Lightweight five-axis robot

Abstract

The application provides a lightweight five-axis mechanical arm, which comprises a fixed seat, a two-axis rotating seat, a three-axis unit and an elbow joint unit, the fixed seat is internally provided with a first joint module; the two-axis rotating seat is internally provided with a second joint module, the first joint module is connected with the two-axis rotating seat and is used for driving the two-axis rotating seat to rotate; the three-axis unit is internally provided with a third joint module, the second joint module is connected with the three-axis unit and is used for driving the three-axis unit to swing; the four-axis arm is internally provided with a fourth joint module and a fifth joint module, the third joint module is connected with the four-axis arm and is used for driving the four-axis arm to rotate; the elbow joint unit is internally provided with a joint flexion unit and a joint rotation unit, the fourth joint module is connected with the joint flexion unit through a pull rope, and the fifth joint module is connected with the joint rotation unit through a pull rope. The application can realize lightweight design of the mechanical arm structure, the elbow joint has excellent dynamic response characteristics, and the dynamic performance of the whole mechanical arm can be effectively improved.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a lightweight five-axis robotic arm. Background Technology

[0002] With the development of bipedal and wheeled humanoid robots, more and more humanoid arms are being used in related fields. Humanoid robots can travel long distances and are usually powered by batteries; the lower the power consumption of the motors, the longer the working time. Under the same load parameters and repeatability accuracy conditions for both arms, the lighter the mass, the less power the arm's motors consume; the same weight of the entire humanoid robot will also be lighter, for example, the chassis of a bipedal or wheeled robot will be lighter, and the overall power consumption will be significantly reduced. Existing traditional humanoid robotic arms have obvious technical defects and cannot meet the development requirements of low power consumption, lightweight, and high stability for humanoid robots. Specific shortcomings include: large overall weight, resulting in significant energy loss; large motion inertia, poor dynamic performance, and high ineffective energy consumption; existing robotic arms struggle to balance the design requirements of lightweight and high rigidity, resulting in an imbalance in overall performance; low structural integration and poor biomimetic adaptability. Summary of the Invention

[0003] In view of the deficiencies in the prior art, the purpose of this application is to provide a lightweight five-axis robotic arm.

[0004] According to one aspect of this application, a lightweight five-axis robotic arm is provided, comprising: The mounting base contains a first joint module for attaching the shoulder of an external robot. The two-axis rotary seat has a second joint module inside. The first joint module is connected to the two-axis rotary seat and is used to drive the two-axis rotary seat to rotate. The three-axis unit has a third joint module inside, and the second joint module is connected to the three-axis unit to drive the three-axis unit to rotate; The four-axis arm has a fourth joint module and a fifth joint module inside. The third joint module is connected to the four-axis arm and is used to drive the four-axis arm to rotate. The elbow joint unit has an internal flexion unit and a rotation unit for connecting to the robot's forearm. The fourth joint module is connected to the flexion unit via a pull rope and is used to drive the elbow joint unit to bend or straighten. The fifth joint module is connected to the rotation unit via a pull rope and is used to drive the elbow joint unit to rotate internally or externally.

[0005] Optionally, the fixed base has a first cavity, the fixed end of the first joint module is connected to the first cavity of the fixed base, the output flange of the first joint module is fixedly connected to a first flange, the first flange is fixedly connected to the two-axis rotating seat, the first flange and the two-axis rotating seat are driven by the first joint module and can rotate around the central axis of the output flange of the first joint module; the central axis of the fixed base, the central axis of the output flange of the first joint module and the central axis of the first flange are collinear.

[0006] Optionally, the two-axis rotary seat has a second cavity, and the fixed end of the second joint module is connected to the second cavity of the two-axis rotary seat; the three-axis unit includes a three-axis arm and an auxiliary bearing seat, the three-axis arm and the auxiliary bearing seat are respectively located on both sides of the two-axis rotary seat, the three-axis arm and the auxiliary bearing seat are fixedly connected, the output flange of the second joint module is fixedly connected to the three-axis arm, and is used to drive the three-axis arm to rotate around its own central axis, the auxiliary bearing seat is connected to the two-axis rotary seat through a bearing, and the auxiliary bearing seat can rotate relative to the two-axis rotary seat around its own central axis; The three-axis arm and the auxiliary bearing seat at the end away from the two-axis rotating seat form a third cavity. A third joint module is provided in the third cavity. The output flange of the third joint module is fixedly connected to the four-axis arm. The four-axis arm is driven by the third joint module and can rotate around the central axis of the output flange of the third joint module.

[0007] Optionally, one end of the four-axis arm near the three-axis unit is connected to the fixed end of the fourth joint module, and one end of the four-axis arm near the elbow joint unit is connected to the fixed end of the fifth joint module. The output flange of the fourth joint module is connected to a first winch, which is used to wind a pull rope. The pull rope wound on the first winch is used to drive the elbow joint unit to bend or straighten. The output flange of the fifth joint module is connected to a second winch, which is used to wind a pull rope. The pull rope wound on the second winch is used to drive the elbow joint unit to rotate inward or outward.

[0008] Optionally, the joint flexion unit includes an elbow joint flexion pulley mechanism and an elbow joint flexion mechanism, and the joint rotation unit includes an elbow joint rotation pulley mechanism and an elbow joint rotation mechanism; the elbow joint unit further includes an elbow joint main linkage mechanism and an elbow joint secondary linkage mechanism, and the elbow joint flexion pulley mechanism, the elbow joint rotation pulley mechanism, the elbow joint main linkage mechanism, the elbow joint secondary linkage mechanism, and the elbow joint rotation mechanism are all connected to the elbow joint flexion mechanism; The elbow joint flexion mechanism includes a front elbow seat, a rear elbow seat, a driving gear, and a driven gear; the front elbow seat is fixedly connected to the four-axis arm, the driving gear is connected to the front elbow seat, the driven gear is connected to the rear elbow seat, and the driving gear and the driven gear are meshed together.

[0009] Optionally, the elbow joint main linkage mechanism includes a main linkage, a first bearing, and a second bearing; the two ends of the main linkage are respectively provided with a first main journal and a second main journal, the first main journal is connected to the inner ring of the first bearing, the outer ring of the first bearing is connected to the driving gear, the second main journal is connected to the inner ring of the second bearing, and the outer ring of the second bearing is connected to the driven gear.

[0010] Optionally, the elbow joint secondary linkage mechanism includes a secondary linkage, a third bearing, and a fourth bearing; the two ends of the secondary linkage are respectively provided with a first secondary journal and a second secondary journal, the first secondary journal is connected to the inner ring of the third bearing, the outer ring of the third bearing is connected to the driving gear, the second secondary journal is connected to the inner ring of the fourth bearing, and the outer ring of the fourth bearing is connected to the driven gear; the main linkage and the secondary linkage are respectively disposed on both sides of the driving gear along its own central axis.

[0011] Optionally, the elbow joint rotation mechanism includes a five-axis output flange, a fifth bearing, and a flange connecting plate; one side of the flange connecting plate is fixedly connected to the rear elbow seat, the other side of the flange connecting plate is connected to the outer ring of the fifth bearing, and the inner ring of the fifth bearing is connected to the five-axis output flange, so that the five-axis output flange can rotate relative to the rear elbow seat around its own central axis.

[0012] Optionally, the elbow joint rotary pulley mechanism includes a fifth pulley, a sixth pulley, a seventh pulley, an eighth pulley, a first steering pulley, a second steering pulley, a third pull rope, and a fourth pull rope; the fifth and sixth pulleys are both connected to the front elbow seat, the seventh and eighth pulleys are both connected to the rear elbow seat, and the first and second steering pulleys are both connected to the flange connecting plate; One end of the third pull rope is fixed to the five-axis output flange, and the other end is successively wrapped around the second steering pulley, the eighth pulley, the seventh pulley, the sixth pulley and the second winch before being fixed to the second winch; one end of the fourth pull rope is fixed to the five-axis output flange, and the other end is successively wrapped around the first steering pulley, the seventh pulley, the sixth pulley, the fifth pulley and the second winch before being fixed to the second winch; When the second winch rotates counterclockwise, the third pull rope is wound up by the second winch and is in a taut state, while the fourth pull rope is unwound by the second winch and is in a slack state, causing the five-axis output flange to rotate outward; when the second winch rotates clockwise, the third pull rope is unwound by the second winch and is in a slack state, while the fourth pull rope is wound up by the second winch and is in a taut state, causing the five-axis output flange to rotate inward.

[0013] Optionally, the elbow joint flexion pulley mechanism includes a first transition pulley, a second transition pulley, a first pulley, a second pulley, a third pulley, a fourth pulley, a first pull rope, and a second pull rope; the first transition pulley is connected to the four-axis arm, the second transition pulley is connected to the front elbow seat on the side closer to the four-axis arm, the first pulley and the second pulley are both connected to the front elbow seat on the side away from the four-axis arm, and the third pulley and the fourth pulley are both connected to the rear elbow seat; One end of the first pull rope is fixed to the front elbow seat, and the other end is sequentially wrapped around the first pulley, the fourth pulley, the first pulley, the fourth pulley, the first pulley, the fourth pulley, the first pulley, the second transition pulley, the first transition pulley, and the first winch before being fixed to the first winch; one end of the second pull rope is fixed to the front elbow seat, and the other end is sequentially wrapped around the second pulley, the third pulley, the second pulley, the third pulley, the second pulley, the second transition pulley, the first transition pulley, and the first winch before being fixed to the first winch; When the first winch rotates clockwise, the first pull rope is wound up by the first winch and is in a taut state, while the second pull rope is unwound by the first winch and is in a slack state, causing the elbow joint unit to bend; when the first winch rotates counterclockwise, the first pull rope is unwound by the first winch and is in a slack state, while the second pull rope is wound up by the first winch and is in a taut state, causing the elbow joint unit to straighten.

[0014] This application provides a lightweight five-axis robotic arm with five degrees of freedom. The rotation of the two-axis rotary base, the swing of the three-axis unit, and the rotation of the four-axis arm give the robotic arm three degrees of freedom at the shoulder joint. The elbow joint unit can achieve flexion and extension, internal rotation and external rotation, giving the robotic arm two degrees of freedom at the elbow joint. The robotic arm has sufficient degrees of freedom, flexible movement, and a large working range, enabling it to complete multi-posture adjustments and complex movements. The shoulder joint is directly driven by a joint module, while the elbow joint is driven by a rope. This hybrid drive method, combining direct drive of the joint module and rope drive, achieves a lightweight design for the robotic arm structure. The rope drive of the elbow joint gives it excellent dynamic response characteristics and rapid movement, effectively improving the overall dynamic performance of the robotic arm.

[0015] Other technical effects resulting from the additional features will be further illustrated in the corresponding embodiments. Attached Figure Description

[0016] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a three-dimensional structural diagram of a lightweight five-axis robotic arm in one embodiment of this application; Figure 2 This is a schematic diagram of a lightweight five-axis robotic arm structure in one embodiment of this application; wherein, (a) is a planar schematic diagram of the robotic arm; (b) is... Figure 2 (a) is a cross-sectional view at AA. Figure 3 This is an exploded structural diagram of a lightweight five-axis robotic arm with the elbow omitted in one embodiment of this application; Figure 4 This is a schematic diagram of the left side structure of the elbow of a lightweight five-axis robotic arm in one embodiment of this application; Figure 5 This is a schematic diagram of the right side structure of the elbow of a lightweight five-axis robotic arm in one embodiment of this application; Figure 6 This is a schematic diagram of the elbow structure of a lightweight five-axis robotic arm in one embodiment of this application; wherein, (a) is a planar schematic diagram of the elbow; (b) is... Figure 6 (a) Sectional view at BB; Figure 7 This is a schematic diagram of an elbow joint flexion pulley mechanism in one embodiment of this application; Figure 8 This is a schematic diagram of an elbow joint rotary pulley mechanism in one embodiment of this application; Figure 9 This is a schematic diagram of elbow joint rotation in one embodiment of this application; Figure 10 This is a schematic diagram of an integrated dexterous hand humanoid arm with a wrist added in one embodiment of this application; Figure 11 This is a schematic diagram of the stretching motion of the first winch rotating clockwise in one embodiment of this application.

[0017] In the diagram: L1, central axis; L2, central axis; L3, central axis; L4, central axis; L4A, auxiliary central axis; L5, central axis; 100, elbow joint flexion pulley mechanism; 200, elbow joint rotation pulley mechanism; 300, elbow joint flexion mechanism; 400, elbow joint main linkage mechanism; 500, elbow joint secondary linkage mechanism; 600, elbow joint rotation mechanism; 1, fixed seat; 2, two-axis rotating seat; 3, three-axis arm; 4, four-axis arm; 6, right outer shell of the rear elbow; 7, first joint module. Group; 8. First flange; 9. Second joint module; 10. First end cap; 11. Second end cap; 12. Self-lubricating bearing; 13. Auxiliary bearing seat; 14. Third joint module; 15. Second flange; 16. Fourth joint module; 17. Fifth joint module; 18. Right housing of the four-axis arm; 19. Right housing of the front elbow; 22. First winch; 23. Second winch; 24. Third flange; 25. Left housing of the four-axis arm; 26. Left housing of the front elbow; 27. Left housing of the rear elbow; 101. First transition wheel; 102. Second 103. Transition wheel; 104. First pulley; 105. Second pulley; 106. Third pulley; 107. Fourth pulley; 108. First rope; 109. Second rope; 201. Fifth pulley; 202. Sixth pulley; 203. Seventh pulley; 204. Eighth pulley; 205. First steering pulley; 206. Second steering pulley; 207. Third rope; 208. Fourth rope; 301. Front elbow seat; 302. Drive gear; 303. First pressure plate; 304. Driven gear; 305. Rear elbow seat; 306. 401. Second pressure plate; 402. Main connecting rod; 403. First bearing inner ring pressure plate; 404. First bearing; 405. Second bearing inner ring pressure plate; 501. Secondary connecting rod; 502. Third bearing; 503. Third bearing inner ring pressure plate; 504. Fourth bearing inner ring pressure plate; 505. Fourth bearing; 601. Five-axis output flange; 602. Fifth bearing; 603. Fifth bearing inner ring pressure ring; 604. Flange connecting plate; 605. Third pressure plate; P1. First fixed end; P2. Second fixed end. Detailed Implementation

[0018] The present application will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all fall within the protection scope of the present application. Parts not described in detail in the following embodiments can be implemented using existing technology.

[0019] It should be noted that all information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with relevant regulations.

[0020] With the development of bipedal and wheeled humanoid robots, more and more humanoid arms are being used in related fields. Humanoid robots can travel long distances and are typically powered by batteries; the lower the power consumption of the motors, the longer the working time. Existing traditional humanoid robotic arms have significant technical shortcomings and cannot meet the development requirements of low power consumption, lightweight design, and high stability for humanoid robots. Based on the above problems, this application provides a lightweight five-axis robotic arm to solve the aforementioned issues.

[0021] Reference Figure 1 As shown, this application embodiment provides a lightweight five-axis robotic arm, including a fixed base 1, a two-axis rotary base 2, a three-axis unit, and an elbow joint unit. The fixed base 1 contains a first joint module 7 for connecting the robot's shoulder. The two-axis rotary base 2 contains a second joint module 9, with the first joint module 7 connected to the two-axis rotary base 2 to drive its rotation. The three-axis unit contains a third joint module 14, with the second joint module 9 connected to the three-axis unit to drive its rotation. The four-axis arm 4 contains a fourth joint module 16 and a fifth joint module 17, with the third joint module 14 connected to the four-axis arm 4 to drive its rotation. The elbow joint unit contains a joint flexion unit and a joint rotation unit for connecting the robot's forearm. The fourth joint module 16 is connected to the joint flexion unit via a pull rope to drive the elbow joint unit to bend or straighten, and the fifth joint module 17 is connected to the joint rotation unit via a pull rope to drive the elbow joint unit to rotate internally or externally.

[0022] In the embodiments described above, the robotic arm has five degrees of freedom. The rotation of the two-axis rotary seat, the swing of the three-axis unit, and the rotation of the four-axis arm give the robotic arm three degrees of freedom at the shoulder joint. The elbow joint unit can achieve bending and straightening, internal rotation and external rotation, giving the robotic arm two degrees of freedom at the elbow joint. The robotic arm has sufficient overall motion freedom, flexible movement, and a large working range, enabling it to complete multi-posture adjustments and complex movements. The shoulder joint is directly driven by a joint module, while the elbow joint is driven by a rope. Through the hybrid drive method combining direct drive of the joint module and rope drive, a lightweight design of the robotic arm structure can be achieved. The rope drive method of the elbow joint gives the elbow joint excellent dynamic response characteristics and rapid action response, effectively improving the overall dynamic performance of the robotic arm.

[0023] Reference Figure 2 and Figure 3 As shown, in some specific embodiments of this application, the fixed base 1 is provided with a first cavity, the fixed end of the first joint module 7 is connected to the first cavity of the fixed base 1, the output flange of the first joint module 7 is fixedly connected to a first flange 8, the first flange 8 is fixedly connected to the two-axis rotating seat 2, the first flange 8 and the two-axis rotating seat 2 are driven by the first joint module 7 and can rotate around the central axis of the output flange of the first joint module 7; the central axis of the fixed base 1, the central axis of the output flange of the first joint module 7 and the central axis of the first flange 8 are collinear.

[0024] For example, refer to Figure 1 As shown, the five-axis robotic arm of this application has five degrees of freedom. Related parts can rotate around five central axes: L1 (one-axis), L2 (two-axis), L3 (three-axis), L4 (four-axis), and L5 (five-axis). The lower elbow joint can both revolve around the four-axis central axis L4 and rotate around the auxiliary four-axis central axis L4A. Specifically, L1 and L3 are perpendicular to L2, L4 is parallel to L4A, and L5 and L3 are perpendicular to L4. Figure 1 The X-axis is parallel to the three-axis central axis L3, the Z-axis is parallel to the two-axis central axis L2, and the Y-axis is parallel to the four-axis central axis L4. The configuration design of the robotic arm in this application can amplify the rotation angle of the entire elbow joint, and the power of each joint can be driven by each joint module. Based on the above structural settings, the following details the movement of the robotic arm in each degree of freedom.

[0025] Reference Figure 2 As shown in the above embodiments of this application, the fixing seat 1 is provided with a first cavity, and a first flange feature is provided in the first cavity. The first flange feature is provided with several through holes around a central axis L1. The fixing end of the first joint module 7 is provided with several internal threaded holes. The internal threaded holes of the fixing end of the first joint module 7 are fixedly connected to the through holes of the first flange feature in the fixing seat 1 by screws. The center part of the first flange feature is provided with a first central hole, which is used for centering connection with the journal of the first joint module 7. The first flange 8 has several through holes around its own central axis, and the output flange of the first joint module 7 has several internal threaded holes. The through holes of the first flange 8 are fixedly connected to the internal threaded holes of the output flange of the first joint module 7 by screws. The center of the first flange 8 has a second central hole, which is used for centering connection with the journal of the output flange of the first joint module 7. The outer diameter surface of the first flange 8 has several threads. The two-axis rotary seat 2 has an inner cavity, and the inner cavity wall of the two-axis rotary seat 2 has through holes. The through holes of the inner cavity wall of the two-axis rotary seat 2 are fixedly connected to the threads on the outer diameter surface of the first flange 8 by screws. The outer diameter of the first flange 8 is a precision machined surface so as to be centered and connected with the precision holes provided in the two-axis rotary seat 2.

[0026] Furthermore, the central axis of the fixed seat 1, the central axis of the output flange of the first joint module 7, the central axis of the first flange 8, and the central axis of the end of the two-axis rotating seat 2 connected to the first flange 8 are all collinear with the central axis L1 of the first axis.

[0027] In some specific embodiments of this application, the two-axis rotary seat 2 is provided with a second cavity, and the fixed end of the second joint module 9 is connected to the second cavity of the two-axis rotary seat 2; the three-axis unit includes a three-axis arm 3 and an auxiliary bearing seat 13, the three-axis arm 3 and the auxiliary bearing seat 13 are respectively located on both sides of the two-axis rotary seat 2, the three-axis arm 3 and the auxiliary bearing seat 13 are fixedly connected, the output flange of the second joint module 9 is fixedly connected to the three-axis arm 3, and is used to drive the three-axis arm 3 to rotate around its own central axis, the auxiliary bearing seat 13 is connected to the two-axis rotary seat 2 through a bearing, and the auxiliary bearing seat 13 can rotate relative to the two-axis rotary seat 2 around its own central axis; The three-axis arm 3 and the auxiliary bearing seat 13 form a third cavity by surrounding one end away from the two-axis rotary seat 2. The third cavity is provided with a third joint module 14. The output flange of the third joint module 14 is fixedly connected to the four-axis arm 4. The four-axis arm 4 is driven by the third joint module 14 and can rotate around the central axis of the output flange of the third joint module 14.

[0028] In the above embodiments of this application, the second cavity of the two-axis rotary seat 2 is provided with a second flange feature. The second flange feature has several through holes around its central axis. The fixed end of the second joint module 9 is provided with several internal threaded holes. The internal threaded holes of the fixed end of the second joint module 9 are fixedly connected to the several through holes of the second flange feature in the two-axis rotary seat 2 by screws. The center of the second flange feature is provided with a third center hole, which is used for centering connection with the journal of the second joint module 9. The two-axis rotary seat 2 is provided with a journal, which has a precision-machined surface. The inner hole of the self-lubricating bearing 12 is connected to the journal of the two-axis rotary seat 2. The inner hole of the self-lubricating bearing 12 and the journal of the two-axis rotary seat 2 can rotate relative to each other. The auxiliary bearing seat 13 is provided with an inner cavity. The inner wall of the auxiliary bearing seat 13 is provided with a fourth center hole. The outer ring of the self-lubricating bearing 12 is fixedly connected to the fourth center hole of the inner cavity of the auxiliary bearing seat 13. The fit is an interference fit. The three-axis arm 3 has a cavity, within which is a third flange feature. This third flange feature has several through holes around its central axis. The output flange of the second joint module 9 has several internally threaded holes. These internally threaded holes are fixedly connected to the through holes of the third flange feature in the three-axis arm 3 using screws. A fifth central hole is located at the center of the third flange feature within the cavity of the three-axis arm 3. This fifth central hole is used for centering connection with the journal of the output flange of the second joint module 9. The cavity of the three-axis arm 3 has internally threaded holes, and the auxiliary bearing seat 13 has through holes. These through holes are fixedly connected to the internally threaded holes of the three-axis arm 3 using screws. The centerline of the fourth central hole of the auxiliary bearing seat 13 is coaxial with the centerline of the third flange feature within the cavity of the three-axis arm 3. The bearings housed within the output flange of the second joint module 9, together with the self-lubricating bearing 12, form a simply supported beam. This configuration offers better rigidity and stability.

[0029] Furthermore, the two-axis rotary seat 2 comprises two parts, namely a first rotary seat and a second rotary seat. The first rotary seat is connected to the first flange 8, and the central axis of the first rotary seat is collinear with the central axis of the first flange 8. The second rotary seat is used to fixably connect the second joint module 9. The three-axis arm 3 comprises two parts, namely a first three-axis part and a second three-axis part. The first three-axis part is fixedly connected to the output flange of the second joint module 9. The auxiliary bearing seat 13 comprises two parts, namely a first auxiliary part and a second auxiliary part. The first auxiliary part is fixedly connected to the self-lubricating bearing 12. The central axis of the second rotary seat, the central axis of the output flange of the second joint module 9, the central axis of the first three-axis part, and the central axis of the first auxiliary part are all collinear with the two-axis central axis L2. The second three-axis part of the three-axis arm 3 and the second auxiliary part of the auxiliary bearing seat 13 form a third cavity.

[0030] Specifically, the third cavity also includes a third flange 24, which has several through holes around its central axis. The fixed end of the third joint module 14 has several internally threaded holes, which are fixedly connected to the through holes of the third flange 24 by screws. The three-axis arm 3 cavity includes a fourth flange feature, which has several internally threaded holes around its central axis. The third flange 24 has several through holes in a second ring around its central axis, which are fixedly connected to the through holes in the second ring of the third flange 24 by screws. The second flange 15 has several through holes around its central axis, and the output flange of the third joint module 14 has several internally threaded holes. The through holes of the second flange 15 are fixedly connected to the internally threaded holes of the output flange of the third joint module 14 by screws. The second flange 15 has a sixth central hole at its center, which is used for centering connection with the journal of the output flange of the third joint module 14. The four-axis arm 4 has a fourth cavity, within which is a fifth flange feature. This fifth flange feature has several through holes around its central axis. The second flange 15 is fixedly connected to these through holes in the fifth flange feature of the four-axis arm 4 cavity by screws. A seventh center hole is located at the center of the fifth flange feature of the four-axis arm 4 cavity, used for centering connection with the second flange 15. The central axis of the output flange of the third joint module 14, the central axis of the second three-axis section, and the central axis of the second auxiliary section are all collinear with the three-axis central axis L3.

[0031] In some specific embodiments of this application, one end of the four-axis arm 4 near the three-axis unit is connected to the fixed end of the fourth joint module 16, and one end of the four-axis arm 4 near the elbow joint unit is connected to the fixed end of the fifth joint module 17. The output flange of the fourth joint module 16 is connected to a first winch 22, which is used to wind a pull rope. The pull rope wound on the first winch 22 is used to drive the elbow joint unit to bend or straighten. The output flange of the fifth joint module 17 is connected to a second winch 23, which is used to wind a pull rope. The pull rope wound on the second winch 23 is used to drive the elbow joint unit to rotate inward or outward.

[0032] In the above embodiments of this application, the fourth cavity of the four-axis arm 4 is provided with a sixth flange feature. The sixth flange feature has several through holes around its central axis. The fixed end of the fourth joint module 16 is provided with several internal threaded holes. The internal threaded holes of the fixed end of the fourth joint module 16 are fixedly connected to the several through holes of the sixth flange feature in the cavity of the four-axis arm 4 by screws. The center of the sixth flange feature is provided with an eighth center hole, which is used for centering connection with the journal of the fourth joint module 16. The fourth cavity of the four-axis arm 4 is provided with a seventh flange feature. The seventh flange feature has several through holes around its central axis. The fixed end of the fifth joint module 17 is provided with several internal threaded holes. The internal threaded holes of the fixed end of the fifth joint module 17 are fixedly connected to the several through holes of the seventh flange feature in the cavity of the four-axis arm 4 by screws. The center of the seventh flange feature is provided with a ninth center hole, which is used for centering connection with the journal of the fifth joint module 17. The first winch 22 has several through holes, and the output flange of the fourth joint module 16 has several internally threaded holes. The internally threaded holes of the output flange of the fourth joint module 16 are fixedly connected to the several through holes of the first winch 22 by screws. The second winch 23 has several through holes, and the output flange of the fifth joint module 17 has several internally threaded holes. The internally threaded holes of the output flange of the fifth joint module 17 are fixedly connected to the several through holes of the second winch 23 by screws. The central axes of the fourth joint module 16, the fifth joint module 17, the first winch 22, and the second winch 23 are all parallel to the four-axis central axis L4. The first winch 22 and the second winch 23 are located on the left and right sides of the four-axis arm 4, respectively. The first end cap 10 is fixedly connected to the end face of the three-axis arm 3 by screws, and the second end cap 11 is connected to the end face of the auxiliary bearing seat 13 by screws; the left outer shell 25 of the four-axis arm is fixedly connected to the left end face of the four-axis arm 4 by screws, and the right outer shell 18 of the four-axis arm is fixedly connected to the right end face of the four-axis arm 4 by screws. The first end cap 10, the second end cap 11, the left outer shell 25 of the four-axis arm, and the right outer shell 18 of the four-axis arm can all be used as decorative parts.

[0033] Reference Figures 4-6 As shown in some specific embodiments of this application, the joint flexion unit includes an elbow joint flexion pulley mechanism 100 and an elbow joint flexion mechanism 300, and the joint rotation unit includes an elbow joint rotation pulley mechanism 200 and an elbow joint rotation mechanism 600; the elbow joint unit also includes an elbow joint main linkage mechanism 400 and an elbow joint secondary linkage mechanism 500, and the elbow joint flexion pulley mechanism 100, the elbow joint rotation pulley mechanism 200, the elbow joint main linkage mechanism 400, the elbow joint secondary linkage mechanism 500 and the elbow joint rotation mechanism 600 are all connected to the elbow joint flexion mechanism 300; The elbow flexion mechanism 300 includes a front elbow seat 301, a rear elbow seat 305, a drive gear 302, and a driven gear 304. The front elbow seat 301 is fixedly connected to the four-axis arm 4. The drive gear 302 is connected to the front elbow seat 301, and the driven gear 304 is connected to the rear elbow seat 305. The drive gear 302 and the driven gear 304 are meshed together.

[0034] In the above embodiments of this application, the front elbow 301 is located on the side near the four-axis arm 4, and the rear elbow 305 is located on the side near the robot forearm. The front elbow 301 is fixedly connected to the four-axis arm 4 by screws. The front elbow 301 is provided with a positioning journal, and the drive gear 302 is provided with a first gear center hole. The front elbow 301 is centered with the first gear center hole of the drive gear 302 through the positioning journal, and the front elbow 301 is fixedly connected to the drive gear 302 by screws. The rear elbow 305 is provided with a positioning journal, and the driven gear 304 is provided with a second gear center hole. The rear elbow 305 is centered with the second gear center hole of the driven gear 304 through the positioning journal, and the rear elbow 305 is fixedly connected to the driven gear 304 by screws.

[0035] In some specific embodiments of this application, the elbow joint main linkage mechanism 400 includes a main linkage 401, a first bearing 403, and a second bearing 404; the two ends of the main linkage 401 are respectively provided with a first main journal and a second main journal, the first main journal is connected to the inner ring of the first bearing 403, the outer ring of the first bearing 403 is connected to the driving gear 302, the second main journal is connected to the inner ring of the second bearing 404, and the outer ring of the second bearing 404 is connected to the driven gear 304.

[0036] In the above embodiments of this application, the main connecting rod 401 has a first main journal fixedly connected to the inner ring of the first bearing 403, and a second main journal fixedly connected to the inner ring of the second bearing 404. The first bearing inner ring pressure plate 402 has a first pressure plate positioning journal, which is fixedly connected to the inner ring of the first bearing 403. The first bearing inner ring pressure plate 402 has a first end face step, which is fixedly connected to the inner ring of the first bearing 403. The first bearing inner ring pressure plate 402 is used for... The axial movement of the inner ring of the first bearing 403 is restricted. The inner ring pressure plate 405 of the second bearing is provided with a second pressure plate positioning journal, which is fixedly connected to the inner ring of the second bearing 404. The inner ring pressure plate 405 of the second bearing is provided with a second end face step, which is fixedly connected to the inner ring of the second bearing 404. The inner ring pressure plate 405 of the second bearing is used to restrict the axial movement of the inner ring of the second bearing 404. One end of the main connecting rod 401 is provided with a row of several through holes, and the through holes at one end of the main connecting rod 401 are connected to the first bearing 404 by screws. A bearing inner ring pressure plate 402 is fixedly connected to a threaded hole. The other end of the main connecting rod 401 has a row of through holes, which are fixedly connected to the threaded holes of the second bearing inner ring pressure plate 405 via screws. The drive gear 302 has an opening fixedly connected to the outer ring of the first bearing 403, and the driven gear 304 has an opening fixedly connected to the outer ring of the second bearing 404. The first pressure plate 303 has a through hole fixedly connected to the threaded hole of the drive gear 302 via screws. Next, the first pressure plate 303 is used to restrict the axial movement of the outer ring of the first bearing 403. The outer ring of the first bearing 403 is fixed axially on the front elbow seat 301. The main connecting rod 401 and the inner ring pressure plate 402 of the first bearing are both axially fixedly connected to the inner ring of the first bearing 403. The main connecting rod 401 is axially fixedly connected to the front elbow seat 301. The through hole provided by the second pressure plate 306 is fixedly connected to the threaded hole provided by the driven gear 304 by screws. The second pressure plate 306 restricts the axial movement of the outer ring of the second bearing 404.

[0037] In some specific embodiments of this application, the elbow joint secondary linkage mechanism 500 includes a secondary linkage 501, a third bearing 502, and a fourth bearing 505; the two ends of the secondary linkage 501 are respectively provided with a first secondary journal and a second secondary journal, the first secondary journal is connected to the inner ring of the third bearing 502, the outer ring of the third bearing 502 is connected to the driving gear 302, the second secondary journal is connected to the inner ring of the fourth bearing 505, and the outer ring of the fourth bearing 505 is connected to the driven gear 304; the main linkage 401 and the secondary linkage 501 are respectively disposed on both sides of the driving gear 302 along its own central axis.

[0038] In the above embodiments of this application, the first secondary journal of the secondary connecting rod 501 is fixedly connected to the inner ring of the third bearing 502, the second secondary journal of the secondary connecting rod 501 is fixedly connected to the inner ring of the fourth bearing 505, the third pressure plate positioning journal of the third bearing inner ring pressure plate 503 is fixedly connected to the inner ring of the third bearing 502, and the third end face step of the third bearing inner ring pressure plate 503 is fixedly connected to the inner ring of the third bearing 502. The third bearing inner ring pressure plate 503 is used to restrict the axial movement of the inner ring of the third bearing 502. The fourth pressure plate positioning journal of the fourth bearing inner ring pressure plate 504 is fixedly connected to the inner ring of the fourth bearing 505, and the fourth end face step of the fourth bearing inner ring pressure plate 504 is fixedly connected to the inner ring of the fourth bearing 505. The fourth bearing inner ring pressure plate 504 is used to restrict the axial movement of the inner ring of the fourth bearing 505. One end of the secondary connecting rod 501 is provided with a first through hole, which is connected to... The screw is fixedly connected to the threaded hole of the inner ring pressure plate 503 of the third bearing. The other end of the auxiliary connecting rod 501 is provided with a second through hole, which is fixedly connected to the threaded hole of the inner ring pressure plate 504 of the fourth bearing through a screw. The machining hole of the front elbow seat 301 is fixedly connected to the outer ring of the third bearing 502, and the machining hole of the rear elbow seat 305 is fixedly connected to the outer ring of the fourth bearing 505. The through hole of the first pressure plate 303 is fixedly connected to the threaded hole of the front elbow seat 301 through a screw. Several threaded holes of the front elbow seat 301 are fixedly connected to the first screw. The stepped end face of the first screw directly presses against the outer ring of the third bearing 502 to restrict the axial movement of the outer ring of the third bearing 502. Several threaded holes of the rear elbow seat 305 are fixedly connected to the second screw. The stepped end face of the second screw directly presses against the outer ring of the fourth bearing 505 to restrict the axial movement of the outer ring of the fourth bearing 505.

[0039] Specifically, the central shafts of the first main journal, the first bearing 403, and the drive gear 302 in the main connecting rod 401, the first secondary journal, and the third bearing 502 in the secondary connecting rod 501 are all collinear with the four-axis central shaft L4; the central shafts of the second main journal, the second bearing 404, and the driven gear 304 in the main connecting rod 401, the second secondary journal, and the fourth bearing 505 in the secondary connecting rod 501 are all collinear with the auxiliary four-axis central shaft L4A.

[0040] In some specific embodiments of this application, the elbow joint rotation mechanism 600 includes a five-axis output flange 601, a fifth bearing 602, and a flange connecting plate 604; one side of the flange connecting plate 604 is fixedly connected to the rear elbow seat 305, the other side of the flange connecting plate 604 is connected to the outer ring of the fifth bearing 602, and the inner ring of the fifth bearing 602 is connected to the five-axis output flange 601, so that the five-axis output flange 601 can rotate relative to the rear elbow seat 305 around its own central axis.

[0041] In the above embodiments of this application, the rear elbow seat 305 is centered with the positioning journal of the flange connecting plate 604, and the rear elbow seat 305 is fixedly connected to the flange connecting plate 604 by screws. The flange connecting plate 604 is provided with machining holes, and the outer ring of the fifth bearing 602 is fixedly connected to the machining holes of the flange connecting plate 604. The through hole of the third pressure plate 605 is fixedly connected to the internal thread of the flange connecting plate 604 by screws. The fifth bearing 602 is located between the third pressure plate 605 and the flange connecting plate 604, and the third pressure plate 605 is used to restrict the axial movement of the outer ring of the fifth bearing 602. The inner ring of the fifth bearing 602 is fixedly connected to the positioning journal of the five-axis output flange 601, and the inner ring of the fifth bearing 602 is fixedly connected to the positioning journal of the inner ring pressure ring 603 of the fifth bearing. The through hole of the five-axis output flange 601 is fixedly connected to the threaded hole of the inner ring pressure ring 603 of the fifth bearing by screws, and the inner ring pressure ring 603 of the fifth bearing is used to restrict the axial movement of the inner ring of the fifth bearing 602. The central axis of the five-axis output flange 601 is collinear with the five-axis central axis L5. The five-axis output flange 601 is used to connect the forearm of an external robot.

[0042] In some specific embodiments of this application, reference is made to Figure 8 As shown, the elbow joint rotary pulley mechanism 200 includes a fifth pulley 201, a sixth pulley 202, a seventh pulley 203, an eighth pulley 204, a first steering pulley 205, a second steering pulley 206, a third pull rope 207, and a fourth pull rope 208; the fifth pulley 201 and the sixth pulley 202 are both connected to the front elbow seat 301, the seventh pulley 203 and the eighth pulley 204 are both connected to the rear elbow seat 305, and the first steering pulley 205 and the second steering pulley 206 are both connected to the flange connecting plate 604; One end of the third pull rope 207 is fixed to the five-axis output flange 601, and the other end passes through the second steering pulley 206, the eighth pulley 204, the seventh pulley 203, the sixth pulley 202, and the second winch 23 in sequence before being fixed to the second winch 23; one end of the fourth pull rope 208 is fixed to the five-axis output flange 601, and the other end passes through the first steering pulley 205, the seventh pulley 203, the sixth pulley 202, the fifth pulley 201, and the second winch 23 in sequence before being fixed to the second winch 23; When the second winch 23 rotates counterclockwise, the third pull rope 207 is wound up by the second winch 23 and is in a taut state, while the fourth pull rope 208 is unwound by the second winch 23 and is in a slack state, causing the five-axis output flange 601 to rotate outward; when the second winch 23 rotates clockwise, the third pull rope 207 is unwound by the second winch 23 and is in a slack state, while the fourth pull rope 208 is wound up by the second winch 23 and is in a taut state, causing the five-axis output flange 601 to rotate inward. For example, the fifth pulley 201, the sixth pulley 202, the seventh pulley 203, and the eighth pulley 204 are all equipped with double sets of pulleys. The central axes of the fifth pulley 201, the sixth pulley 202, the seventh pulley 203, the eighth pulley 204, the first steering pulley 205, and the second steering pulley 206 are all parallel to the central axis of the second winch 23.

[0043] like Figure 8 As shown in the above embodiment of this application, the left side of the front elbow seat 301 is connected to the left outer shell 26 of the front elbow, and the right side is connected to the right outer shell 19 of the front elbow. The left side of the rear elbow seat 305 is connected to the left outer shell 27 of the rear elbow, and the right side is connected to the right outer shell 6 of the rear elbow. The elbow joint rotation pulley mechanism 200 is a rope-driven elbow forward and backward rotation mechanism. The fifth pulley 201 is fixedly connected to the internal thread of the right outer shell 19 of the front elbow via an external thread, and is located on the side of the right outer shell 19 of the front elbow near the four-axis arm 4. The sixth pulley 202 is fixedly connected to the internal thread of the right outer shell 19 of the front elbow via an external thread, and is located on the side of the right outer shell 19 of the front elbow away from the four-axis arm 4. The seventh pulley 203 is fixedly connected to the internal thread of the right outer shell 6 of the rear elbow via an external thread, and is located on the side of the right outer shell 6 of the rear elbow away from the five-axis output flange 601. The eighth pulley 204 is fixedly connected to the right outer shell 6 of the rear elbow via an external thread. The system is equipped with an internal threaded fixed connection, and the eighth pulley 204 is connected to the right outer casing 6 of the rear elbow near the five-axis output flange 601. The first steering pulley 205 is fixedly connected to the internal thread of the flange connecting plate 604 through the external thread. The second steering pulley 206 is fixedly connected to the internal thread of the flange connecting plate 604 through the external thread. The third pull rope 207 starts from the five-axis output flange 601 and connects the second steering pulley 206, the eighth pulley 204, the seventh pulley 203, the sixth pulley 202, and the second winch 23 in sequence. The fourth pull rope 208 starts from the five-axis output flange 601 and connects the first steering pulley 205, the seventh pulley 203, the sixth pulley 202, the fifth pulley 201, and the second winch 23 in sequence.

[0044] In some specific embodiments of this application, reference is made to Figure 7 As shown, the elbow flexion pulley mechanism 100 includes a first transition pulley 101, a second transition pulley 102, a first pulley 103, a second pulley 104, a third pulley 105, a fourth pulley 106, a first pull rope 107, and a second pull rope 108; the first transition pulley 101 is connected to the four-axis arm 4, the second transition pulley 102 is connected to the side of the front elbow seat 301 close to the four-axis arm 4, the first pulley 103 and the second pulley 104 are both connected to the side of the front elbow seat 301 away from the four-axis arm 4, and the third pulley 105 and the fourth pulley 106 are both connected to the rear elbow seat 305; One end of the first pull rope 107 is fixed to the front elbow 301, and the other end is fixed to the first winch 22 after passing through the first pulley 103, the fourth pulley 106, the first pulley 103, the fourth pulley 106, the first pulley 103, the fourth pulley 106, the first pulley 103, the second transition pulley 102, the first transition pulley 101 and the first winch 22 in sequence. One end of the second pull rope 108 is fixed to the front elbow 301, and the other end is fixed to the first winch 22 after passing through the second pulley 104, the third pulley 105, the second pulley 104, the third pulley 105, the second pulley 104, the third pulley 105, the second pulley 104, the second transition pulley 102, the first transition pulley 101 and the first winch 22 in sequence. When the first winch 22 rotates clockwise, the first pull rope 107 is wound up by the first winch 22 and is in a taut state, while the second pull rope 108 is unwound by the first winch 22 and is in a slack state, causing the elbow joint unit to bend; when the first winch 22 rotates counterclockwise, the first pull rope 107 is unwound by the first winch 22 and is in a slack state, while the second pull rope 108 is wound up by the first winch 22 and is in a taut state, causing the elbow joint unit to straighten. For example, the first pulley 103 and the second pulley 104 each have four sets of pulleys, and the third pulley 105 and the fourth pulley 106 each have three sets of pulleys; the central axes of the first transition pulley 101, the second transition pulley 102, the first pulley 103, the second pulley 104, the third pulley 105, and the fourth pulley 106 are all parallel to the central axis of the first winch 22. The line connecting the central axis of the driving gear 302 and the central axis of the driven gear 304 is taken as the reference line of the elbow joint unit. The second pulley 104 and the third pulley 105 are located on the same side of the reference line, and the connection of the rotation centers of the second pulley 104 and the third pulley 105 is parallel to the reference line. The first pulley 103 and the fourth pulley 106 are located on the other side of the reference line, and the connection of the rotation centers of the first pulley 103 and the fourth pulley 106 is parallel to the reference line.

[0045] like Figure 7As shown in the above embodiment of this application, the elbow flexion pulley mechanism 100 is an elbow flexion mechanism controlled by a rope drive. The first transition pulley 101 is fixedly connected to the internal thread of the four-axis arm 4 through an external thread. The second transition pulley 102 is fixedly connected to the internal thread of the front elbow seat 301 through an external thread. The first pulley 103 is fixedly connected to the internal thread of the front elbow seat 301 through an external thread. The second pulley 104 is fixedly connected to the internal thread of the front elbow seat 301 through an external thread. The third pulley 105 is fixedly connected to the internal thread of the rear elbow seat 305 through an external thread. The fourth pulley 106 is fixedly connected to the rear elbow seat 305 through an external thread. The elbow seat 305 is provided with an internal threaded fixed connection. The first pull rope 107 starts from the front elbow seat 301 and passes through the first pulley 103, the fourth pulley 106, the first pulley 103, the fourth pulley 106, the first pulley 103, the fourth pulley 106, the first pulley 103, the second transition pulley 102, the first transition pulley 101 and the first winch 22 in sequence. The second pull rope 108 starts from the front elbow seat 301 and connects the second pulley 104, the third pulley 105, the second pulley 104, the third pulley 105, the second pulley 104, the third pulley 105, the second pulley 104, the second transition pulley 102, the first transition pulley 101 and the first winch 22 in sequence.

[0046] In the above embodiments of this application, the first joint module 7 outputs flange rotation, driving the first flange 8 and related fixed connecting parts to rotate around a central axis L1; the second joint module 9 outputs flange rotation, driving the three-axis arm 3 and related fixed connecting parts to rotate around a central axis L2; ​​the third joint module 14 outputs flange rotation, driving the second flange 15 and related fixed connecting parts to rotate around a central axis L3. Figure 10 This is a schematic diagram showing the rotation of three joints to the position of a human-like shoulder joint.

[0047] like Figure 6As shown, the elbow flexion mechanism 300, the elbow main linkage mechanism 400, and the elbow secondary linkage mechanism 500 constitute a planetary linkage mechanism. One end of the main linkage 401 shares a common four-axis central axis L4 with the first bearing 403, the front elbow seat 301, the driving gear 302, one end of the secondary linkage 501, and the third bearing 502. One end of the main linkage 401 and one end of the secondary linkage 501 can rotate around the four-axis central axis L4. The other end of the main linkage 401 shares a common auxiliary four-axis central axis L4A with the second bearing 404, the driven gear 304, the rear elbow seat 305, the other end of the secondary linkage 501, and the fourth bearing 505. The driven gear 304 is fixedly connected to the rear elbow seat 305. The other end of the main linkage 401 and the other end of the secondary linkage 501 will rotate relative to the driven gear 304 around the auxiliary four-axis central axis L4A. The driving gear 302 and driven gear 304 form a planetary gear train, with the driving gear 302 being the sun gear and the driven gear 304 revolving around the sun. The elbow joint linkage mechanism 500 is a virtual constraint, serving as auxiliary support. (Refer to...) Figure 9 and Figure 11 As shown, the first fixed end P1 of the first pull rope 107 is fixed to the front elbow seat 301, and the first fixed end P2 of the second pull rope 108 is fixed to the front elbow seat 301. The first winch 22 acts directly on the fourth pulley 106 through the first pull rope 107, and the first winch 22 acts directly on the third pulley 105 through the second pull rope 108. The first winch 22 rotates clockwise to wind up the first pull rope 107, which shortens the center distance between the first pulley 103 and the fourth pulley 106. At the same time, the second pull rope 108 unwinds, which increases the center distance between the second pulley 104 and the third pulley 105, causing the first pull rope 107 to generate tension on the fourth pulley 106. Figure 11 As shown, B1-B9 represent the direction of the first pull rope 107, and A1-A9 represent the direction of the second pull rope 108. Since the third pulley 105 and the fourth pulley 106 are both connected to the rear elbow seat 305, based on the pulling force of the first pull rope 107, the movement of the third pulley 105 and the fourth pulley 106 causes the rear elbow seat 305 and the driven gear 304 to rotate and move downward. Since the two ends of the main connecting rod 401 are respectively connected to the driving gear 302 and the driven gear 304, the movement of the driven gear 304 drives the main connecting rod 401 to move, thereby causing one end of the main connecting rod 401 to rotate around the four-axis central axis L4 and generate relative movement with the front elbow seat 301, and one end of the rear elbow seat 305 to rotate around the auxiliary four-axis central axis L4A and generate relative movement with the main connecting rod 401. The elbow joint rotation mechanism 600 follows the rotation of the rear elbow seat 305.

[0048] Reference Figure 8 As shown, the second winch 23 rotates clockwise to wind up the fourth pull rope 208, the second winch 23 rotates clockwise to unwind the third pull rope 207, and the fourth pull rope 208 pulls the five-axis output flange 601 to rotate clockwise.

[0049] The lightweight five-axis robotic arm proposed in this application has a significantly reduced moment of inertia at its end compared to traditional configurations. For example, in traditional configurations, the fourth joint module 16 is typically designed at the center of the elbow joint, and the fifth joint module 17 is designed at the front of the elbow joint. The moment of inertia of this configuration relative to the two-axis central axis L2 is 2405 kg·cm². In this application embodiment, both the fourth joint module 16 and the fifth joint module 17 are located in the upper arm structure, and the moment of inertia relative to the two-axis central axis L2 is 1794 kg·cm². 1794 (kg·cm²) / 2405 (kg·cm²) = 0.746, which is equivalent to 74.6% of the traditional configuration. It can be seen that the moment of inertia of this application embodiment is significantly reduced compared to the traditional configuration. Under the same end-effector load of 5kg and reach of 660mm, the weight of a five-axis robotic arm with transmission configuration is generally 8.5kg. The configuration of this application embodiment weighs only 6.6kg under the same load and reach. 6.6kg / 8.5kg = 0.776, which is equivalent to 77.6% of the traditional configuration. It can be seen that the body weight of this application embodiment is also significantly reduced compared to the traditional configuration.

[0050] This application provides a lightweight, low-inertia, and high-rigidity five-degree-of-freedom robotic arm. The main configuration of this application's embodiments is based on a hybrid drive system of direct drive and wire drive for the transmission joint modules, reducing the overall inertia and weight of the arm. The elbow joints utilize a cable-driven system, resulting in rapid joint movement response, fast dynamic response performance, and the cable can be kept taut, eliminating backlash and improving overall positioning accuracy. While achieving lightweight arm design, this application maintains a size and appearance that are not significantly different from traditional humanoid robotic arms, making it suitable for use as the dual arms of humanoid robots. This robotic arm has five degrees of freedom: three shoulder joints and two elbow joints. Its configuration mainly consists of joint modules, cables, fixed pulleys, gears, and bearings. This application is not only suitable for the humanoid robot industry but also for related industries with high requirements for repeatability, lightweight design, and structural compactness. In summary, this application's embodiments provide a five-axis robot with low inertia, lightweight design, and compact structure, suitable for various practical applications requiring compact space, low weight, and high speed.

[0051] In the description of the embodiments of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the 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.

[0052] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0053] In the description of the embodiments in this application, "multiple" means two or more, unless otherwise explicitly specified. In this application, unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0054] The terms "comprising" and "having," and any variations thereof, in the embodiments of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or devices.

[0055] The preferred features in the above embodiments can be used individually in any embodiment, or in any combination thereof, provided they do not conflict with each other. Furthermore, parts not described in detail in the embodiments can be implemented using existing technologies.

[0056] The foregoing has described some specific embodiments of this application. It should be understood that this application is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this application. The above-described preferred features can be used in any combination without conflict.

Claims

1. A lightweight five-axis robotic arm, characterized in that, include: The mounting base contains a first joint module for attaching the shoulder of an external robot. The two-axis rotary seat has a second joint module inside. The first joint module is connected to the two-axis rotary seat and is used to drive the two-axis rotary seat to rotate. The three-axis unit has a third joint module inside, and the second joint module is connected to the three-axis unit to drive the three-axis unit to rotate; The four-axis arm has a fourth joint module and a fifth joint module inside. The third joint module is connected to the four-axis arm and is used to drive the four-axis arm to rotate. The elbow joint unit has an internal flexion unit and a rotation unit for connecting to the robot's forearm. The fourth joint module is connected to the flexion unit via a pull rope and is used to drive the elbow joint unit to bend or straighten. The fifth joint module is connected to the rotation unit via a pull rope and is used to drive the elbow joint unit to rotate internally or externally.

2. The lightweight five-axis robotic arm according to claim 1, characterized in that, The fixed base has a first cavity, and the fixed end of the first joint module is connected to the first cavity of the fixed base. The output flange of the first joint module is fixedly connected to a first flange. The first flange is fixedly connected to the two-axis rotating seat. The first flange and the two-axis rotating seat are driven by the first joint module and can rotate around the central axis of the output flange of the first joint module. The central axis of the fixed base, the central axis of the output flange of the first joint module, and the central axis of the first flange are collinear.

3. A lightweight five-axis robotic arm according to claim 1, characterized in that, The two-axis rotary seat has a second cavity, and the fixed end of the second joint module is connected to the second cavity of the two-axis rotary seat; the three-axis unit includes a three-axis arm and an auxiliary bearing seat, the three-axis arm and the auxiliary bearing seat are respectively located on both sides of the two-axis rotary seat, the three-axis arm and the auxiliary bearing seat are fixedly connected, the output flange of the second joint module is fixedly connected to the three-axis arm, and is used to drive the three-axis arm to rotate around its own central axis, the auxiliary bearing seat is connected to the two-axis rotary seat through a bearing, and the auxiliary bearing seat can rotate relative to the two-axis rotary seat around its own central axis; The three-axis arm and the auxiliary bearing seat at the end away from the two-axis rotating seat form a third cavity. A third joint module is provided in the third cavity. The output flange of the third joint module is fixedly connected to the four-axis arm. The four-axis arm is driven by the third joint module and can rotate around the central axis of the output flange of the third joint module.

4. A lightweight five-axis robotic arm according to claim 1, characterized in that, One end of the four-axis arm near the three-axis unit is connected to the fixed end of the fourth joint module, and one end of the four-axis arm near the elbow joint unit is connected to the fixed end of the fifth joint module. The output flange of the fourth joint module is connected to a first winch, which is used to wind a pull rope. The pull rope wound on the first winch is used to drive the elbow joint unit to bend or straighten. The output flange of the fifth joint module is connected to a second winch, which is used to wind a pull rope. The pull rope wound on the second winch is used to drive the elbow joint unit to rotate inward or outward.

5. A lightweight five-axis robotic arm according to claim 4, characterized in that, The joint flexion unit includes an elbow joint flexion pulley mechanism and an elbow joint flexion mechanism; the joint rotation unit includes an elbow joint rotation pulley mechanism and an elbow joint rotation mechanism; the elbow joint unit also includes an elbow joint main linkage mechanism and an elbow joint secondary linkage mechanism; the elbow joint flexion pulley mechanism, the elbow joint rotation pulley mechanism, the elbow joint main linkage mechanism, the elbow joint secondary linkage mechanism, and the elbow joint rotation mechanism are all connected to the elbow joint flexion mechanism; The elbow joint flexion mechanism includes a front elbow seat, a rear elbow seat, a driving gear, and a driven gear; the front elbow seat is fixedly connected to the four-axis arm, the driving gear is connected to the front elbow seat, the driven gear is connected to the rear elbow seat, and the driving gear and the driven gear are meshed together.

6. A lightweight five-axis robotic arm according to claim 5, characterized in that, The elbow joint main linkage mechanism includes a main linkage, a first bearing, and a second bearing; the two ends of the main linkage are respectively provided with a first main journal and a second main journal, the first main journal is connected to the inner ring of the first bearing, the outer ring of the first bearing is connected to the driving gear, the second main journal is connected to the inner ring of the second bearing, and the outer ring of the second bearing is connected to the driven gear.

7. A lightweight five-axis robotic arm according to claim 5, characterized in that, The elbow joint secondary linkage mechanism includes a secondary linkage, a third bearing, and a fourth bearing; the two ends of the secondary linkage are respectively provided with a first secondary journal and a second secondary journal, the first secondary journal is connected to the inner ring of the third bearing, the outer ring of the third bearing is connected to the driving gear, the second secondary journal is connected to the inner ring of the fourth bearing, and the outer ring of the fourth bearing is connected to the driven gear; the main linkage and the secondary linkage are respectively arranged on both sides of the driving gear along its own central axis.

8. A lightweight five-axis robotic arm according to claim 5, characterized in that, The elbow joint rotation mechanism includes a five-axis output flange, a fifth bearing, and a flange connecting plate; one side of the flange connecting plate is fixedly connected to the rear elbow seat, the other side of the flange connecting plate is connected to the outer ring of the fifth bearing, and the inner ring of the fifth bearing is connected to the five-axis output flange, so that the five-axis output flange can rotate relative to the rear elbow seat around its own central axis.

9. A lightweight five-axis robotic arm according to claim 8, characterized in that, The elbow joint rotary pulley mechanism includes a fifth pulley, a sixth pulley, a seventh pulley, an eighth pulley, a first steering pulley, a second steering pulley, a third pull rope, and a fourth pull rope; the fifth and sixth pulleys are both connected to the front elbow seat, the seventh and eighth pulleys are both connected to the rear elbow seat, and the first and second steering pulleys are both connected to the flange connecting plate; One end of the third pull rope is fixed to the five-axis output flange, and the other end is successively wrapped around the second steering pulley, the eighth pulley, the seventh pulley, the sixth pulley and the second winch before being fixed to the second winch; one end of the fourth pull rope is fixed to the five-axis output flange, and the other end is successively wrapped around the first steering pulley, the seventh pulley, the sixth pulley, the fifth pulley and the second winch before being fixed to the second winch; When the second winch rotates counterclockwise, the third pull rope is wound up by the second winch and is in a taut state, while the fourth pull rope is unwound by the second winch and is in a slack state, causing the five-axis output flange to rotate outward; when the second winch rotates clockwise, the third pull rope is unwound by the second winch and is in a slack state, while the fourth pull rope is wound up by the second winch and is in a taut state, causing the five-axis output flange to rotate inward.

10. A lightweight five-axis robotic arm according to claim 5, characterized in that, The elbow joint flexion pulley mechanism includes a first transition pulley, a second transition pulley, a first pulley, a second pulley, a third pulley, a fourth pulley, a first pull rope, and a second pull rope; the first transition pulley is connected to the four-axis arm, the second transition pulley is connected to the front elbow seat on the side closer to the four-axis arm, the first pulley and the second pulley are both connected to the front elbow seat on the side away from the four-axis arm, and the third pulley and the fourth pulley are both connected to the rear elbow seat; One end of the first pull rope is fixed to the front elbow seat, and the other end is sequentially wrapped around the first pulley, the fourth pulley, the first pulley, the fourth pulley, the first pulley, the fourth pulley, the first pulley, the second transition pulley, the first transition pulley, and the first winch before being fixed to the first winch; one end of the second pull rope is fixed to the front elbow seat, and the other end is sequentially wrapped around the second pulley, the third pulley, the second pulley, the third pulley, the second pulley, the second transition pulley, the first transition pulley, and the first winch before being fixed to the first winch; When the first winch rotates clockwise, the first pull rope is wound up by the first winch and is in a taut state, while the second pull rope is unwound by the first winch and is in a slack state, causing the elbow joint unit to bend; when the first winch rotates counterclockwise, the first pull rope is unwound by the first winch and is in a slack state, while the second pull rope is wound up by the first winch and is in a taut state, causing the elbow joint unit to straighten.

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