation and compressing the space of the forearm.

[0052] In some embodiments, the wrist joint includes a second connector, a portion of which is located between two driving bevel gears, both of which are rotatably connected to the second connector, and a portion of which is located between two driven bevel gears, both of which are rotatably connected to the second connector.

[0053] By adopting the above solution, it is convenient to fix the relative positions of the two cantilever arms, the two driving bevel gears and the two driven bevel gears through the first connecting member, and the strength of the forearm body at the cantilever arm is improved.

[0054] In some embodiments, the output component includes two mounting portions that are opposite to each other and spaced apart, two driven bevel gears located between the two mounting portions, the two driven bevel gears being connected one-to-one with the two mounting portions, and the distance between the two driven bevel gears being adjustable.

[0055] By adopting the above scheme, the distance between the two driven bevel gears can be adjusted, thereby adjusting the fit clearance between the driving bevel gear and the driven bevel gear, ensuring a tight fit between the driven bevel gear and the driving bevel gear.

[0056] In some embodiments, the robotic arm includes a base connected to the input end, the input end being rotatable relative to the base about a reference axis perpendicular to the first axis.

[0057] By adopting the above scheme, the range of motion of the output component can be increased, thereby enabling the robotic arm to have a higher degree of freedom.

[0058] In some embodiments, a fifth drive assembly is provided inside the shoulder joint for driving the input end to rotate relative to the base about the reference axis.

[0059] By adopting the above scheme, the fifth drive component can be used to automatically drive the input end to rotate around the reference axis relative to the base, which facilitates the rotational connection between the base and the input end and avoids the fifth drive component occupying additional space.

[0060] Secondly, embodiments of this application provide a robot, which includes the robotic arm described in the first aspect.

[0061] The robot provided in this application embodiment has at least the following technical effects:

[0062] Since the output end of the shoulder joint can rotate relative to its input end around the first axis, the upper arm connected to the output end can rotate relative to the output end around the second axis, and the forearm connected to the upper arm can rotate relative to the upper arm around the third and fourth axes, and the forearm is used to connect the output component, the range of motion of the output component is large, thus enabling the robotic arm to have a high degree of freedom. Furthermore, the shoulder joint, upper arm, and forearm are connected in series, making the structure relatively simple.

[0063] In some embodiments, two robotic arms are provided and the two robotic arms are positioned back to back; the robot also includes a base, and the shoulder joint is connected to the base.

[0064] By adopting the above scheme, it is possible to use a robot to control the movement of two output components simultaneously. Attached Figure Description

[0065] Figure 1 This is a schematic diagram of the structure of a robot provided in one embodiment of this application;

[0066] Figure 2 for Figure 1 A schematic diagram of a partial structure of the robotic arm in the robot shown;

[0067] Figure 3 for Figure 2 A schematic diagram of a partial structure of the shoulder joint in the robotic arm shown;

[0068] Figure 4 for Figure 3 The diagram shown is an exploded view of the shoulder joint.

[0069] Figure 5 for Figure 4 The diagram shows the structure of the output end in the shoulder joint.

[0070] Figure 6 for Figure 2 A schematic diagram of the upper arm in the robotic arm shown;

[0071] Figure 7 for Figure 6 A schematic diagram of a partial structure of the upper arm is shown;

[0072] Figure 8 for Figure 7 The top view of the upper arm shown;

[0073] Figure 9 for Figure 7 The exploded structural diagram of the upper arm is shown;

[0074] Figure 10 for Figure 9 Enlarged view of point A in the middle;

[0075] Figure 11 for Figure 9 Another perspective view of the upper arm is shown;

[0076] Figure 12 for Figure 11 Enlarged view of point B in the middle;

[0077] Figure 13 for Figure 9 A schematic diagram of the traction rope structure in the boom shown;

[0078] Figure 14 for Figure 2 A schematic diagram of the forearm, wrist joint, and output component of the robotic arm shown;

[0079] Figure 15 for Figure 14 The exploded view of the forearm, wrist joint, and output component of the robotic arm shown.

[0080] Figure 16 for Figure 15 Enlarged view of point C in the middle;

[0081] Figure 17 for Figure 15 Enlarged view of point D in the middle;

[0082] Figure 18 for Figure 14 A top view of the forearm, wrist joint, and output component of the robotic arm shown.

[0083] Figure 19 for Figure 14 Front view of the forearm, wrist joint, and output component of the robotic arm shown;

[0084] Figure 20 for Figure 2 The diagram shows the structure of the wrist joint and output component in the robotic arm.

[0085] The following are the labeling elements in the figure:

[0086] 1000, Robot;

[0087] 100. Robotic arm;

[0088] 10. Shoulder joint;

[0089] 11. Input end; 12. Output end; 121. First limiting part; 1210. Wiring groove; 1211. First screw; 122. Second limiting part; 1221. Second screw; 13. First drive assembly; 130. Accommodating space; 131. First power component; 132. Enclosure component; 20. Main arm;

[0090] 21. Second drive assembly; 22. Third drive assembly; 221. Third power component; 222. Winding wheel; 223. Traction rope; 22301. First traction rope; 22302. Second traction rope; 22303. Third traction rope; 22304. Fourth traction rope; 2231. Rope body; 2232. Connector; 224. First connecting member; 225. Pretensioning mechanism; 2251. Fixed seat; 2252. Adjusting member; 2253. Moving seat; 226. Fixing mechanism; 227. First pretensioning wheel;

[0091] 30. Forearm;

[0092] 301. Winding part; 302. Forearm body; 3021. Main body; 3022. Cantilever; 31. Fourth drive assembly; 311. Fourth power component; 312. Second preload pulley; 313. Synchronous pulley; 314. First locking component; 315. Second locking component;

[0093] 40. Wrist joint;

[0094] 41. Driven bevel gear; 42. Driving bevel gear; 43. Second connecting piece; 431. Shaft;

[0095] 50. Output components;

[0096] 51. Installation Department;

[0097] 60. Base;

[0098] 70. Fifth driving component;

[0099] 200. Base;

[0100] 210. Base plate; 220. Adjustable feet. Detailed Implementation

[0101] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0102] In the description of this application, it should be understood that the terms "length", "width", "thickness", "top", "bottom", "inner", "outer", "upper", "lower", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0103] The terms "first," "second," "third," and "fourth," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. For example, "first pushing part" and "second pushing part" are merely used to distinguish different pushing parts and do not limit their order. The first pushing part can also be named the second pushing part, and the second pushing part can also be named the first pushing part, without departing from the scope of the various described embodiments. Furthermore, the terms "first," "second," "third," and "fourth," etc., do not imply that the indicated features must be different.

[0104] In this application, unless otherwise expressly 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 part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0105] In this application, "and / or" is merely a way of describing the relationship between related objects, indicating that three relationships can exist; for example, A and / or B can represent three cases: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0106] It should be noted that, in this application, the words "in one embodiment," "exemplarily," and "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "in one embodiment," "exemplarily," or "for example" should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of words such as "in one embodiment," "exemplarily," and "for example" is intended to present the relevant concepts in a specific manner.

[0107] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments.

[0108] A robotic arm achieves movement of other joints by controlling the movement of a few of its joints, as well as motors and transmission devices. It can mimic the movements of a human hand, automatically performing tasks such as grasping and handling according to given programs, trajectories, and requirements. Therefore, it is widely used in industries such as automotive manufacturing, electronics assembly, food processing, pharmaceuticals, logistics warehousing, and healthcare.

[0109] In recent years, robotic arms have gradually entered the home and personal fields, and have been applied to smart homes, personal care, and entertainment. However, the related technologies of robotic arms have low degrees of freedom and relatively complex structural designs.

[0110] In view of this, the present application provides a robotic arm and robot. Since the output end of the shoulder joint can rotate relative to its input end around a first axis, the upper arm connected to the output end can rotate relative to the output end around a second axis, and the forearm connected to the upper arm can rotate relative to the upper arm around a third axis and a fourth axis, and the forearm is used to connect the output component, the range of motion of the output component can be large, thereby enabling the robotic arm to have a high degree of freedom. Moreover, the shoulder joint, upper arm and forearm are connected in series, and the structure is relatively simple.

[0111] Please refer to Figures 1 to 3 , Figure 1 This is a schematic diagram of the structure of a robot 1000 provided in one embodiment of this application. Figure 2 for Figure 1 A partial structural diagram of the robotic arm 100 in the robot 1000 is shown. Figure 3 for Figure 2 A partial structural diagram of the shoulder joint 10 in the robotic arm 100 shown.

[0112] In a first aspect, embodiments of this application provide a robotic arm 100, which can be used in a robot 1000. The robot 1000 can be used in industries such as automobile manufacturing, electronic assembly, food processing, pharmaceuticals, logistics warehousing, and medical care, and can also be used in household and personal fields, applied to smart homes, personal care, and entertainment. The robot 1000 may include a base 200 and at least one robotic arm 100.

[0113] The robotic arm 100 includes a shoulder joint 10, an upper arm 20, and a forearm 30.

[0114] The shoulder joint 10 has an input end 11 and an output end 12, and the output end 12 can rotate about a first axis q1 relative to the input end 11.

[0115] Input terminal 11 can be connected to base 200. Input terminal 11 and output terminal 12 can be rotatably connected by bearings or gears. A motor or cylinder can be installed to drive output terminal 12 to rotate relative to input terminal 11 around the first axis q1. Output terminal 12 can rotate relative to input terminal 11 around the first axis q1 in one direction, or output terminal 12 can rotate relative to input terminal 11 around the first axis q1 in two opposite directions.

[0116] The upper arm 20 is connected to the output end 12. The upper arm 20 can rotate relative to the output end 12 around the second axis q2, which is perpendicular to the first axis q1.

[0117] The boom 20 and the output end 12 can be rotatably connected via bearings or gears. A motor or cylinder can be installed to drive the boom 20 to rotate relative to the output end 12 around the second axis q2. The boom 20 can rotate relative to the output end 12 around the second axis q2 in one direction, or the boom 20 can rotate relative to the output end 12 around the second axis q2 in two opposite directions.

[0118] The forearm 30 is connected to the upper arm 20. The forearm 30 can rotate relative to the upper arm 20 around the third axis q3, which is perpendicular to the second axis q2. The forearm 30 can also rotate relative to the upper arm 20 around the fourth axis q4, which is perpendicular to the third axis q3. The forearm 30 is used to connect the output component 50.

[0119] The forearm 30 and the upper arm 20 can be rotatably connected via bearings or gears. One end of the upper arm 20 can be rotatably connected to the output end 12, and the other end can be rotatably connected to the forearm 30. A motor or cylinder can be used to drive the forearm 30 to rotate relative to the upper arm 20 around a third axis q3 and a fourth axis q4. The forearm 30 can rotate relative to the upper arm 20 around the third axis q3 in one direction, or in two opposite directions. The forearm 30 can also rotate relative to the upper arm 20 around the fourth axis q4 in one direction, or in two opposite directions. The forearm 30 and the output component 50 can be directly or indirectly connected. The output component 50 itself can serve as the end effector of the robot 1000, such as a gripper. Alternatively, the end effector of the robot 1000 can be fixedly connected to the output component 50.

[0120] As can be seen from the above, the robotic arm 100 provided in this application embodiment has a large range of motion for the output end 12 of the shoulder joint 10, which can rotate relative to its input end 11 around the first axis q1. The upper arm 20 connected to the output end 12 can rotate relative to the output end 12 around the second axis q2, and the lower arm 30 connected to the upper arm 20 can rotate relative to the upper arm 20 around the third axis q3 and the fourth axis q4. The lower arm 30 is used to connect the output component 50. Therefore, the robotic arm 100 has a high degree of freedom. The shoulder joint 10, the upper arm 20 and the lower arm 30 are connected in series, and the structure is relatively simple.

[0121] Please refer to this as well. Figure 4 and Figure 5 , Figure 4 for Figure 3 The exploded view of the shoulder joint 10 shown is shown below. Figure 5 for Figure 4 A schematic diagram of the output end 12 in the shoulder joint 10 shown.

[0122] In this embodiment, the shoulder joint 10 includes a first drive assembly 13, which is used to drive the output end 12 to rotate relative to the input end 11 around a first axis q1.

[0123] By adopting the above scheme, the first driving component 13 can be used to automatically drive the output terminal 12 to rotate relative to the input terminal 11 around the first axis q1, which facilitates the rotational connection between the output terminal 12 and the input terminal 11.

[0124] It should be noted that the first drive assembly 13 may include a motor or cylinder, as well as gears or a conveyor belt. The first drive assembly 13 may be located inside the shoulder joint 10, which can avoid the first drive assembly 13 occupying additional space.

[0125] Optionally, the first drive assembly 13 includes a first power member 131 and two surrounding members 132. The input end 11 and the output end 12 are both connected to the first power member 131. The two surrounding members 132 are detachably connected together and enclose a receiving space 130. The first power member 131 is disposed within the receiving space 130.

[0126] This configuration allows the first power component 131 to be placed within the accommodating space 130, and the first power component 131 to be protected by two surrounding components 132. It also facilitates the installation of the first power component 131 and reduces the assembly difficulty.

[0127] It should be noted that the surrounding member 132 can be connected to the first power member 131, and the surrounding member 132 can be connected to the output end 12 to realize the connection between the output end 12 and the first power member 131, so as to facilitate the locking screw of the output shaft of the first power member 131. The two surrounding members 132 can form a squirrel cage structure.

[0128] For example, the first power component 131 includes a motor, the main body of which is connected to the enclosure 132 and the output end 12, and the output shaft of the motor is connected to the input end 11.

[0129] The output terminal 12 includes a first limiting part 121 and two second limiting parts 122. The first limiting part 121 and the second limiting part 122 are connected to each other. The two second limiting parts 122 are arranged opposite to each other and spaced apart. Two surrounding members 132 are disposed between the two second limiting parts 122. The first limiting part 121 and / or the second limiting part 122 are connected to the surrounding members 132.

[0130] By adopting the above scheme, it is easy to connect the first power component 131 with the output end 12, and the enclosure component 132 can be connected more tightly with the output end 12, thereby improving the overall strength.

[0131] It should be noted that the first limiting part 121 and the two second limiting parts 122 can be separately provided or integrally formed. The first limiting part 121 and / or the second limiting part 122 can be connected to the surrounding part 132 by means of welding, bonding, snap-fitting, bolt connection, screw connection or snap-fit ​​connection, etc.

[0132] For example, the first limiting part 121 is connected to one of the surrounding members 132 by a plurality of first screws 1211, one of the second limiting parts 122 is connected to both surrounding members 132 by a plurality of second screws 1221, and another second limiting part 122 is connected to both surrounding members 132 by a plurality of second screws 1221.

[0133] Optionally, the first limiting part 121 is provided with a wiring groove 1210, which extends along an arc-shaped path around the first axis q1.

[0134] This configuration allows the cables required by the robotic arm 100 to be placed in the cable tray 1210, thereby preventing interference between the cables and other components of the robotic arm 100 during the rotation of the large arm 20 relative to the output end 12 around the second axis q2. This solves the problem of low local stiffness of the robotic arm 100 due to the internal cable routing during large-range rotation.

[0135] It should be noted that the angle at which the upper arm 20 rotates relative to the output end 12 around the second axis q2 can be greater than or equal to 180 degrees, and the wiring groove 1210 can be set with a corresponding extension length.

[0136] Please refer to Figure 1 , Figure 2 as well as Figures 6 to 8 , Figure 6 for Figure 2 The diagram shows the structure of the upper arm 20 in the robotic arm 100. Figure 7 for Figure 6 The diagram shows a partial structural representation of the upper arm 20. Figure 8 for Figure 7 The top view of the upper arm 20 shown.

[0137] In this embodiment, a second drive assembly 21 is provided inside the boom 20. The second drive assembly 21 includes a second power component, which is used to drive the boom 20 to rotate relative to the output end 12 around the second axis q2.

[0138] By adopting the above scheme, the second drive component 21 can be used to automatically drive the boom 20 to rotate around the second axis q2 relative to the output end 12, which facilitates the rotational connection between the boom 20 and the output end 12 and avoids the second drive component 21 occupying additional space.

[0139] It should be noted that the second power component may include a motor or cylinder, as well as gears or a conveyor belt.

[0140] The upper arm 20 is equipped with a third drive assembly 22, which is used to drive the lower arm 30 to rotate relative to the upper arm 20 around the third axis q3 and the fourth axis q4.

[0141] By adopting the above scheme, the third drive component 22 can be used to automatically drive the forearm 30 to rotate relative to the upper arm 20 around the third axis q3 and the fourth axis q4, which facilitates the rotational connection between the upper arm 20 and the forearm 30 and avoids the third drive component 22 occupying additional space.

[0142] It should be noted that the third drive component 22 may include a motor or cylinder, as well as gears or a conveyor belt.

[0143] Please refer to this as well. Figures 9 to 12 , Figure 9 for Figure 7 The exploded view of the upper arm 20 shown is shown. Figure 10 for Figure 9 Enlarged view of point A in the middle. Figure 11 for Figure 9 Another view of the upper arm 20 shown. Figure 12 for Figure 11 Enlarged view of point B in the middle.

[0144] Optionally, the forearm 30 includes a winding portion 301; the third drive assembly 22 includes a third power member 221, a winding wheel 222, and two traction ropes 223. The third power member 221 is connected to the winding wheel 222 in a transmission manner. One end of the traction rope 223 is wound around the winding wheel 222, and the other end of the traction rope 223 is wound around the winding portion 301. The winding direction of one traction rope 223 on the winding wheel 222 is opposite to the winding direction of the other traction rope 223 on the winding wheel 222, and the winding direction of one traction rope 223 on the winding portion 301 is opposite to the winding direction of the other traction rope 223 on the winding portion 301.

[0145] With this configuration, the third power component 221 can drive the winding wheel 222 to rotate in different directions, thereby pulling different traction ropes 223, and thus driving the winding part 301 to rotate relative to the upper arm 20 around the fourth axis q4 in two opposite directions.

[0146] It should be noted that one end of the traction rope 223 can be fixed to the winding wheel 222, and the other end of the traction rope 223 can be fixed to the winding part 301. The winding part 301 is a part of the forearm 30. The third power component 221 and the winding wheel 222 can be connected by gear or synchronous belt drive. The third power component 221 may include a motor or cylinder, etc.

[0147] In this embodiment, two third power components 221 and two winding wheels 222 are provided and are arranged in a one-to-one correspondence. One winding wheel 222 corresponds to two traction ropes 223, and the winding part 301 is located between the two winding wheels 222.

[0148] By adopting the above scheme, the winding part 301 can be driven to rotate relative to the upper arm 20 around the third axis q3 by the traction ropes 223 corresponding to the two winding wheels 222.

[0149] For example, please refer to the following: Figure 10For the two traction ropes 223 corresponding to one of the winding wheels 222, the winding direction of one of the traction ropes 223 on the winding wheel 222 is as follows: Figure 10 The direction indicated by the middle arrow a is the winding direction of the other traction rope 223 on the winding wheel 222. Figure 10 The direction indicated by the middle arrow b. Please refer to the following for details. Figure 12 For the two traction ropes 223 corresponding to the other winding wheel 222, the winding direction of one of the traction ropes 223 on the winding section 301 is as follows: Figure 12 The direction indicated by the middle arrow c is the winding direction of the other traction rope 223 on the winding part 301. Figure 12 The direction indicated by the middle arrow d.

[0150] Please refer to Figures 6 to 9 Optionally, two third power units 221 are arranged sequentially along the length of the boom 20, with the output shaft of one third power unit 221 facing in the opposite direction to the output shaft of the other third power unit 221.

[0151] This arrangement facilitates the placement of components (such as timing belts or gears) required for the transmission connection between the two third power components 221 and the two winding wheels 222, reducing their space occupation and compressing the space of the boom 20.

[0152] Understandably, when the third power component 221 is configured as a motor and connected to the winding pulley 222 via belt drive, a double differential belt drive can be used between the two third power components 221 and the two winding pulleys 222, which can reduce the motor load. Furthermore, the elasticity of the belt increases the safety of human-machine interaction.

[0153] It is also understandable that a corresponding first preload pulley 227 can be set for tensioning the belt. The length direction of the boom 20 can be... Figure 6 The direction indicated by the middle arrow K.

[0154] The third drive assembly 22 includes a first connector 224, part of which is located between two winding wheels 222. Both winding wheels 222 are rotatably connected to the first connector 224, and the winding part 301 is rotatably connected to the first connector 224.

[0155] By adopting the above solution, it is convenient to fix the relative position of the winding part 301 and the two winding wheels 222 through the first connector 224, and the strength of the upper arm 20 at the connection between the third drive assembly 22 and the winding part 301 is improved.

[0156] It is understood that the winding wheel 222 and the first connecting member 224 can be rotatably connected via one or more bearings. The winding part 301 and the first connecting member 224 can be rotatably connected via one or more bearings. The winding wheel 222, the traction rope 223, the first connecting member 224, and the winding part 301 can form an elbow joint.

[0157] Please refer to Figures 7 to 10 ,exist Figure 7 In the diagram, the direction indicated by arrow g is opposite to the direction indicated by arrow -g, the direction indicated by arrow h is opposite to the direction indicated by arrow -h, the direction indicated by arrow i is opposite to the direction indicated by arrow -i, and the direction indicated by arrow g is opposite to the direction indicated by arrow -h. The two traction ropes 223 corresponding to the winding wheel 222 on the left are the first traction rope 22301 and the second traction rope 22302, respectively. The two traction ropes 223 corresponding to the winding wheel 222 on the right are the third traction rope 22303 and the fourth traction rope 22304, respectively.

[0158] When the robotic arm 100 provided in the above embodiment is used:

[0159] When the left winding wheel 222 is along Figure 7 When rotated in the direction indicated by the middle arrow g, the first traction rope 22301 corresponding to the left winding wheel 222 has the function of pulling the winding part 301 along... Figure 7 The direction indicated by the middle arrow i indicates the tendency to rotate.

[0160] If at this time the winding wheel 222 on the right side is along Figure 7 If the direction indicated by the middle arrow -h rotates at the same speed as the left winding wheel 222, then the third traction rope 22303 corresponding to the right winding wheel 222 has the function of pulling the winding part 301 along... Figure 7 The rotational tendency indicated by the middle arrow i causes the first traction rope 22301 and the third traction rope 22303 to jointly drive the winding part 301 to rotate around the fourth axis q4. Figure 7 Rotate in the direction indicated by the middle arrow i.

[0161] If at this time the winding wheel 222 on the right side is along Figure 7 If the direction indicated by the middle arrow h rotates at the same speed as the left winding wheel 222, then the fourth traction rope 22304 corresponding to the right winding wheel 222 has the function of pulling the winding part 301 along... Figure 7 The rotational tendency in the direction indicated by the middle arrow -i, with the first traction rope 22301 and the fourth traction rope 22304 jointly driving the winding part 301 around the third axis q3 along... Figure 7 Rotate in the direction indicated by the middle arrow h.

[0162] When the left winding wheel 222 is along Figure 7 When rotated in the direction indicated by the middle arrow -g, the second traction rope 22302 corresponding to the left winding wheel 222 has the function of pulling the winding part 301 along... Figure 7 The direction indicated by the middle arrow -i indicates the tendency to rotate.

[0163] If at this time the winding wheel 222 on the right side is along Figure 7 If the direction indicated by the middle arrow h rotates at the same speed as the left winding wheel 222, then the fourth traction rope 22304 corresponding to the right winding wheel 222 has the function of pulling the winding part 301 along... Figure 7 The rotational tendency in the direction indicated by the middle arrow -i, driven by the second traction rope 22302 and the fourth traction rope 22304, causes the winding part 301 to rotate around the fourth axis q4. Figure 7 Rotate in the direction indicated by the middle arrow -i.

[0164] If at this time the winding wheel 222 on the right side is along Figure 7 If the direction indicated by the middle arrow -h rotates at the same speed as the left winding wheel 222, then the third traction rope 22303 corresponding to the right winding wheel 222 has the function of pulling the winding part 301 along... Figure 7 The rotational tendency indicated by the middle arrow i, with the second traction rope 22302 and the third traction rope 22303 jointly driving the winding part 301 to rotate around the third axis q3 along... Figure 7 Rotate in the direction indicated by the middle arrow -h.

[0165] It should be noted that when one of the two winding wheels 222 is fixed and the other is rotating, or when both winding wheels 222 are rotating but at different speeds, the winding part 301 can rotate around the third axis q3 while simultaneously rotating around the fourth axis q4.

[0166] The robotic arm 100 provided in this application embodiment adopts a partial rope drive scheme of the third drive component 22, which can further reduce the inertia of the robotic arm 100. Moreover, the third drive component 22 is small in size, which is more user-friendly in the home setting and meets the load requirements of the robotic arm 100 in the home setting.

[0167] Please refer to Figures 6 to 12 In this embodiment, one of the winding wheel 222 and the winding part 301 is provided with a fixing mechanism 226, and the other of the winding wheel 222 and the winding part 301 is provided with a pre-tightening mechanism 225. One end of the traction rope 223 is connected to the fixing mechanism 226, and the other end of the traction rope 223 is connected to the pre-tightening mechanism 225.

[0168] By adopting the above scheme, it is convenient to connect the winding wheel 222, the winding part 301 and the traction rope 223 through the fixing mechanism 226 and the pre-tightening mechanism 225, and the traction rope 223 can be pre-tightened through the pre-tightening mechanism 225.

[0169] Understandably, the traction rope 223 adopts a single-sided limiting and single-sided pre-tensioning scheme, which can reduce transmission clearance and simplify assembly.

[0170] For example, the winding part 301 is provided with a fixing mechanism 226, and the winding wheel 222 is provided with a pre-tightening mechanism 225.

[0171] Optionally, the pretensioning mechanism 225 includes a fixed seat 2251, an adjusting member 2252, and a movable seat 2253. One end of the adjusting member 2252 abuts against the surface of the fixed seat 2251 away from the movable seat 2253, and the other end of the adjusting member 2252 passes through the fixed seat 2251 with a gap and is threadedly engaged with the movable seat 2253. The movable seat 2253 is connected to the traction rope 223.

[0172] With this setup, simply rotating the adjusting member 2252 relative to the movable seat 2253 will adjust the distance between the surface of the fixed seat 2251 facing away from the movable seat 2253 and the movable seat 2253, thereby allowing the traction rope 223 to be pre-tensioned.

[0173] For example, the adjusting member 2252 may be configured as a screw, with the nut end of one end of the screw abutting against the surface of the fixed seat 2251 away from the movable seat 2253.

[0174] Please refer to this as well. Figure 13 , Figure 13 for Figure 9 A schematic diagram of the traction rope 223 in the boom 20 shown.

[0175] Optionally, the traction rope 223 includes a rope body 2231 and a connector 2232 disposed at the end of the rope body 2231, and a fixing mechanism 226 and / or a pre-tensioning mechanism 225 are connected to the connector 2232.

[0176] With this configuration, when connecting the fixing mechanism 226 and / or the pretensioning mechanism 225 to the traction rope 223, it is only necessary to connect the fixing mechanism 226 and / or the pretensioning mechanism 225 to the stiffer connector 2232, thereby facilitating the connection between the fixing mechanism 226 and / or the pretensioning mechanism 225 and the traction rope 223.

[0177] For example, the rope body 2231 may include a wire rope, both ends of which are provided with connectors 2232, the connectors 2232 including cylindrical zinc heads.

[0178] Please refer to Figure 1 , Figure 2 and Figure 14 , Figure 14 for Figure 2 The diagram shows the structure of the forearm 30, wrist joint 40, and output component 50 in the robotic arm 100.

[0179] In this embodiment, the robotic arm 100 further includes a wrist joint 40, which is connected to the forearm 30. The wrist joint 40 is used to connect to the output component 50. The wrist joint 40 can rotate relative to the forearm 30 around a fifth axis q5, which is perpendicular to the fourth axis q4. The wrist joint 40 can also rotate relative to the forearm 30 around a sixth axis q6, which is perpendicular to the fifth axis q5.

[0180] By adopting the above scheme, the output component 50 can have a larger range of motion, thereby enabling the robotic arm 100 to have a higher degree of freedom.

[0181] It should be noted that the wrist joint 40 and the forearm 30 can be rotatably connected via bearings or gears. One end of the forearm 30 can be rotatably connected to the upper arm 20, and the other end can be rotatably connected to the wrist joint 40. A motor or cylinder can be used to drive the wrist joint 40 to rotate relative to the forearm 30 around the fifth axis q5 and the sixth axis q6. The wrist joint 40 can rotate relative to the forearm 30 around the fifth axis q5 in one direction, or it can rotate relative to the forearm 30 around the fifth axis q5 in two opposite directions. Similarly, the wrist joint 40 can rotate relative to the forearm 30 around the sixth axis q6 in one direction, or it can rotate relative to the forearm 30 around the sixth axis q6 in two opposite directions.

[0182] The output component 50 and the wrist joint 40 can be connected by welding, bonding, snap-fitting, bolting, screwing, or clip-fitting. The output component 50 can rotate with the wrist joint 40 relative to the forearm 30 around the fifth axis q5 and the sixth axis q6.

[0183] The forearm 30 is internally provided with a fourth drive assembly 31, which is used to drive the wrist joint 40 to rotate relative to the forearm 30 around the fifth axis q5 and the sixth axis q6.

[0184] By adopting the above scheme, the fourth drive component 31 can be used to automatically drive the wrist joint 40 to rotate relative to the forearm 30 around the fifth axis q5 and the sixth axis q6, which facilitates the rotational connection between the forearm 30 and the wrist joint 40 and avoids the fourth drive component 31 occupying additional space.

[0185] It should be noted that the fourth drive component 31 may include a motor or cylinder, as well as gears or a conveyor belt.

[0186] Please refer to this as well. Figures 15 to 19 , Figure 15 for Figure 14 The exploded view of the forearm 30, wrist joint 40, and output component 50 in the robotic arm 100 shown. Figure 16 for Figure 15 Enlarged view at point C in the middle. Figure 17 for Figure 15 Enlarged view at point D in the middle. Figure 18 for Figure 14 A top view of the forearm 30, wrist joint 40, and output component 50 of the robotic arm 100 shown. Figure 19 for Figure 14 Front view of the forearm 30, wrist joint 40 and output component 50 of the robotic arm 100 shown.

[0187] The fourth drive assembly 31 includes two fourth power components 311; the wrist joint 40 includes two driven bevel gears 41 and two driving bevel gears 42. The two fourth power components 311 and the two driving bevel gears 42 are arranged in a one-to-one correspondence. The fourth power components 311 are connected to the driving bevel gears 42 in a transmission connection. The two driving bevel gears 42 are arranged opposite to each other and spaced apart. The axis of the driving bevel gears 42 is collinear with the fifth axis q5. The two driven bevel gears 41 are both connected to the output component 50. The two driven bevel gears 41 are both located between the two driving bevel gears 42. The axis of the driven bevel gears 41 is collinear with the sixth axis q6. Each driven bevel gear 41 is simultaneously connected to the two driving bevel gears 42 in a transmission connection.

[0188] By adopting the above scheme, the differential transmission between the two driving bevel gears 42 and the two driven bevel gears 41 can be used to enable the fourth drive assembly 31 to automatically drive the wrist joint 40 to rotate relative to the forearm 30 around the fifth axis q5 and the sixth axis q6.

[0189] It should be noted that the fourth power component 311 and the driving bevel gear 42 can be connected by gear or synchronous belt transmission.

[0190] Optionally, the fourth drive assembly 31 includes two synchronous pulleys 313, which are arranged one-to-one with two active bevel gears 42. The synchronous pulleys 313 and the active bevel gears 42 corresponding to the current synchronous pulleys 313 are coaxially arranged and fixedly connected. The fourth power component 311 is connected to the synchronous pulleys 313 for transmission.

[0191] This arrangement facilitates the arrangement of the relative positions of the two power components and the two drive bevel gears 42, and also makes it easy to achieve the transmission connection between the fourth power component 311 and the drive bevel gears 42.

[0192] Understandably, the fourth power component 311 is configured as a motor, and can be connected to the synchronous pulley 313 via belt drive. A double differential belt drive can be used between the two fourth power components 311 and the two driving bevel gears 42, which can reduce the motor load. Furthermore, the elasticity of the belt increases the safety of human-machine interaction. A second preload pulley 312 can be provided to tension the belt.

[0193] Please refer to Figures 14 to 16 In this embodiment, the forearm 30 includes a forearm body 302, which includes a main body 3021 and two cantilever arms 3022. The two cantilever arms 3022 are arranged opposite to each other and spaced apart. Two synchronous pulleys 313 and two active bevel gears 42 are located between the two cantilever arms 3022. The two cantilever arms 3022 and the two synchronous pulleys 313 are arranged in a one-to-one correspondence. The active bevel gears 42 are connected to the cantilever arms 3022 through a first locking member 314, and the active bevel gears 42 are connected to the synchronous pulleys 313 through a second locking member 315.

[0194] By adopting the above scheme, the active bevel gear 42 and the synchronous pulley 313 can be connected first through the second locking member 315, and then the active bevel gear 42 and the synchronous pulley 313 can be connected as a whole to the cantilever 3022 through the first locking member 314, which makes the installation process of the active bevel gear 42 and the synchronous pulley 313 more convenient.

[0195] It should be noted that both the first locking element 314 and the second locking element 315 may include bolts, screws, clips or rivets, etc.

[0196] Optionally, the first locking member 314 is installed on the drive bevel gear 42 and the cantilever 3022 along the first direction, and the second locking member 315 is installed on the drive bevel gear 42 and the cantilever 3022 along the second direction. The first direction and the second direction are both parallel to the arrangement direction of the two cantilever 3022, and the first direction and the second direction are opposite to each other.

[0197] This configuration improves the connection and tightness of the drive bevel gear 42, the timing pulley 313, and the cantilever 3022, and also increases the strength of the forearm body 302 at the cantilever 3022.

[0198] For example, the first direction can be Figure 16 In the direction indicated by the middle arrow e, the first locking member 314 may include a screw or a retaining ring. The second direction may be... Figure 16 In the direction indicated by the middle arrow f, the second locking member 315 may include multiple screws.

[0199] It should be noted that the forearm body 302 is a thin-walled structural component with a large span and low stiffness. In this embodiment, a two-way locking screw structure is adopted, which can realize modular assembly and improve connection stiffness.

[0200] Optionally, two fourth power members 311 are arranged sequentially along the length of the forearm 30, with the output shaft of one fourth power member 311 facing in the opposite direction to the output shaft of the other fourth power member 311.

[0201] This arrangement facilitates the placement of components (such as timing belts or gears) required for the transmission connection between the two third power components 221 and the two winding wheels 222, reducing their space occupation and compressing the space of the forearm 30.

[0202] It is understandable that the length direction of the forearm 30 can be... Figure 14 The direction indicated by the middle arrow K.

[0203] The wrist joint 40 includes a second connector 43. Part of the second connector 43 is located between two active bevel gears 42, and both active bevel gears 42 are rotatably connected to the second connector 43. Part of the second connector 43 is located between two driven bevel gears 41, and both driven bevel gears 41 are rotatably connected to the second connector 43.

[0204] By adopting the above solution, it is convenient to fix the relative positions of the two cantilever arms 3022, the two active bevel gears 42 and the two driven bevel gears 41 through the first connecting member 224, and the strength of the forearm body 302 at the cantilever arms 3022 is improved.

[0205] For example, the second connector 43 includes four shafts 431, two driving bevel gears 42 are rotatably connected to the two shafts 431 respectively through one or more bearings, and two driven bevel gears 41 are rotatably connected to the two shafts 431 respectively through one or more bearings.

[0206] Please refer to Figures 14 to 17 ,exist Figure 14 In the diagram, the direction indicated by arrow j is opposite to the direction indicated by arrow -j, the direction indicated by arrow m is opposite to the direction indicated by arrow -m, the direction indicated by arrow n is opposite to the direction indicated by arrow -n, and the direction indicated by arrow j is opposite to the direction indicated by arrow m.

[0207] When the left-side driving bevel gear 42 along Figure 14 When rotating in the direction indicated by the middle arrow j:

[0208] If at this time the right-side driving bevel gear 42 is along Figure 14 If the direction indicated by the middle arrow m rotates at the same speed as the driving bevel gear 42 on the left, then the output component 50 and the two driven bevel gears 41 rotate around the fifth axis q5. Figure 14 Rotate in the direction indicated by the middle arrow n.

[0209] If at this time the right-side driving bevel gear 42 is along Figure 14 If the direction indicated by the middle arrow -m rotates at the same speed as the driving bevel gear 42 on the left, then the output component 50 and the two driven bevel gears 41 rotate around the sixth axis q6. Figure 14 Rotate in the direction indicated by the middle arrow -m.

[0210] When the left-side driving bevel gear 42 along Figure 14 When rotating in the direction indicated by the middle arrow -j:

[0211] If at this time the right-side driving bevel gear 42 is along Figure 14 If the direction indicated by the middle arrow -m rotates at the same speed as the driving bevel gear 42 on the left, then the output component 50 and the two driven bevel gears 41 rotate around the fifth axis q5. Figure 14 Rotate in the direction indicated by the middle arrow -n.

[0212] If at this time the right-side driving bevel gear 42 is along Figure 14 If the direction indicated by the middle arrow m rotates at the same speed as the driving bevel gear 42 on the left, then the output component 50 and the two driven bevel gears 41 rotate around the sixth axis q6. Figure 14 Rotate in the direction indicated by the middle arrow m.

[0213] It should be noted that when one of the two driving bevel gears 42 is fixed and the other is rotating, or when both driving bevel gears 42 are rotating but at different speeds, the output component 50 and the two driven bevel gears 41 can rotate around the fifth axis q5 while simultaneously rotating around the sixth axis q6.

[0214] Please refer to Figure 14 , Figure 15 and Figure 20 , Figure 20 for Figure 2 A schematic diagram of the wrist joint 40 and output component 50 in the robotic arm 100 shown.

[0215] In this embodiment, the output component 50 includes two mounting portions 51, which are arranged opposite to each other and spaced apart. Two driven bevel gears 41 are located between the two mounting portions 51, and the two driven bevel gears 41 are connected to the two mounting portions 51 one-to-one. The distance between the two driven bevel gears 41 is adjustable.

[0216] By adopting the above scheme, the distance between the two driven bevel gears 41 can be adjusted, thereby adjusting the fit clearance between the driving bevel gear 42 and the driven bevel gear 41, ensuring that the driven bevel gear 41 and the driving bevel gear 42 fit tightly.

[0217] It is understandable that one of the driven bevel gears 41 can be fixedly connected to one of the mounting parts 51. When it is necessary to adjust the distance between the two driven bevel gears 41, it is only necessary to adjust the relative position of the other driven bevel gear 41 and the other mounting part 51.

[0218] For example, the driven bevel gear 41 can be connected to the mounting part 51 by screws, and the distance between the two driven bevel gears 41 can be adjusted by adjusting the length of the screws inserted into the driven bevel gear 41. Alternatively, shims can be provided between the driven bevel gear 41 and the mounting part 51, and the distance between the two driven bevel gears 41 can be adjusted by increasing or decreasing the number of shims. Alternatively, the distance between the two driven bevel gears 41 can be adjusted by utilizing the elasticity of the mounting part 51 itself. The output part 50 can adopt a U-shaped structure.

[0219] Please refer to Figure 1 and Figure 2 In this embodiment, the robotic arm 100 includes a base 60, which is connected to an input end 11. The input end 11 can rotate relative to the base 60 around a reference axis q0, which is perpendicular to the first axis q1.

[0220] By adopting the above scheme, the output component 50 can have a larger range of motion, thereby enabling the robotic arm 100 to have a higher degree of freedom.

[0221] It should be noted that the base 60 and the input end 11 can be rotatably connected via bearings or gears. A motor or cylinder can be installed to drive the input end 11 to rotate relative to the base 60 around the reference axis q0. The input end 11 can rotate relative to the base 60 around the reference axis q0 in one direction, or the input end 11 can rotate relative to the base 60 around the reference axis q0 in two opposite directions.

[0222] Optionally, a fifth drive assembly 70 is provided inside the shoulder joint 10, which is used to drive the input end 11 to rotate relative to the base 60 about the reference axis q0.

[0223] By adopting the above scheme, the fifth drive component 70 can be used to automatically drive the input end 11 to rotate relative to the base 60 around the reference axis q0, which facilitates the rotational connection between the base 60 and the input end 11 and avoids the fifth drive component 70 occupying additional space.

[0224] It should be noted that the fifth drive component 70 may include a motor or cylinder, as well as gears or a conveyor belt.

[0225] The robotic arm 100 provided in the above embodiments adopts a lightweight and low inertia scheme, which can reduce the end inertia of the robotic arm 100 and improve the response, while also taking into account the appearance size, making the structure compact and reducing the space occupation.

[0226] Please refer to Figures 1 to 20 Secondly, embodiments of this application provide a robot 1000, which includes a robotic arm 100 as described in the first aspect.

[0227] The robot 1000 provided in this application embodiment has a large range of motion for the output end 12 of the shoulder joint 10, which can rotate relative to its input end 11 around the first axis q1. The upper arm 20 connected to the output end 12 can rotate relative to the output end 12 around the second axis q2, and the lower arm 30 connected to the upper arm 20 can rotate relative to the upper arm 20 around the third axis q3 and the fourth axis q4. The lower arm 30 is used to connect the output component 50. Therefore, the robot arm 100 has a high degree of freedom. The shoulder joint 10, the upper arm 20 and the lower arm 30 are connected in series, and the structure is relatively simple.

[0228] Optionally, two robotic arms 100 are provided and the two robotic arms 100 are arranged back to back; the robot 1000 also includes a base 200, and the shoulder joint 10 is connected to the base 200.

[0229] With this setup, robot 1000 can simultaneously control the movement of two output components 50.

[0230] Optionally, the base 200 is provided with a base plate 210, the base plate 210 is provided with multiple adjustable feet 220, the multiple adjustable feet 220 are spaced apart, the adjustable feet 220 are threadedly connected to the base plate 210, and a suction cup is provided at the lower end of the base 200.

[0231] This configuration makes it easy to fix the robot 1000 in other positions via the base 200, and the level of the entire robot 1000 can be adjusted by adjusting the support legs 220.

[0232] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A robotic arm, characterized in that, The robotic arm includes: A shoulder joint having an input end and an output end, the output end being rotatable about a first axis relative to the input end; The upper arm is connected to the output end, and the upper arm can rotate relative to the output end around a second axis, the second axis being perpendicular to the first axis; The forearm is connected to the upper arm. The forearm can rotate relative to the upper arm about a third axis, which is perpendicular to the second axis. The forearm can also rotate relative to the upper arm about a fourth axis, which is perpendicular to the third axis. The forearm is used to connect to the output component.

2. The robotic arm according to claim 1, characterized in that, The shoulder joint includes a first drive assembly for driving the output end to rotate about the first axis relative to the input end.

3. The robotic arm according to claim 2, characterized in that, The first drive component includes a first power component and two surrounding components. The input end and the output end are both connected to the first power component. The two surrounding components are detachably connected together and enclose a receiving space. The first power component is disposed within the receiving space.

4. The robotic arm according to claim 3, characterized in that, The output terminal includes a first limiting part and two second limiting parts. The first limiting part and the second limiting parts are connected to each other. The two second limiting parts are opposite to each other and spaced apart. The two surrounding members are both disposed between the two second limiting parts. The first limiting part and / or the second limiting part are connected to the surrounding members.

5. The robotic arm according to claim 4, characterized in that, The first limiting part is provided with a wiring groove, which extends along an arc-shaped path around the first axis.

6. The robotic arm according to claim 1, characterized in that, The upper arm is internally provided with a second drive assembly, which includes a second power component. The second power component is used to drive the upper arm to rotate about the second axis relative to the output end.

7. The robotic arm according to claim 1, characterized in that, The upper arm is internally provided with a third drive assembly, which is used to drive the lower arm to rotate relative to the upper arm around the third axis and the fourth axis.

8. The robotic arm according to claim 7, characterized in that, The forearm includes a winding section; the third drive assembly includes a third power component, a winding wheel, and two traction ropes. The third power component is motive-connected to the winding wheel. One end of the traction rope is wound around the winding wheel, and the other end of the traction rope is wound around the winding section. The winding direction of one traction rope on the winding wheel is opposite to the winding direction of the other traction rope on the winding wheel, and the winding direction of one traction rope on the winding section is opposite to the winding direction of the other traction rope on the winding section.

9. The robotic arm according to claim 8, characterized in that, The third power component and the winding wheel are both provided in pairs and are arranged in a one-to-one correspondence. One winding wheel corresponds to two traction ropes, and the winding part is located between the two winding wheels.

10. The robotic arm according to claim 9, characterized in that, The two third power components are arranged sequentially along the length of the boom, with the output shaft of one of the third power components facing the opposite direction to the output shaft of the other third power component.

11. The robotic arm according to claim 9, characterized in that, The third drive assembly includes a first connector, a portion of which is located between the two winding wheels. Both winding wheels are rotatably connected to the first connector, and the winding portion is rotatably connected to the first connector.

12. The robotic arm according to claim 8, characterized in that, One of the winding wheel and the winding part is provided with a fixing mechanism, and the other of the winding wheel and the winding part is provided with a pre-tensioning mechanism. One end of the traction rope is connected to the fixing mechanism, and the other end of the traction rope is connected to the pre-tensioning mechanism.

13. The robotic arm according to claim 12, characterized in that, The pretensioning mechanism includes a fixed seat, an adjusting member, and a movable seat. One end of the adjusting member abuts against the surface of the fixed seat opposite to the movable seat, and the other end of the adjusting member passes through the fixed seat with a gap and is threaded into the movable seat. The movable seat is connected to the traction rope.

14. The robotic arm according to claim 12, characterized in that, The traction rope includes a rope body and a connector at the end of the rope body, and the fixing mechanism and / or the pre-tensioning mechanism are connected to the connector.

15. The robotic arm according to any one of claims 1 to 14, characterized in that, The robotic arm also includes a wrist joint connected to the forearm. The wrist joint is used to connect an output component. The wrist joint can rotate relative to the forearm about a fifth axis, which is perpendicular to the fourth axis. The wrist joint can also rotate relative to the forearm about a sixth axis, which is perpendicular to the fifth axis.

16. The robotic arm according to claim 15, characterized in that, The forearm is provided with a fourth drive assembly, which is used to drive the wrist joint to rotate relative to the forearm around the fifth axis and the sixth axis.

17. The robotic arm according to claim 16, characterized in that, The fourth drive assembly includes two fourth power components; the wrist joint includes two driven bevel gears and two driving bevel gears, with the two fourth power components and the two driving bevel gears arranged in a one-to-one correspondence. The fourth power components are connected to the driving bevel gears in a transmission connection. The two driving bevel gears are arranged opposite each other and spaced apart. The axis of the driving bevel gear is collinear with the fifth axis. Both driven bevel gears are connected to the output component. Both driven bevel gears are located between the two driving bevel gears. The axis of the driven bevel gear is collinear with the sixth axis. Each driven bevel gear is simultaneously connected to both driving bevel gears in a transmission connection.

18. The robotic arm according to claim 17, characterized in that, The fourth drive component includes two synchronous pulleys, each corresponding to one of the two drive bevel gears. The synchronous pulleys and the drive bevel gears corresponding to the current synchronous pulleys are coaxially arranged and fixedly connected. The fourth power component is driven by the synchronous pulleys.

19. The robotic arm according to claim 18, characterized in that, The forearm includes a forearm body, which includes a main body and two cantilever arms. The two cantilever arms are arranged opposite each other and spaced apart. The two synchronous pulleys and the two drive bevel gears are located between the two cantilever arms. The two cantilever arms and the two synchronous pulleys are arranged in a one-to-one correspondence. The drive bevel gears are connected to the cantilever arms through a first locking member, and the drive bevel gears are connected to the synchronous pulleys through a second locking member.

20. The robotic arm according to claim 19, characterized in that, The first locking member is installed on the drive bevel gear and the cantilever along a first direction, and the second locking member is installed on the drive bevel gear and the cantilever along a second direction. Both the first direction and the second direction are parallel to the arrangement direction of the two cantilever arms, and the first direction and the second direction are opposite to each other.

21. The robotic arm according to claim 17, characterized in that, The two fourth power components are arranged sequentially along the length of the forearm, and the orientation of the output shaft of one of the fourth power components is opposite to that of the output shaft of the other fourth power component.

22. The robotic arm according to claim 17, characterized in that, The wrist joint includes a second connector, a portion of which is located between the two active bevel gears, both of which are rotatably connected to the second connector; and a portion of which is located between the two driven bevel gears, both of which are rotatably connected to the second connector.

23. The robotic arm according to claim 17, characterized in that, The output component includes two mounting parts, which are arranged opposite to each other and spaced apart. Two driven bevel gears are located between the two mounting parts and are connected one-to-one with each of the two mounting parts. The distance between the two driven bevel gears is adjustable.

24. The robotic arm according to any one of claims 1 to 14, characterized in that, The robotic arm includes a base connected to the input end, the input end being rotatable relative to the base around a reference axis, the reference axis being perpendicular to the first axis.

25. The robotic arm according to claim 24, characterized in that, The shoulder joint is provided with a fifth drive assembly, which is used to drive the input end to rotate relative to the base around the reference axis.

26. A robot, characterized in that, The robot includes the robotic arm as described in any one of claims 1 to 25.

27. The robot according to claim 26, characterized in that, The robot has two robotic arms arranged opposite each other; the robot also includes a base, and the shoulder joint is connected to the base.

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