Robotic arm

Abstract

This application proposes a robotic arm, including a flexible arm, a fixed end connected to a base, and a first control end spaced apart from the fixed end along the length direction of the flexible arm; a first control component, including: a first drive motor, disposed on the base, including a first rotation output shaft; a second drive motor, disposed on the base, including a second rotation output shaft; a first drive rope, one end connected to the first rotation output shaft along a first rotation direction, and the other end connected to the first control end; a second drive rope, one end connected to the second rotation output shaft along a second rotation direction opposite to the first rotation direction, and the other end connected to the first control end; the first drive motor is used to drive the first drive rope to bend the first control end of the flexible arm toward a first side and / or the second drive component is used to drive the second drive rope to bend the first control end of the flexible arm toward a second side opposite to the first side. Through the above method, the cost of the robotic arm can be reduced.

Description

Technical Field

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

[0002] With the rise of humanoid robots, their robotic arms, as a core component, have gradually attracted attention. Modern robotic arms generally include at least two articulated rigid arms, and motors and reducers are installed at the articulation points, commonly known as joints, to achieve end-effector control. However, the cost of their reducers is extremely high, such as harmonic reducers. Furthermore, if a robotic arm needs multiple degrees of freedom, it requires multiple rigid arms and multiple joints, which in turn causes the cost to skyrocket. Summary of the Invention

[0003] In view of this, to solve the problem of high cost of the aforementioned robotic arm, the first solution provided in this application is: to provide a robotic arm, the robotic arm comprising: Base; The flexible arm includes a fixed end connected to the base and a first control end spaced apart from the fixed end along the length direction of the flexible arm; The first control component includes: A first drive motor is mounted on a base and includes a first rotation output shaft; A second drive motor is mounted on the base and includes a second rotation output shaft; The first drive rope has one end connected to the first rotation output shaft along the first rotation direction, and the other end connected to the first control end; The second drive rope has one end connected to the second rotation output shaft along a second rotation direction opposite to the first rotation direction, and the other end connected to the first control end; Wherein, the first drive motor is used to drive the first drive rope to bend the first control end of the flexible arm toward the first side and / or the second drive member is used to drive the second drive rope to bend the first control end of the flexible arm toward the second side opposite to the first side; The robotic arm further includes a first connector sleeved on the flexible arm, the first connector forming the first control end, the first drive rope being connected to one side of the first connector located on the axis of the main column, and the second drive rope being connected to the first connector on the other side of the axis of the main column.

[0004] Beneficial Effects: This invention provides a robotic arm comprising a base, a flexible arm, and a first control component. The flexible arm includes a fixed end connected to the base and a first control end spaced apart from the fixed end along its length. The first control component includes: a first drive motor mounted on the base and including a first rotation output shaft; a second drive motor mounted on the base and including a second rotation output shaft; a first drive rope, one end connected to the first rotation output shaft along a first rotation direction and the other end connected to the first control end; and a second drive rope, one end connected to the second rotation output shaft along a second rotation direction opposite to the first rotation direction and the other end connected to the first control end. The first drive motor drives the first drive rope to bend the first control end of the flexible arm toward a first side, and / or the second drive component drives the second drive rope to bend the first control end of the flexible arm toward a second side opposite to the first side. Thus, by driving the first control end of the flexible arm with a motor, the degree of freedom is converted, greatly reducing costs. Attached Figure Description

[0005] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0006] Figure 1 A schematic diagram of one embodiment of the robotic arm provided in this application; Figure 2 This is a schematic diagram of an embodiment of the first control component of the robotic arm provided in this application cooperating with the flexible arm; Figure 3 This is a schematic diagram of an embodiment of the first control component of the robotic arm provided in this application cooperating with the flexible arm; Figure 4 yes Figure 3 A magnified view of local region A; Figure 5 This is a cross-sectional schematic diagram of the cooperation between the first drive motor and the first transmission component in the robotic arm provided in this application; Figure 6 This is a schematic diagram of the structure of one embodiment of the positioning plate provided in this application; Figure 7 This is a schematic diagram of another embodiment of the positioning plate provided in this application; Figure 8 This is a schematic diagram of another embodiment of the positioning plate provided in this application; Figure 9This is a schematic diagram of the structure of an embodiment of the first connector provided in this application; Figure 10 This is a schematic diagram of another embodiment of the first connector provided in this application; Figure 11 This is a schematic diagram of one embodiment of the second connector provided in this application; Figure 12 This is a cross-sectional schematic diagram of an embodiment of the second connector provided in this application; Figure 13 A schematic diagram of another embodiment of the robotic arm provided in this application; Figure 14 yes Figure 13 A magnified view of local region B; Figure 15 A schematic diagram of another embodiment of the robotic arm provided in this application; Figure 16 This is a schematic diagram of one embodiment of the base in the robotic arm provided by this application; Figure 17 A schematic diagram of another embodiment of the robotic arm provided in this application; Figure 18 yes Figure 17 A magnified schematic diagram of a local region C in the middle; Figure 19 yes Figure 17 A magnified schematic diagram of a local region D in the middle; Figure 20 for Figure 17 A schematic diagram of the robotic arm from another perspective; Figure 21 for Figure 17 A schematic diagram of the robotic arm from another perspective; Figure 22 for Figure 17 A schematic diagram of the robotic arm from another perspective; Figure 23 This is a schematic diagram of an embodiment of the second control component in the robotic arm provided in this application, in conjunction with the flexible arm. Detailed Implementation

[0007] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0008] It should be understood that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0009] It should also be understood that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or may be connected to an intermediary element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element through an intermediary element.

[0010] The terminology used in this application specification is for the purpose of describing particular embodiments only and is not intended to limit the application. Descriptions using terms such as "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature.

[0011] Please see Figures 1-4 This application provides a robotic arm 10, which includes a base 100, a flexible arm 200, and a first control component 300.

[0012] In some embodiments, such as Figure 1 As shown, the base 100 includes a support plate 110, which has a plate-like structure.

[0013] In some embodiments, the base 100 may further include a cover (not shown) that is disposed on the support plate 110, which may form a receiving cavity with the support plate 110.

[0014] In some embodiments, the base 100 may also include a fixing structure (not shown) connected to the support plate 110. The base 100 may be fixed to industrial equipment or to the body of the robot, or the base 100 may be integrally formed with the body of the robot / industrial equipment, or the base 100 may be part of the body of the robot / industrial equipment.

[0015] In some embodiments, the base 100 includes a first surface 101 and a second surface 102 facing away from each other. Specifically, the support plate 110 of the base 100 may include a first surface 101 and a second surface 102 facing away from each other.

[0016] In some embodiments, such as Figure 1As shown, the flexible arm 200 can be elongated and may include a fixed end 201 and a first control end 202 spaced apart from the fixed end 201 along the length of the flexible arm 200. The flexible arm 200 can be connected to the base 100 through the fixed end 201.

[0017] In some embodiments, the flexible arm 200 is connected to the second surface 102 of the base 100 via the fixed end 201.

[0018] In some embodiments, the flexible arm 200 has a first control end 202, which may be located at an end of the flexible arm 200 away from the fixed end 201, or at the middle position of the flexible arm 200.

[0019] In some embodiments, the flexible arm 200 has at least two control ends, and the at least two control ends can be spaced apart along the length direction of the flexible arm 200. For example, the two control ends are a first control end 202 and a second control end 203, and the second control end 203 is located at a position away from the fixed end 201 of the first control end 202.

[0020] In some embodiments, the flexible arm 200 is specifically a flexible column that can be bent and can be deflected relative to the axial direction. That is, when one end is fixed, the other end can be deflected relative to one end. Specifically, on at least one plane parallel to the axial direction of the flexible arm 200, the other end can be deflected relative to one end in that plane to form a certain angle.

[0021] In some embodiments, on at least two axial planes parallel to the flexible arm 200, one end may deflect relative to one end in the plane to form a certain angle.

[0022] In some embodiments, on any axial plane parallel to the flexible arm 200, the other end can be deflected relative to one end in that plane to form a certain angle.

[0023] In some embodiments, the flexible arm 200 includes a main column 210.

[0024] In some embodiments, the base 100 includes a retaining plate 120 connected to the second surface 102 of the support plate 110, and the main column 210 can be embedded in the retaining plate 120. Specifically, the main column 210 may include a fixing end 201, which can be embedded in the retaining plate 120 through the fixing end 201.

[0025] In some embodiments, the first surface 101 of the base 100 is located on the side of the support plate 110 away from the mounting plate 120, and the second surface 102 of the base 100 is located on the side of the mounting plate 120 away from the support plate 110.

[0026] In some embodiments, the main column 210 includes a flexible rod.

[0027] In some embodiments, the main column 210 may be made of nickel-titanium alloy (shape memory metal), which has strong flexibility and can recover its original state well after the deformation force is removed.

[0028] In some embodiments, such as Figure 1 and Figure 2 As shown, the first control component 300 includes a first drive motor 310, a second drive motor (not shown), a first drive rope 330, and a second drive rope 340.

[0029] In some embodiments, at least a portion of the first control component 300 may be disposed on the base 100.

[0030] In some embodiments, such as Figure 1 As shown, the first drive motor 310 can be mounted on the base 100 and includes a first rotation output shaft 311. The first drive motor 310 can rotate through the first rotation output shaft 311 to output torque.

[0031] In some embodiments, the second drive motor may also be disposed on the base 100 and include a second output shaft (not shown). The second drive motor can rotate through the second rotational output shaft to output torque.

[0032] In some embodiments, the first drive motor 310 and the second drive motor may be a rotary motor or a DC coreless motor, or other rotary drive structures, which are not limited here.

[0033] In some embodiments, one of the first rotation direction and the second rotation direction is clockwise and the other is counterclockwise.

[0034] In some embodiments, the first drive motor 310 is used to drive the first drive rope 330 through the first rotation output shaft to cause the first control end 202 of the flexible arm 200 to bend toward the first side.

[0035] In some embodiments, the second drive motor is used to drive the second drive rope 340 through the second rotation output shaft to cause the first control end 202 of the flexible arm 200 to bend toward the second side opposite to the first side.

[0036] In some embodiments, when the first drive motor 310 rotates in one direction, it can drive the first drive rope 330 to achieve the winding action, thereby causing the first control end 202 of the flexible arm 200 to bend in the winding direction.

[0037] In some embodiments, when the second drive motor rotates in another direction, it can drive the second drive rope 340 to achieve the winding action, thereby causing the first control end 202 of the flexible arm 200 to bend in the winding direction.

[0038] Furthermore, in an optional embodiment, when the flexible arm 200 bends toward a certain side, such as the first side, it can essentially be similar to the bending of a person's arm when lifting something. Therefore, when the flexible arm 200 is under load, the direction of its load force or the direction of its component force is opposite to the direction of bending on the first side, that is, opposite to the tension of the first drive rope 330. In some embodiments, the axes of at least a portion of the first drive rope 330 near the first control end 202, the axes of at least a portion of the second drive rope 340 near the first control end 202, and the axis of the flexible arm 200 are located on the same plane. Specifically, the axes of at least a portion of the first drive rope 330 near (connecting) its connection point with the first control end 202, the axes of at least a portion of the second drive rope 340 near (connecting) its connection point with the first control end 202, and the axis of the flexible arm 200 are located on the same plane PL. This ensures that the tension of the first drive rope 330 and the second drive rope 340 acts on the same plane, guaranteeing that the first drive rope 330 and the second drive rope 340 control the flexible arm 200 in the same directional plane.

[0039] In some embodiments, the plane containing the connection point of the first drive rope 330 near (connecting) its connection point with the first control end 202, the connection point of the second drive rope 340 near (connecting) its connection point with the first control end 202, and the axis of the flexible arm 200 is defined as a reference plane. A plane perpendicular to the reference plane and passing through the axis of the flexible arm 200 is defined as a projection plane. The angles between the projection lines of at least a portion of the axis of the first drive rope 330 near the first control end 202 and the projection lines of at least a portion of the axis of the second drive rope 340 near the first control end 202 on the projection plane and the axis of the flexible arm 200 are all less than or equal to 15 degrees, specifically 15 degrees, 10 degrees, 8 degrees, 5 degrees, or 0 degrees. When it is 0 degrees, that is, the axis of at least a portion of the axis of the first drive rope 330 near the first control end 202, the axis of at least a portion of the axis of the second drive rope 340 near the first control end 202, and the axis of the flexible arm 200 are located on the same plane.

[0040] In some embodiments, in order to eliminate the influence of errors, when the angle between the projection line of the axis of at least a portion of the first drive rope 330 near the first control end 202 on the projection plane, the projection line of the axis of at least a portion of the second drive rope 340 near the first control end 202 on the projection plane and the axis of the flexible arm 200 is less than 8 degrees, it can also be considered that the axis of at least a portion of the first drive rope 330 near the first control end 202, the axis of at least a portion of the second drive rope 340 near the first control end 202, and the axis of the flexible arm 200 are located on the same plane.

[0041] In some embodiments, the line connecting the connection point (force point) between the first drive rope 330 and the first control end 202 and the connection point (force point) between the second drive rope 340 and the first control end 202 is also located on the plane PL.

[0042] In some embodiments, the angle between the axis of at least a portion of the first drive rope 330 near the first control end 202 and the axis of the flexible arm 200 is greater than or equal to 0 degrees and less than or equal to 90 degrees, specifically 0 degrees, 5 degrees, 10 degrees, 45 degrees, 80 degrees, or 90 degrees. Similarly, the angle between the axis of at least a portion of the second drive rope 340 near the first control end 202 and the axis of the flexible arm 200 is greater than or equal to 0 degrees and less than or equal to 90 degrees, specifically 0 degrees, 5 degrees, 10 degrees, 45 degrees, 80 degrees, or 90 degrees.

[0043] In some embodiments, the angle between the axis of at least a portion of the first drive rope 330 near the first control end 202 and the axis of the flexible arm 200 is greater than or equal to 0 degrees and less than or equal to 10 degrees. Specifically, it can be 0 degrees, 3 degrees, 5 degrees or 10 degrees.

[0044] In some embodiments, the angle between the axis of at least a portion of the second drive rope 340 near the first control end 202 and the axis of the flexible arm 200 is greater than or equal to 0 degrees and less than or equal to 10 degrees. Specifically, it can be 0 degrees, 3 degrees, 5 degrees or 10 degrees.

[0045] In some embodiments, at least a portion of the axis of the first drive rope 330 near the first control end 202, at least a portion of the axis of the second drive rope 340 near the first control end 202, and the axis of the flexible arm 200 are arranged parallel to each other. That is, the angle between the axis of the first drive rope 330 near the first control end 202, the axis of the second drive rope 340 near the first control end 202, and the axis of the flexible arm 200 is 0 degrees.

[0046] It should be noted that the angles mentioned above refer to the angles when the flexible arm 200 is in its natural state. For example, it could be when the first drive rope 330 and the second drive rope 340 are not driving the flexible arm 200, or when the flexible arm 200 is not under load, or when the axis of the flexible arm 200 is perpendicular to the first surface 101.

[0047] In some embodiments, the plane shared by at least a portion of the axis of the first drive rope 330 near the first control end 202, at least a portion of the axis of the second drive rope 340 near the first control end 202, and the axis of the flexible arm 200 is defined as the control plane.

[0048] In some embodiments, the plane shared by the connection point (force point) between the first drive rope 330 and the first control end 202, the connection point (force point) between the second drive rope 340 and the first control end 202, and the axis of the flexible arm 200 is defined as the control plane.

[0049] The axis of the flexible arm 200 defines the control plane as two sides. The side of the axis of the flexible arm 200 closer to at least a portion of the first drive rope 330 is the first side, and the side of the axis of the flexible arm 200 closer to at least a portion of the second drive rope 340 is the second side. That is, within this control plane, the axis of the flexible arm 200 (e.g., the axis when the flexible arm 200 is in its natural state) serves as the dividing line, making the control plane divided into two regions. The side closer to / including at least a portion of the first drive rope 330 is the first side, and the side closer to / including at least a portion of the second drive rope 340 is the second side.

[0050] In some embodiments, the control plane described above may be a first control plane.

[0051] In some embodiments, the control plane described above may be a second control plane.

[0052] In some embodiments, such as Figure 13As shown, the robotic arm 10 includes a base 100, a flexible arm 200, and a first drive assembly 30. The first drive assembly 30 includes two first control assemblies 300. The first drive rope 330 and the second drive rope 340 of one of the two first control assemblies 300 are respectively used to drive the first control end 202 of the flexible arm 200 to bend towards the first side and the second side in the first control plane. The first drive rope 330 and the second drive rope 340 of the other two first control assemblies 300 are respectively used to drive the first control end 202 of the flexible arm 200 to bend towards the first side and the second side in the second control plane. That is, one of the two first control assemblies 300 is used to control the bending / rotation of the first control end 202 in the first control plane, and the other is used to control the bending / rotation of the first control end 202 in the second control plane.

[0053] In some embodiments, the first control plane and the second control plane may be arranged in an alternating manner.

[0054] In some embodiments, the angle between the first control plane and the second control plane is 85 degrees or less than or equal to 95 degrees, specifically 85 degrees, 86 degrees, 89 degrees, 90 degrees, 92 degrees, 93 degrees or 95 degrees, which is not limited here.

[0055] In the above embodiment, the first control end 202 of the flexible arm 200 is simultaneously connected to the first drive rope 330 and the second drive rope 340 of the two first control components 300. One controls the bending / rotation of the first control end 202 in the first control plane, and the other controls the bending / rotation of the first control end 202 in the second control plane. In this way, the first control end can be controlled in two degrees of freedom, namely the adjustment of the roll angle and the pitch angle, through the two first control components 300 (two first drive motors 310), which greatly improves the convenience of the whole structure and reduces the weight of the whole structure.

[0056] In some embodiments, the axis of at least a portion of the first drive rope 330 near the first control end 202, the axis of at least a portion of the second drive rope 340 near the first control end 202, and the axis of the flexible arm 200 of one of the two first control components 300 in the first drive component 30 are located in the first control plane. Since the first drive rope 330 and the second drive rope 340 control the first control end 202 by tension, and the tension is along the axis of the drive rope, by setting the axis of at least a portion of the first drive rope 330 near the first control end 202, the axis of at least a portion of the second drive rope 340 near the first control end 202, and the axis of the flexible arm 200 to be located in the first control plane, it is possible to make the first control end 202 move in the first control plane when the first drive rope 330 or the second drive rope 340 is pulled.

[0057] In some embodiments, the axis of at least a portion of the first drive rope 330 near the first control end 202, the axis of at least a portion of the second drive rope 340 near the first control end 202, and the axis of the flexible arm 200 of another first control component 300 in the first drive component 30 are located in the second control plane. Since the first drive rope 330 and the second drive rope 340 control the first control end 202 by tension, and the tension is along the axis of the drive rope, by setting the axis of at least a portion of the first drive rope 330 near the first control end 202, the axis of at least a portion of the second drive rope 340 near the first control end 202, and the axis of the flexible arm 200 to be located in the second control plane, it is possible to make the first control end 202 move in the second control plane when the first drive rope 330 or the second drive rope 340 is pulled.

[0058] In some embodiments, the axes of at least a portion of the axis of the first drive rope 330 of one of the two first control components 300 in the first drive assembly 30, the axis of at least a portion of the axis of the second drive rope 340 near the first control end 202, and the axis of the flexible arm 200 are parallel to each other; the axes of at least a portion of the axis of the first drive rope 330 near the first control end 202, the axis of at least a portion of the axis of the second drive rope 340 near the first control end 202, and the axis of the flexible arm 200 of the other first control component 300 in the first drive assembly 300 are parallel to each other. This allows for control of the overall volume of the first control assembly 300 and better control of the applied force.

[0059] In some embodiments, the axis of the flexible arm 200 defines the first control plane as two sides, wherein the side of the axis of the flexible arm 200 near at least a portion of the first drive rope 330 is the first side of the first control plane, and the side of the axis of the flexible arm 200 near at least a portion of the second drive rope 340 is the second side of the first control plane.

[0060] In some embodiments, the axis of the flexible arm 200 defines the second control plane on both sides, wherein the side of the axis of the flexible arm 200 near at least a portion of the first drive rope 330 is the first side of the second control plane, and the side of the axis of the flexible arm 200 near at least a portion of the second drive rope 340 is the second side of the second control plane.

[0061] In some embodiments, the axis of the flexible arm 200 can be a straight line when it is in its natural state, which is not limited here.

[0062] In some embodiments, the first rotational output shaft includes a first outer ring.

[0063] In some embodiments, the second rotational output shaft includes a second outer ring 351.

[0064] In some embodiments, one end of the first drive rope 330 is connected to the first outer ring along the first rotation direction, and one end of the second drive rope 340 is connected to the second outer ring 351 along the second rotation direction. In some embodiments, the first outer ring has a first groove, and the second outer ring 351 has a second groove.

[0065] In some embodiments, the first drive rope 330 is at least partially wound in the first groove, and the second drive rope 340 is at least partially wound in the second groove.

[0066] In some embodiments, the first drive motor includes a first pulley member 320 connected to the first outer ring and a second pulley member disposed on the second outer ring 351. The first pulley member 320 has the first groove, and the second pulley has the second groove.

[0067] In some embodiments, such as Figure 3 As shown, at least a portion of the first drive rope 330 may be wound around the first groove 354.

[0068] In some embodiments, at least a portion of the second drive rope 340 may be wound in the second groove.

[0069] In some embodiments, a first groove 354 may be provided circumferentially on the first outer ring 352.

[0070] In some embodiments, a second groove may be provided circumferentially on the second outer ring 351.

[0071] In some embodiments, the first drive rope 330 may be at least partially wound around the second chute.

[0072] In some embodiments, the second drive rope 340 may be at least partially wound around the second chute.

[0073] In some embodiments, a first tooth may be provided on the first outer ring 352 and / or the second outer ring 351, and a second tooth may be provided on the first drive rope 330. The first drive rope 330 can be connected to the first outer ring 352 by engaging with the first tooth on the first outer ring 352 through the second tooth. The second drive rope 340 can be connected to the second outer ring 351 by engaging with the first tooth on the second outer ring through the second tooth.

[0074] In some embodiments, the first drive rope 330 and the second drive rope 340 may be the same rope.

[0075] In some embodiments, the flexible arm 200 includes a main column 210, which includes a fixed end 201 connected to the base 100.

[0076] In some embodiments, the main column 210 further includes a first control end 202, and the first control end 202 is provided with a first fixed position (not shown) and a second fixed position (not shown) on both sides of the axis of the main column 210. The first drive rope 330 is connected to the first fixed position, and the second drive rope 340 is connected to the second fixed position.

[0077] In some embodiments, the first fixing position and the second fixing position may be fixing holes provided on the main body column 210, and the first drive rope 330 and the second drive rope 340 are connected to the first control end 202 by passing through the fixing holes.

[0078] In some embodiments, the first fixed position and the second fixed position may be fixed posts disposed on the main body post 210, and the first drive rope 330 and the second drive rope 340 are connected to the first control end 202 by being wound around the fixed post.

[0079] In some embodiments, such as Figure 4 As shown, the flexible arm 200 also includes a first connector 220 sleeved on the main column 210. The first connector 220 includes a first control end 202, that is, the first connector 220 forms its first control end 202.

[0080] In some embodiments, a first drive rope 330 is connected to one side of the axis of the first connector 220 located on the main body column 210, and a second drive rope 340 is connected to the other side of the axis of the first connector 220 located on the main body column 210. The two sides are positioned opposite each other to the axis of the main body column 210. This allows the first drive rope 330 and the second drive rope 340 to control the flexible arm 200 to bend to one side.

[0081] In some embodiments, the first connector 220 includes a first cylindrical portion 221 sleeved on the main column 210 and a first plate 222 disposed on the first cylindrical portion 221.

[0082] In some embodiments, the first plate 222 may be arranged circumferentially around the first cylindrical portion 221.

[0083] In some embodiments, the first cylindrical portion 221 is formed with a first cylindrical groove 223 so as to be fitted onto the main body column 210.

[0084] In some embodiments, the axis of the first cylindrical groove 223 is parallel to the axis of the main column 210.

[0085] In some embodiments, the first cylindrical body portion 221 further has a side hole 224 communicating with the first cylindrical groove 223, and the first connector 230 further includes a first locking post (not shown), which can be inserted into the first cylindrical groove 223 through the first side hole 224 to abut against the main body post 210 located in the first cylindrical groove 223, thereby realizing a fixed connection between the first connector 220 and the main body post 210.

[0086] In some embodiments, the first locking post can be a threaded part, and the first side hole 224 is a threaded hole, so that the continuous abutment force on the main post 210 is achieved through threaded engagement to fix the first connector 220 to the main post 210.

[0087] In some embodiments, multiple first side holes 224 may be provided around the circumference of the first cylindrical groove 223.

[0088] In some embodiments, the difference between the diameter of the first cylindrical groove 223 and the diameter of the main body column 210 is greater than or equal to 0.05 mm and less than or equal to 1 mm. Specifically, it can be 0.05 mm, 0.1, 0.2, 0.5, or 1 mm, without specific limitation. This effectively maintains the contact gap between the main body column 210 and the first cylindrical groove 223, thereby ensuring the response speed of the entire robotic arm 10.

[0089] In some embodiments, the interference length between the first cylindrical groove 223 and the main column 210 is less than or equal to 5 mm, specifically 5 mm, 4 mm, 3 mm or 2 mm. This can avoid excessive length causing multiple forces and affecting control accuracy.

[0090] In some embodiments, the first plate 222 is provided with a first mounting position 225 and a second mounting position 226 on both sides of the axis of the main column 210.

[0091] In some embodiments, the difference between the distance between the axis of the first mounting position 225 and the axis of the main body post 210 and the distance between the axis of the second mounting position 226 and the axis of the main body post 210 is less than or equal to 1 mm, specifically 1 mm, 0.5 mm or 0 mm.

[0092] Specifically, the difference between the distance between the first drive rope 330 and the force point of the first mounting position 225 and the axis of the main column 210, and the difference between the distance between the second drive rope 340 and the force point of the second mounting position 226 and the axis of the main column 210, is less than or equal to 1 mm, specifically 1 mm, 0.5 mm or 0 mm.

[0093] In some embodiments, the distance between the axis of the first mounting position 225 and the axis of the main column 210 and the distance between the axis of the second mounting position 226 and the axis of the main column 210 are the same, that is, the distance difference is 0. This can ensure the consistency of the lever arm of the first drive rope 330 and the second drive rope 340 under the force at the first control end 202, which is beneficial to the precision control of the entire structure.

[0094] Specifically, the distance between the first drive rope 330 and the force point of the first mounting position 225 and the axis of the main column 210, and the distance between the second drive rope 340 and the force point of the second mounting position 226 and the axis of the main column 210 can be the same.

[0095] The ratio of the distance between the first control end 202 and the fixed end 201 to the distance between the axis of the first mounting position 225 and the main column 210 is greater than or equal to 5 and less than or equal to 11. Specifically, it can be 5, 6, 7, 7.5, 8, 9, 10, or 11, which is not limited here. Since the distance between the first control end 202 and the fixed end 201 and the axis of the first mounting position 225 and the main column 210 form two lever arms of torque, by controlling the length of the two lever arms, the correlation between the load of the first drive motor 310 and the load of the robotic arm 10 can be effectively controlled. This avoids the first drive motor 310 being overloaded and damaged due to an excessively large ratio, and also avoids the problem of the entire robotic arm 10 being too large (i.e., the first control end 202 being too large) due to an excessively small ratio.

[0096] In some embodiments, the ratio of the distance between the first control end 202 and the fixed end 201 to the distance between the axis of the first mounting position 225 and the main body column 210 is greater than or equal to 7 and less than or equal to 9.

[0097] Specifically, the distance between the first control end 202 and the fixed end 201 refers to the length or spacing of the main column 210 when it is in an unbent state, or it can be the actual length of the main column 210 in the first control end 202 and the fixed end 201 (in a bent or straight state).

[0098] In some embodiments, the first plate 222 includes four sub-plates 2221 arranged in a cross shape, the four sub-plates 2221 being arranged circumferentially around the first cylindrical portion 221.

[0099] In some embodiments, the first mounting position 225 and the second mounting position 226 are respectively disposed on two opposite sub-plates 2221 of the four sub-plates 2221, specifically on two opposite sub-plates 2221 with the first cylindrical body portion 221 as the dividing line, or disposed on two sub-plates 2221 located on both sides of the first cylindrical body portion 221 among the four sub-plates 2221.

[0100] In some embodiments, the first plate 222 is provided with a first mounting position 225 and a second mounting position 226 located on both sides of the axis of the first cylindrical groove 223.

[0101] In some embodiments, the first mounting position 225 and the second mounting position 226 may specifically be a hole structure, wherein the first mounting position 225 includes a first mounting hole and the second mounting position 226 includes a second mounting hole.

[0102] In some embodiments, the first mounting position 225 and the second mounting position 226 may specifically be column structures, wherein the first mounting position 225 includes a first mounting column and the second mounting position 226 includes a second mounting column.

[0103] In some embodiments, the first mounting position 225 and the second mounting position 226 may have other structures, other structures that can be connected to the drive rope.

[0104] In some embodiments, the first plate 222 is provided with a first mounting position 225 and a second mounting position 226 located on both sides of the axis of the first cylindrical portion 221.

[0105] The first drive rope 330 is connected to the first connector 220 through the first mounting position 225, and the second drive rope 340 is connected to the first connector 220 through the second mounting position 226.

[0106] In some embodiments, the first plate 222 is provided with a first mounting post and a second mounting post on both sides of the axis of the first cylindrical portion 221. The first drive rope 330 is connected to the first connector 220 by winding around / binding to the first mounting post, and the second drive rope 340 is connected to the first connector 220 by winding around / binding to the second mounting post.

[0107] In some embodiments, such as Figure 4 As shown, the flexible arm 200 also includes a positioning plate 230 disposed between the first connector 220 and the base 100 and sleeved on the main column 210; wherein, the positioning plate 230 has a first positioning hole 231 for the first drive rope 330 to pass through and a second positioning hole 232 for the second drive rope 340 to pass through.

[0108] In some embodiments, such as Figure 6 The positioning plate 230 is also provided with a main column sleeve hole 235, through which the main column 210 passes and is inserted into the main column sleeve hole 235, so that it is fixed to the positioning plate 230. Alternatively, the positioning plate 230 is sleeved on the main column 210 through the main column sleeve hole 235.

[0109] In some embodiments, such as Figure 8 The positioning plate 230 includes a flat plate portion 236 and a fixing sleeve 237 connected to the flat plate portion 236. A first positioning hole 231 and a second positioning hole 232 are both provided on the flat plate portion 236. Its main column sleeve hole 235 penetrates the flat plate portion 236 and the fixing sleeve 237. The fixing sleeve 237 also has a side opening forming a second lateral hole 238, which communicates with the main column sleeve hole 235. The positioning plate 230 also includes a second locking pin, which can cooperate with the second lateral hole 238 and be embedded in the main column sleeve hole 235 to abut against the main column 210 located in the main column sleeve hole 235, thereby achieving a fixed connection between the positioning plate 230 and the main column 210.

[0110] In some embodiments, the second locking post can be a threaded part, and the second side hole 238 is a threaded hole, so that the continuous abutment force on the main post 210 is achieved through threaded engagement to fix the first connector 220 to the main post 210.

[0111] In some embodiments, there are multiple positioning plates 230, and the multiple positioning plates 230 are spaced apart along the length direction of the main column 210.

[0112] In some embodiments, by providing a positioning plate 230 with a first positioning hole 231 for the first drive rope 330 to pass through and a second positioning hole 232 for the second drive rope 340 to pass through, the relative positions of the first drive rope 330 and the second drive rope 340 can be effectively limited between the first control end 202 and the fixed end 201. This can prevent them from getting tangled and limit the positions of the first drive rope 330 and the second drive rope 340.

[0113] In some embodiments, such as Figure 11 The flat plate 236 includes four support plates 2361 arranged in a cross shape and a reinforcing member 2362 connecting two circumferentially adjacent support plates 2361.

[0114] In some embodiments, four support plates 2361 are arranged circumferentially around the fixing sleeve 237.

[0115] In some embodiments, all four support plates 2361 can be connected to the fixing sleeve 237.

[0116] In some embodiments, the four support plates 2361 have a common portion and are interconnected, and their fixing sleeves 237 are disposed on the common portion of the four support plates 2361.

[0117] In some embodiments, the first positioning hole 231 and the third positioning hole 233 are each in two sets, and are respectively disposed on two circumferentially adjacent supports 2361. The second positioning hole 232 and the fourth positioning hole 234 are each in two sets, and are respectively disposed on the other two circumferentially adjacent supports 2361. That is, there are two sets of the first positioning hole 231 and the third positioning hole 233, and there are also two sets of the second positioning hole 232 and the fourth positioning hole 234. The two sets of the first positioning hole 231 and the third positioning hole 233 are respectively disposed on two circumferentially adjacent supports 2361, and the two sets of the second positioning hole 232 and the fourth positioning hole 234 are respectively disposed on the other two circumferentially adjacent supports 2361.

[0118] In some embodiments, the diameters of the first positioning hole 231, the second positioning hole 232, the third positioning hole 233, and the fourth positioning hole 234 are the same.

[0119] In some embodiments, the first drive rope 330, the second drive rope 340, the third drive rope 430, and the fourth drive rope 440 have the same diameter.

[0120] In some embodiments, the ratio of the diameter of the first positioning hole 231 to the diameter of the first drive rope 330 is greater than or equal to 1.1 and less than or equal to 1.4. Specifically, it can be 1.1 mm, 1.3 mm, or 1.4 mm, which is not limited here. This can facilitate perforation while controlling the distance between the first drive rope 330 and the inner wall of the first positioning hole 231, preventing the first drive rope 330 from deviating too much in the first positioning hole 231, thereby affecting the tension of the first drive rope 330 during take-up / unwinding and its limiting effect on the first drive rope 330.

[0121] In some embodiments, the first positioning holes 231 of the plurality of positioning plates 230 restrict the first drive rope 330 so that the axis of at least a portion of the first drive rope 330 near the first control end 202 is in the same plane as the axis of the main body column 210. When the first drive rope 330 is in a tensioned state, the plurality of points of the first drive rope 330 are restricted by the plurality of first positioning holes 231 on the plurality of positioning plates 230, thereby making the axis of at least a portion of the first drive rope 330 near the first control end 202 in the same plane as the axis of the main body column 210.

[0122] In some embodiments, the first positioning hole 231 of at least one positioning plate 230 and the first mounting position 225 on the connecting plate may restrict the first drive rope 330 so that the axis of at least a portion of the first drive rope 330 near the first control end 202 is in the same plane as the axis of the main column 210.

[0123] Similarly, in some embodiments, the second positioning holes 232 of the plurality of positioning plates 230 restrict the second drive rope 340 so that the axis of at least a portion of the second drive rope 340 near the first control end 202 is in the same plane as the axis of the main body column 210. When the second drive rope 340 is in a tensioned state, the plurality of points of the second drive rope 340 are restricted by the plurality of second positioning holes 232 on the plurality of positioning plates 230, thereby making the axis of at least a portion of the second drive rope 340 near the first control end 202 in the same plane as the axis of the main body column 210.

[0124] In some embodiments, the second positioning hole 232 of at least one positioning plate 230 and the second mounting position 226 on the first connector 220 may restrict the second drive rope 340 such that the axis of at least a portion of the second drive rope 340 near the first control end 202 is in the same plane as the axis of the main column 210.

[0125] In some embodiments, the first positioning holes 231 of the plurality of positioning plates 230 restrict the first drive rope 330 such that the axis of at least a portion of the first drive rope 330 near the first control end 202 is parallel to the axis of the main column 210.

[0126] In some embodiments, the first positioning hole 231 of at least one positioning plate 230 and the first mounting position 225 on the first connector 220 may restrict the first drive rope 330 such that the axis of at least a portion of the first drive rope 330 near the first control end 202 is parallel to the axis of the main column 210.

[0127] In some embodiments, the second positioning holes 232 of the plurality of positioning plates 230 restrict the second drive rope 340 such that the axis of at least a portion of the second drive rope 340 near the first control end 202 is parallel to the axis of the main column 210.

[0128] In some embodiments, the second positioning hole 232 of at least one positioning plate 230 and the second mounting position 226 on the first connector 220 may restrict the second drive rope 340 such that the axis of at least a portion of the second drive rope 340 near the first control end 202 is parallel to the axis of the main column 210.

[0129] In some embodiments, the distance between the first positioning hole 231 and the main body post 210 is the same as the distance between the first mounting position 225 and the main body post 210.

[0130] In some embodiments, the distance between the second positioning hole 232 and the main body post 210 and the distance between the second mounting position 226 and the main body post 210 are the same.

[0131] In some embodiments, the base 100 includes a first surface 101 and a second surface 102 facing away from each other, a first drive motor 310 is disposed on the first surface 101, and a flexible arm 200 is connected to the second surface 102 and extends from the second surface 102 in a direction away from the second surface 102.

[0132] In some embodiments, the axis of the flexible arm 200 is perpendicular to the second surface 102. Specifically, when the flexible part is in its natural state, the axis of its flexible arm 200 is perpendicular to the second surface 102.

[0133] In some embodiments, the flexible arm 200 further includes a second control end 203 disposed at the first control end 202 away from the fixed end 201 and spaced apart from the first control end 202.

[0134] In some embodiments, such as Figures 1-23 The robotic arm 10 also includes a second drive assembly 40.

[0135] The second drive assembly 40 includes two second control assemblies 400 disposed on the base 100. Each second control assembly 400 includes a third drive rope 430 and a fourth drive rope 440 connected to the second control end 203. The third drive rope 430 and the fourth drive rope 440 of one of the two second control assemblies 400 are respectively used to drive the second control end 203 of the flexible arm 200 to bend towards the first side and the second side in the third control plane. The third drive rope 430 and the fourth drive rope 440 of the other of the two second control assemblies 400 are respectively used to drive the second control end 203 of the flexible arm 200 to bend towards the first side and the second side in the fourth control plane.

[0136] In some embodiments, the third control plane and the fourth control plane are arranged in an interleaved manner.

[0137] In some embodiments, the angle between the first control plane and the third control plane is greater than or equal to 0 degrees and less than or equal to 5 degrees, specifically 0 degrees, 1 degree, 2 degrees or 5 degrees.

[0138] In some embodiments, the first control plane and the third control plane coincide, that is, the first control plane is the third control plane.

[0139] In some implementations, the angle between the second control plane and the fourth control plane is greater than or equal to 0 degrees and less than or equal to 5 degrees, specifically 0 degrees, 1 degree, 2 degrees or 5 degrees.

[0140] In some embodiments, the second control plane and the fourth control plane coincide, that is, the second control plane is the fourth control plane.

[0141] It should be noted that the connection method of the third drive rope 430 and the fourth drive rope 440 in the second control component 400 to the second control end 203 is the same as the connection method of the first drive rope 330 and the second drive rope 340 in the first control component 300 mentioned in the above embodiment to the first control end 202, and the control method is the same. Therefore, some contents will not be repeated.

[0142] In some embodiments, the second control component 400 further includes a third drive motor and a fourth drive motor. The third drive motor includes a third rotation output shaft, and the fourth drive motor includes a fourth rotation output shaft. The third rotation shaft is connected to the third drive rope 430, and the fourth rotation shaft is connected to the fourth drive rope 440.

[0143] In some embodiments, the flexible arm 200 further includes a second connector 240 sleeved on the main column 210. The second connector 240 is disposed on the side of the first connector 220 away from the fixed end 201 and spaced apart from the first connector 220. The second connector 240 includes a second control end 203. A third drive rope 430 is connected to one side of the second connector 240 located on the axis of the main column 210, and a fourth drive rope 440 is connected to the other side of the second connector 240 located on the axis of the main column 210.

[0144] In some embodiments, the first connector 230 and the second connector 240 may have the same structure, which helps to save on structural costs.

[0145] In some embodiments, such as Figure 11 and Figure 12 As shown, the second connector 240 includes a second cylindrical part 241 sleeved on the main column 210 and a second plate 242 disposed on the second cylindrical part 241.

[0146] In some embodiments, the second control terminal 203 includes a third mounting position 243 and a fourth mounting position 244 disposed on both sides of the second plate 242 on the axis of the main column 210.

[0147] In some embodiments, the third mounting position 243 may be a third mounting hole or a third mounting post.

[0148] In some embodiments, the fourth mounting position 244 may be a fourth mounting hole or a fourth mounting post.

[0149] In some embodiments, the third drive rope 430 is connected to the second connector 240 via the third mounting position 243, and the fourth drive rope 440 is connected to the second connector 240 via the fourth mounting position 244.

[0150] In some embodiments, the second cylindrical portion 241 further has a second cylindrical groove 245 for passing through the main column 210.

[0151] In some embodiments, the first plate 222 further includes a fifth mounting hole 227 and a sixth mounting hole 228 on both sides of the axis of the main column 210. The third drive rope 430 can pass through the fifth mounting hole 227 of the first plate 222 to connect with the third mounting position 243 on the second connector 240, and the fourth drive rope 440 can pass through the sixth mounting hole 228 of the first plate 222 to connect with the fourth mounting position 244 on the second connector 240.

[0152] It should be noted that the first and second rotation directions have already been explained in the above embodiments and will not be repeated here. It should also be noted that in some embodiments, the first and second rotation directions are not specific directions, but rather alternative names for two opposing rotation directions, such as one being counterclockwise and the other clockwise.

[0153] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0154] Without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples.

[0155] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A robotic arm, characterized in that, The robotic arm includes: Base; The flexible arm includes a fixed end connected to the base and a first control end spaced apart from the fixed end along the length direction of the flexible arm; The first control component includes: A first drive motor is mounted on a base and includes a first rotation output shaft; A second drive motor is mounted on the base and includes a second rotation output shaft; The first drive rope has one end connected to the first rotation output shaft along the first rotation direction, and the other end connected to the first control end; The second drive rope has one end connected to the second rotation output shaft along a second rotation direction opposite to the first rotation direction, and the other end connected to the first control end; Wherein, the first drive motor is used to drive the first drive rope to bend the first control end of the flexible arm toward the first side and / or the second drive member is used to drive the second drive rope to bend the first control end of the flexible arm toward the second side opposite to the first side; The robotic arm further includes a first connector sleeved on the flexible arm, the first connector forming the first control end, the first drive rope being connected to one side of the first connector located on the axis of the main column, and the second drive rope being connected to the first connector on the other side of the axis of the main column.

2. The robotic arm according to claim 1, characterized in that, The axis of at least a portion of the first drive rope near the first control end, the axis of at least a portion of the second drive rope near the first control end, and the axis of the flexible arm are located on the same plane.

3. The robotic arm according to claim 2, characterized in that, The axis of at least a portion of the first drive rope near the first control end, the axis of at least a portion of the second drive rope near the first control end, and the axis of the flexible arm are arranged in parallel.

4. The robotic arm according to claim 2, characterized in that, The plane shared by at least a portion of the axis of the first drive rope near the first control end, at least a portion of the axis of the second drive rope near the first control end, and the axis of the flexible arm is defined as the first control plane. The axis of the flexible arm defines the first control plane as two sides, wherein the side of the axis of the flexible arm that is closer to at least a portion of the first drive rope is the first side, and the side of the axis of the flexible arm that is closer to at least a portion of the second drive rope is the second side.

5. The robotic arm according to claim 1, characterized in that, The first rotating output shaft includes a first outer ring, the second rotating output shaft includes a second outer ring, one end of the first driving rope is connected to the first outer ring along a first rotation direction, and one end of the second driving rope is connected to the second outer ring along a second rotation direction.

6. The robotic arm according to claim 5, characterized in that, The first outer ring has a first groove, the second outer ring has a second groove, the first drive rope is at least partially wound in the first groove, and the second drive rope is at least partially wound in the second groove.

7. The robotic arm according to claim 6, characterized in that, The first drive motor includes a first pulley component connected to the first outer ring and a second pulley component disposed on the second outer ring. The first pulley has a first groove, and the second pulley has a second groove.

8. The robotic arm according to claim 6, characterized in that, The first outer ring and / or the second outer ring are provided with a first tooth, and the first drive rope and / or the second drive rope are provided with a second tooth; Wherein, the first drive rope is connected to the first outer ring through the engagement of the second tooth with the first tooth and / or the second drive rope is connected to the second outer ring through the engagement of the second tooth with the first tooth.

9. The robotic arm according to claim 1, characterized in that, The first connecting member includes a first cylindrical part sleeved on the main column and a first plate disposed on the first cylindrical part.

10. The robotic arm according to claim 9, characterized in that, The first plate is provided with a first mounting position and a second mounting position on both sides of the axis of the main column; The first drive rope is connected to the first connector via the first mounting position, and the second drive rope is connected to the first connector via the second mounting position.

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