Robotic arm

Abstract

This application proposes a robotic arm, including a base, a flexible arm, and a first control component. The flexible arm includes a fixed end and a first control end. The first control component includes: a first driving member including a first rotational output shaft; a first transmission component including two first unidirectional transmission members connected to the first rotational output shaft and having opposite transmission directions; a first driving rope with one end connected to one of the two first unidirectional transmission members and the other end connected to the first control end; a second driving rope with one end connected to the other of the two first unidirectional transmission members and the other end connected to the first control end; the first driving member is used to drive the first driving rope to bend the first control end of the flexible arm toward a first side and / or drive the second driving rope to bend the first control end of the flexible arm toward a second side opposite to the first side. Through this method, a single first driving member can control the flexible arm to bend in two directions.

Description

Technical Field

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

[0002] Flexible robotic arms (also known as continuous robotic arms or soft robotic arms) are a new type of robotic structure that mimics the movement characteristics of living organisms (such as elephant trunks and octopus tentacles). Compared to traditional rigid robotic arms composed of discrete joints, flexible robotic arms have the ability to continuously bend and deform, giving them unique advantages in narrow, unstructured environments (such as minimally invasive surgical cavities, internal inspection of complex industrial equipment, and gaps in disaster search and rescue). Their core characteristics include high flexibility, good environmental adaptability, and high safety in human-robot interaction.

[0003] One current approach involves mounting a motor and a flexible skeleton on a base. This is achieved by connecting a tendon cable between the motor and the end of the flexible skeleton. When the end of the flexible skeleton needs to be deflected in one direction, the corresponding motor drives the tendon cable to reel in the cable, applying tension to the end of the skeleton and causing it to deflect. Conversely, to deflect the end of the flexible skeleton in the opposite direction, another motor drives another tendon cable to reel in the cable. This requires a separate motor for each direction of control, ultimately increasing the overall weight of the robotic arm. Summary of the Invention

[0004] In view of this, to solve the problem of the large weight of the aforementioned flexible 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: The first driving component is disposed on the base and includes a first rotation output shaft; The first transmission assembly includes two first one-way transmission members connected to the first rotating output shaft and having opposite transmission directions; The first drive rope has one end connected to one of the two first unidirectional transmission components 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 other of the two first unidirectional transmission components along a second rotation direction opposite to the first rotation direction, and the other end connected to the first control end. Wherein, the first driving member is used to drive the first driving rope through the first transmission component to cause the first control end of the flexible arm to bend toward the first side and / or drive the second driving rope through the first transmission component to cause the first control end of the flexible arm to bend toward the second side opposite to the first side.

[0005] Beneficial Effects: This invention provides a robotic arm comprising a base, a flexible arm, and a first control assembly. 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 assembly includes: a first drive member disposed on the base and including a first rotational output shaft; a first transmission assembly including two first unidirectional transmission members connected to the first rotational output shaft and having opposite transmission directions; a first drive rope, one end of which is connected to one of the two first unidirectional transmission members along a first rotational direction, and the other end of which is connected to the first control end; and a second drive rope, one end of which is connected to the other of the two first unidirectional transmission members along a second rotational direction opposite to the first rotational direction, and the other end of which is connected to the first control end. The first drive member is used to drive the first drive rope via the first transmission assembly to bend the first control end of the flexible arm toward a first side and / or to drive the second drive rope via the first transmission assembly to bend the first control end of the flexible arm toward a second side opposite to the first side. Thus, by using a first driving component, the first control end of the flexible arm can bend toward the first side and the second side opposite to the first side, effectively reducing the number of motors, thereby greatly reducing the cost, the size and weight of the entire robotic arm, and improving the adaptability of the entire robotic arm. Attached Figure Description

[0006] 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.

[0007] 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 an exploded view of the first drive component and the first transmission assembly in the robotic arm provided in this application; Figure 6 This is an exploded view of one embodiment of the first unidirectional transmission component in the robotic arm provided in this application; Figure 7 This is a cross-sectional schematic diagram of the cooperation between the first drive component and the first transmission assembly in the robotic arm provided in this application; Figure 8 This is a schematic diagram of an embodiment of the second one-way transmission component in the robotic arm provided in this application; Figure 9 This is an exploded view of the second drive component and the second transmission assembly in the robotic arm provided in this application; Figure 10 This is a schematic diagram of the structure of one embodiment of the positioning plate provided in this application; Figure 11 This is a schematic diagram of another embodiment of the positioning plate provided in this application; Figure 12 This is a schematic diagram of another embodiment of the positioning plate provided in this application; Figure 13 This is a schematic diagram of the structure of an embodiment of the first connector provided in this application; Figure 14 This is a schematic diagram of another embodiment of the first connector provided in this application; Figure 15 This is a schematic diagram of one embodiment of the second connector provided in this application; Figure 16 This is a cross-sectional schematic diagram of an embodiment of the second connector provided in 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 view of local region B; Figure 19 A schematic diagram of another embodiment of the robotic arm provided in this application; Figure 20 This is a schematic diagram of one embodiment of the base in the robotic arm provided by this application; Figure 21 A schematic diagram of another embodiment of the robotic arm provided in this application; Figure 22 yes Figure 21 A magnified schematic diagram of a local region C in the middle; Figure 23 yes Figure 21 A magnified schematic diagram of a local region D in the middle; Figure 24 for Figure 21 A schematic diagram of the robotic arm from another perspective; Figure 25 for Figure 21 A schematic diagram of the robotic arm from another perspective; Figure 26 for Figure 21 A schematic diagram of the robotic arm from another perspective; Figure 27 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. Figure 28 yes Figure 21 The diagram shows a cross-sectional view of the robotic arm. Detailed Implementation

[0008] 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.

[0009] 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.

[0010] 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.

[0011] 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.

[0012] Please see Figures 1-28 This application provides a robotic arm 10, which includes a base 100, a flexible arm 200, and a first control component 300.

[0013] In some embodiments, such as Figure 1 As shown, the base 100 includes a support plate 110, which has a plate-like structure.

[0014] 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.

[0015] 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.

[0016] 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.

[0017] In some embodiments, such as Figure 1 As 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.

[0018] In some embodiments, the flexible arm 200 is connected to the second surface 102 of the base 100 via the fixed end 201.

[0019] In some embodiments, such as Figure 26 As shown, the flexible arm 200 has a first control end 202, which can be located at the end of the flexible arm 200 away from the fixed end 201, or at the middle position of the flexible arm 200.

[0020] In some embodiments, such as Figure 26 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] In some embodiments, the flexible arm 200 includes a main column 210.

[0025] In some embodiments, such as Figure 25 The base 100 includes a retaining plate 120 connected to the second surface 102 of the support plate 110. The main column 210 can be embedded in the retaining plate 120. Specifically, the main column 210 can include a fixed end 201, which can be embedded in the retaining plate 120 through the fixed end 201.

[0026] 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.

[0027] In some embodiments, the main column 210 includes a flexible rod.

[0028] 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.

[0029] In some embodiments, such as Figure 1 and Figure 2 As shown, the first control component 300 includes a first drive component 310, a first transmission component 320, a first drive rope 330, and a second drive rope 340.

[0030] In some embodiments, at least a portion of the first control component 300 may be disposed on the base 100.

[0031] In some embodiments, such as Figure 1 As shown, the first driving member 310 can be disposed on the base 100 and includes a first rotation output shaft 311. The first driving member 310 can rotate through the first rotation output shaft 311 to output torque.

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

[0033] In some embodiments, such as Figure 2 , Figure 5 as well as Figure 7 As shown, the first transmission assembly 320 includes two first one-way transmission members 350, both of which can be connected to the first rotation output shaft 311.

[0034] In some embodiments, such as Figure 6 As shown, the first one-way transmission component 350 can be a bearing structure, which includes a first inner ring 351 and a first outer ring 352. The first inner ring 351 and the first outer ring 352 can rotate freely relative to each other in one direction, and rotate synchronously in the other direction (i.e., locked and able to transmit torque). For example, a certain first one-way transmission component 350 can be sleeved on the first rotating output shaft 311 through the first inner ring 351. When the first rotating output shaft 311 rotates counterclockwise, if the first outer ring 352 of a certain first one-way transmission component 350 rotates counterclockwise accordingly, then when the first rotating output shaft 311 rotates clockwise, the first outer ring 352 of the first one-way transmission component 350 will not rotate accordingly. That is, a first one-way transmission component 350 will only transmit torque in one direction.

[0035] In some embodiments, one end of the first drive rope 330 is connected along a first rotation direction to one of the two first one-way transmission members 350 (in the same first transmission assembly 320), and the other end is connected to the first control end 202; one end of the second drive rope 340 is connected along a second rotation direction opposite to the first rotation direction to the other of the two first one-way transmission members 350 (in the same first transmission assembly 320), and the other end is connected to the first control end 202.

[0036] In some embodiments, the first one-way transmission member 350 is sleeved on the first rotating output shaft 311 via the first inner ring 351.

[0037] In some embodiments, such as Figure 2 As shown, the first drive rope 330 is connected to the first outer ring 352 of a first one-way transmission member 350, and the second drive rope 340 is connected to the first outer ring 352 of another first one-way transmission member 350.

[0038] In some embodiments, the transmission direction of this application includes clockwise and counterclockwise directions.

[0039] It should be noted that the transmission direction described in this application is based on the first inner ring 351. That is, if the first one-way transmission member 350 is in a clockwise direction, it means that when the first inner ring 351 rotates clockwise, it can drive the first outer ring 352 to rotate clockwise. However, when the first inner ring 351 rotates counterclockwise, the first outer ring 352 will rotate relative to the first inner ring 351, meaning it will not drive the first outer ring 352 (similar to a common ball bearing) to rotate. Similarly, if the first one-way transmission member 350 is in a counterclockwise direction, it means that when the first inner ring 351 rotates counterclockwise, it can drive the first outer ring 352 to rotate counterclockwise. However, when the first inner ring 351 rotates clockwise, the first outer ring 352 will rotate relative to the first inner ring 351, meaning it will not drive the first outer ring 352 (similar to a ball bearing) to rotate.

[0040] In some embodiments, the two first one-way transmission members 350 connected to the first rotary output shaft 311 have opposite transmission directions. That is, when the first rotary output shaft 311 rotates, one first one-way transmission member 350 can transmit torque, while the other first one-way transmission member 350 cannot transmit torque. Optionally, one first one-way transmission member 350 transmits torque clockwise, and the other first one-way transmission member 350 transmits torque counterclockwise. When the first rotary output shaft 311 rotates counterclockwise, one first one-way transmission member 350 will rotate accordingly, specifically, the first outer ring 352 will rotate counterclockwise. The first outer ring 352 and the first inner ring 351 of the other first one-way transmission member 350 will not transmit torque, that is, its first outer ring 352 will not rotate accordingly. When the first rotation output shaft 311 rotates clockwise, one of the first one-way transmission components 350 will not rotate, specifically the first outer ring 352 will not rotate, while the other first one-way transmission component 350 will rotate, specifically the first outer ring 352 will rotate clockwise along with the first inner ring 351.

[0041] In some embodiments, such as Figure 3 As shown, one end of the first drive rope 330 is connected to one of the two first one-way transmission members 350 along the first rotation direction. Specifically, one end of the first drive rope 330 is connected to the first outer ring 352 of one of the two first one-way transmission members 350. The connection method can be a fixed connection, such as directly fixing one end of the first drive rope 330 to the first one-way transmission member 350, or it can be a winding connection, that is, the connection is achieved by the friction provided by the winding. There is no limitation here. The other end of the first drive rope 330 is connected to the first control end 202 of the flexible arm 200.

[0042] In some embodiments, such as Figure 3 and Figure 4As shown, one end of the second drive rope 340 is connected to the other of the two first one-way transmission members 350 along the second rotation direction. Specifically, one end of the first drive rope 330 is connected to the first outer ring 352 of the other of the two first one-way transmission members 350. The connection method is similar to the connection method between the first drive rope 330 and the first one-way transmission member 350, which will not be described in detail here. The other end of the second drive rope 340 is connected to the first control end 202 of the flexible arm 200.

[0043] In some embodiments, one end of the first drive rope 330 is connected to the first one-way transmission member 350 along the first rotation direction. Specifically, when the first one-way transmission member 350 rotates along the first rotation direction (i.e., the connection point between the first one-way transmission member 350 and the first drive rope 330 rotates along the first rotation direction), it can drive the first drive rope 330 to wind around the first one-way transmission member 350, that is, to control the winding of the first drive rope 330. When the first one-way transmission member 350 rotates along the second rotation direction (i.e., the connection point between the first one-way transmission member 350 and the first drive rope 330 rotates along the second rotation direction), it can control the first drive rope 330 to perform the unwinding control.

[0044] In some embodiments, one of the first rotation direction and the second rotation direction is clockwise and the other is counterclockwise.

[0045] In some embodiments, one end of the second drive rope 340 is connected to the first one-way transmission member 350 along the second rotation direction. Specifically, when the first one-way transmission member 350 rotates along the second rotation direction (i.e., the connection point between the first one-way transmission member 350 and the second drive rope 340 rotates along the second rotation direction, such as the first outer ring 352 rotating along the second direction), it can drive the second drive rope 340 to wind around the first one-way transmission member 350, that is, to control the winding of the second drive rope 340. When the first one-way transmission member 350 rotates along the first rotation direction (i.e., the connection point between the first one-way transmission member 350 and the second drive rope 340 rotates along the first rotation direction, such as the first outer ring 352 rotating along the second direction), it controls the unwinding of the second drive rope 340.

[0046] In some embodiments, such as Figure 2Taking the first drive rope 330 as an example, one end of the first drive rope 330 is connected to a first one-way transmission member 350 along the first rotation direction (counterclockwise). When the connection point (second outer ring 352) between the first one-way transmission member 350 and the first drive rope 330 rotates counterclockwise, it will drive the first drive rope 330 to retract. One end of the second drive rope 330 is connected to another first one-way transmission member 350 along the second rotation direction (clockwise). When the connection point (second outer ring 352) between the first one-way transmission member 350 and the second drive rope 340 rotates counterclockwise, it will drive the second drive rope 340 to retract.

[0047] In optional scenarios, such as Figure 2 Taking a specific perspective as an example, the first rotation direction is counterclockwise, and the second rotation direction is clockwise. One end of the first drive rope 330 is connected to the first one-way transmission member 350 along the first rotation direction. When the first one-way transmission member 350 rotates counterclockwise, it drives the first drive rope 330 to reel in the line. One end of the second drive rope 340 is connected to another first one-way transmission member 350 along the second rotation direction. When the other first one-way transmission member 350 rotates clockwise, it drives the second drive rope 340 to reel in the line.

[0048] In some embodiments, when the first driving member 310 drives the first rotary output shaft 311 to rotate in one direction, it can drive one of the two first one-way transmission members 350 to transmit torque, thereby causing the first driving rope 330 or the second driving rope 340 connected to the first one-way transmission member 350 to wind, thus realizing the winding action of the first driving rope 330 or the second driving rope 340; when the first driving member 310 drives the first rotary output shaft 311 to rotate in another direction, it can drive the other of the two first one-way transmission members 350 to transmit torque, thereby causing the second driving rope 340 or the first driving rope 330 connected to the first one-way transmission member 350 to wind, thus realizing the winding action of the second driving rope 340 or the first driving rope 330. Through the winding action, the first control end 202 of its flexible arm 200 can bend in the winding direction.

[0049] In some embodiments, the first drive member 310 is used to drive the first drive rope 330 through the first transmission component 320 to bend the first control end 202 of the flexible arm 200 toward the first side and / or drive the second drive rope 340 through the first transmission component 320 to bend the first control end 202 of the flexible arm 200 toward the second side opposite to the first side.

[0050] In some embodiments, when the first drive member 310 rotates in one direction, it can drive one of the two first one-way transmission members 350 to transmit torque, thereby driving the first drive rope 330 or the second drive rope 340 connected to the first one-way transmission member 350 to wind, thereby realizing the winding action, thereby driving the first control end 202 of the flexible arm 200 to bend in the winding direction.

[0051] It should be noted that the first one-way transmission component 350 mentioned in this application will not rotate when the first rotation output shaft 311 rotates in a certain direction (clockwise / counterclockwise). Specifically, the first outer ring 352 of the first one-way transmission component 350 (or the connection between the first one-way transmission component 350 and the first drive rope 330 or the second drive rope 340) will not rotate, while the first inner ring 351 will still rotate accordingly.

[0052] In optional scenarios, for example, the first one-way transmission member 350 connected to the first drive rope 330 has a clockwise transmission direction, and the first one-way transmission member 350 connected to the second drive rope 340 has a counterclockwise transmission direction. Optionally, when the first rotation output shaft 311 of the first drive member 310 rotates clockwise, it can drive the first one-way transmission member 350 connected to the first drive rope 330 to rotate, thereby driving the first drive rope 330 to perform a winding action. Specifically, when the first rotation output shaft 311 outputs clockwise rotation, the first inner ring 351 of the first one-way transmission member 350 connected to the first drive rope 330 also rotates clockwise, and drives the first outer ring 352 to rotate clockwise, thereby driving the first drive rope 330 connected to the first outer ring 352 to perform a winding action, causing the first control end 202 to bend towards the first side. When the first rotation output shaft 311 of the first driving member 310 rotates counterclockwise, it can drive the first one-way transmission member 350 connected to the second driving rope 340 to rotate, thereby driving the second driving rope 340 to perform a winding action. The specific principle has been explained above, which causes the first control end 202 to bend towards the second side.

[0053] In an optional scenario, the first rotation direction and the transmission direction of the first one-way transmission member 350 connected to the first drive rope 330 are both clockwise, and the second rotation direction and the transmission direction of the second one-way transmission member 350 connected to the second drive rope 340 are both counterclockwise. When the first rotation output shaft 311 of the first drive member 310 rotates clockwise, the first one-way transmission member 350 connected to the first drive rope 330 can also rotate clockwise, thereby driving the first drive rope 330 to perform a winding action. However, the other first one-way transmission member 350 will not rotate with the first rotation output shaft 311 of the first drive member 310. Therefore, the second drive rope 340 will not perform a winding action, so that its first control end 202 will only receive the force of the first drive rope 330 and bend to the first side. When the first drive rope 330 is performing a take-up action, the first control end 202 bends to the first side, thus also driving the second drive rope 340 to release the line. Since the first drive rope 330 is connected to one of the two first one-way transmission members 350 along the first rotation direction, and the second drive rope 340 is connected to the other of the two first one-way transmission members 350 along the second rotation direction, the clockwise rotation of the first one-way transmission member 350 connected to the first drive rope 330 matches the take-up action. For the first one-way transmission member 350 connected to the second drive rope 340, since the second drive rope 340 is releasing the line, the first one-way transmission member 350 connected to the second drive rope 340 also needs to rotate clockwise (i.e.,...). Although the first one-way transmission member 350 (specifically, the connection between the first one-way transmission member 350 and the second drive rope 340) connected to the second drive rope 340 is locked to the first rotation output shaft 311 when rotating clockwise, the first rotation output shaft 311 also rotates clockwise, allowing the first one-way transmission member 350 (specifically, the connection between the first one-way transmission member 350 and the second drive rope 340) to also rotate clockwise. This means it can rotate under the pull of the second drive rope 340 without being restricted, ensuring that the winding action of the first drive rope 330 and the directional action of the second drive rope 340 are matched for the same first rotation output shaft 311.

[0054] Similarly, when the first rotation output shaft 311 of the first drive member 310 rotates counterclockwise, the first one-way transmission member 350 connected to the second drive rope 340 also rotates counterclockwise, thereby driving the second drive rope 340 to perform a winding action. The other first one-way transmission member 350 does not rotate with the first rotation output shaft 311 of the first drive member 310. Therefore, the first drive rope 330 does not perform a winding action, so its first control end 202 only receives the force of the second drive rope 340 and bends to the second side. The specific principle is similar to that of clockwise rotation and will not be elaborated here. Therefore, the above method, using only one first drive member 310, can achieve control of the robotic arm 10 in one direction plane. Compared to the existing technology that requires two motors to achieve control of one direction plane, this reduces the number of first drive members 310, lowering costs and reducing the load on the entire robotic arm 10, thus greatly contributing to the lightweight design of the robotic arm 10. Furthermore, when one of the first drive rope 330 and the second drive rope 340 is retracting the line, the other is releasing the line. This ensures that they do not hinder each other's retraction actions. On the other hand, when reversing, if the first drive rope 330 pulls the first control end 202 to bend to the first side, the second drive rope 340 and the first control end 202 remain taut. Therefore, when the second drive rope 340 pulls the first control end 202, it will respond promptly, causing the first control end 202 to bend to the second side, thus ensuring the response speed and accuracy of the entire robotic arm 10.

[0055] Furthermore, in an optional embodiment, when the flexible arm 200 bends towards one side, such as towards the first side, it is essentially similar to the bending of a human 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 towards the first side, that is, opposite to the tension of the first drive rope 330. This may cause the first drive rope 330 to pull the first one-way transmission member 350 in the opposite direction. Due to the self-locking function of the first one-way transmission member 350, and the first drive rope 330 connected to the first drive rope 330... The transmission direction of the one-way transmission component 350 is clockwise. That is, the first outer ring 352 connected to the first drive rope 330 cannot freely rotate relative to the first inner ring 351 in the counterclockwise direction. This prevents the first drive rope 330 from entering the unwinding state and avoids deformation due to load. This greatly improves the applicability of the entire robotic arm 10, reduces its power consumption cost, reduces wear on the first drive component 310, greatly improves the service life of the first drive component 310, and enhances its robustness.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] In some embodiments, the control plane described above may be a first control plane.

[0069] In some embodiments, the control plane described above may be a second control plane.

[0070] In some embodiments, such as Figure 17 As 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.

[0071] In some embodiments, the first control plane and the second control plane may be arranged in an alternating manner.

[0072] 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.

[0073] 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 directions, namely the adjustment of the roll angle and the pitch angle, through the two first control components 300 (two first drive members 310), which greatly improves the convenience of the whole structure and reduces the weight of the whole structure.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] In some embodiments, the transmission direction of the first one-way transmission member 350 connected to the first drive rope 330 is the same as the first rotation direction. When the first one-way transmission member 350 connected to the first drive rope 330 rotates along the transmission direction, it can drive the first drive rope 330 to take in the line. When the first one-way transmission member 350 connected to the first drive rope 330 rotates in the opposite direction to the transmission direction, it can drive the first drive rope 330 to release the line.

[0081] In some embodiments, the transmission direction of the first one-way transmission member 350 connected to the second drive rope 340 is the same as the second rotation direction. When the first one-way transmission member 350 connected to the second drive rope 340 rotates along the transmission direction, it can drive the second drive rope 340 to take in the line. When the first one-way transmission member 350 connected to the second drive rope 340 rotates in the opposite direction to the transmission direction, it can drive the second drive rope 340 to release the line.

[0082] In some embodiments, such as Figure 6 As shown, the first one-way transmission member 350 includes a first inner ring 351, a first outer ring 352 connected to the first inner ring 351, and a first one-way limiting member 353 disposed between the first inner ring 351 and the first outer ring 352. In some embodiments, when the first one-way transmission member 350 is in a clockwise transmission direction, if the first inner ring 351 rotates clockwise, the first one-way limiting member 353 will restrict the rotation of the first inner ring 351 and the first outer ring 352, causing the first outer ring 352 to rotate with the first inner ring 351, i.e., in a locked state. When the first inner ring 351 rotates counterclockwise, the first one-way limiting member 353 is similar to a ball bearing, and it will not restrict the rotation of the first outer ring 352, thereby allowing the first inner ring 351 and the first outer ring 352 to rotate relative to each other.

[0083] In other words, for a one-way bearing with a clockwise transmission direction, the first inner ring 351 can rotate counterclockwise relative to the first outer ring 352. When rotating clockwise, it will self-lock with the first outer ring 352, thereby causing the first outer ring 352 to rotate clockwise. Similarly, the first outer ring 352 can rotate clockwise relative to the first inner ring 351. When rotating counterclockwise, it will self-lock with the first inner ring 351, thus causing the first inner ring 351 to rotate counterclockwise.

[0084] In some embodiments, the first one-way transmission element 350 specifically includes a one-way bearing, also known as an overrunning clutch.

[0085] In some embodiments, the first rotary output shaft 311 and the first one-way transmission member 350 can be an integrated structure, that is, the first inner ring 351 of the first rotary output shaft 311 and the first one-way transmission member 350 are the same structure, the first rotary output shaft 311 is directly used as the first inner ring 351, and then the first outer ring 352 is sleeved on the first rotary output shaft 311, and a first limiting member is provided between the first rotary output shaft 311 and the first outer ring 352, thereby forming a structure with one-way transmission function.

[0086] In some embodiments, the first one-way transmission member 350 may be a ratchet.

[0087] In some embodiments, the first one-way transmission member 350 is a bearing that can rotate freely in one direction and is locked in another direction. The first one-way transmission member 350 can transmit rotation in the locked direction, so the direction in which it can transmit rotation is called the transmission direction.

[0088] It should be noted that the first one-way transmission component 350 includes a first inner ring 351 and a first outer ring 352. For the same first one-way transmission component 350, since the rotational transmission direction of the first inner ring 351 relative to the first outer ring 352 is opposite to the rotational transmission direction of the first outer ring 352 relative to the first inner ring 351, the transmission directions of different first one-way transmission components 350 mentioned in this application are the same or opposite, all based on the first inner ring 351. In some embodiments, the first one-way limiting member 353 may specifically be a ball or a needle roller. For the same first one-way transmission member 350, the first one-way limiting member 353 can limit / lock the first inner ring 351 or the first outer ring 352 when rotating in one direction (such as clockwise or counterclockwise), so that when the first inner ring 351 / first outer ring 352 rotates in one direction, it will drive the first outer ring 352 / first inner ring 351 to rotate together in that direction. The first one-way limiting member 353 can also make the first inner ring 351 or the first outer ring 352 rotate in another direction (such as counterclockwise or clockwise), so as not to drive the first outer ring 352 / first inner ring 351 to rotate.

[0089] In some embodiments, such as Figure 5 As shown, the first outer ring 352 of the first one-way transmission member 350 has a first groove 354.

[0090] 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.

[0091] In some embodiments, at least a portion of the second drive rope 340 may be wound around the first groove 354.

[0092] In some embodiments, a first groove 354 may be provided circumferentially on the first outer ring 352.

[0093] In some embodiments, the first one-way transmission member 350 further includes a pulley member (not shown) connected to the first outer ring 352. The pulley member can be sleeved on the first outer ring 352 and fixedly connected to the first outer ring 352. The sliding member has a second sliding groove (not shown).

[0094] In some embodiments, the first drive rope 330 may be at least partially wound around the second chute.

[0095] In some embodiments, the second drive rope 340 may be at least partially wound around the second chute.

[0096] In some embodiments, the pulley component and the first outer ring 352 can be integrally molded, that is, the pulley component and the first outer ring 352 are a single piece.

[0097] In some embodiments, a first tooth may be provided on the first outer ring 352, 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.

[0098] In some embodiments, a first tooth (not shown) may be provided on the first outer ring 352, and a second tooth (not shown) may be provided on the second drive rope 340. The second drive rope 340 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.

[0099] In some embodiments, the first outer rings 352 of the two first one-way transmission members 350 are fixedly connected, so that the first outer rings 352 of the two first one-way transmission members 350 can rotate synchronously.

[0100] In some embodiments, the first outer rings 352 of the two first unidirectional transmission members 350 are fitted together.

[0101] In some embodiments, the first outer rings 352 of the two first unidirectional transmission members 350 are fixed together by welding.

[0102] In some embodiments, the first outer rings 352 of the two first unidirectional transmission members 350 can be integrally formed.

[0103] In some embodiments, the first outer ring 352 of the first unidirectional transmission member 350 is provided with a through hole (not shown), and its first transmission assembly 300 also includes a fixing member (not shown), which passes through the through holes of the two first outer rings 352. By cooperating with the through holes of the two first outer rings 352, the two first outer rings 352 can be circumferentially limited, so that the two first outer rings 352 can rotate synchronously.

[0104] In some embodiments, the first transmission assembly 320 further includes a locking member that can be detachably engaged with the first outer ring 350 of the two first one-way transmission members 350. The locking member can be connected to the first outer ring 350 of the two first one-way transmission members 350, thereby fixing the first outer ring 350 of the two first one-way transmission members 350 in the circumferential direction.

[0105] In some embodiments, the locking element may be the aforementioned fastener or other snap-fit ​​element.

[0106] In some embodiments, the locking element may also be a clamping element, which can lock the two outer rings by clamping them onto the two outer rings 350.

[0107] In some embodiments, a locking structure is provided between the first outer rings 350 of the two first one-way transmission members 350 of the first transmission assembly 320. The locking structure is configured to be in a locked state or a free state. When the locking structure is in the locked state, the first outer rings 350 of the two first one-way transmission members 350 are locked to each other and mutually limited in the circumferential direction. When the locking structure is in the free state, the first outer rings 350 of the two first one-way transmission members 350 can rotate freely relative to each other.

[0108] In some embodiments, the locking structure may include a first locking member disposed on one outer ring 350 and a second locking member disposed on another outer ring 350. The two locking members may cooperate with each other to enter a locked state or may separate to enter a free state.

[0109] In some embodiments, the first locking member can be a rotatable protruding shaft, and the second locking member can be a snap-fit ​​groove. When the protruding shaft is flipped into the locking groove, a locking state can be achieved.

[0110] In some embodiments, a plurality of perforations are provided around the first outer ring 352 in a circumferential manner, which can increase the probability that the two perforations of the first outer ring 352 of the two first one-way transmission members 350 can be aligned, so that their fasteners can pass through the two perforations and be fixed thereto.

[0111] In specific scenarios, the tension of the first drive rope 330 and the second drive rope 340 is crucial for the rope-driven structure. This is because, theoretically, to achieve real-time control of the first control end 202, when a certain first one-way transmission component 350 rotates, the first drive rope 330 or the second drive rope 340 connected to that first one-way transmission component 350 must immediately apply force to the first control end 202 to ensure the accuracy of the entire robotic arm 10. If the first drive rope 330 or the second drive rope 340 is slack, the first one-way transmission component 350 needs to rotate first to tighten the slack portion before the first control end 202 can be subjected to force. This would result in a mismatch between the rotation of the first drive component 310 and the bending of the force applied to the first control end 202, affecting the accuracy of the entire structure. Therefore, when the first drive rope 330 and the second drive rope 340 need to be installed on two first one-way transmission members 350, it is particularly important to maintain their tension. Assuming the transmission direction of the first one-way transmission member 350 connected to the first drive rope 330 is clockwise, in an optional scenario, both the first rotation direction and the transmission direction of the first one-way transmission member 350 connected to the first drive rope 330 are clockwise. The second rotation direction and the transmission direction of the second one-way transmission member 350 connected to the second drive rope 340 are also clockwise. The transmission direction of the transmission component 350 is counterclockwise. When the first rotating output shaft 311 is not rotating (i.e., when the first driving component 310 is not energized), the first outer ring 352 of the first one-way transmission component 350 connected to the first driving rope 330 can rotate clockwise relative to the first rotating output shaft 311 (e.g., manually or by external force), thus driving the first driving rope 330 to reel in the line. Simultaneously or sequentially, the first outer ring of the second one-way transmission component 350 connected to the second driving rope 340... 352 can rotate counterclockwise relative to the first rotating output shaft 311 (e.g., manually or by external force), thus driving the second drive rope 340 to reel in the line. This allows both the first drive rope 330 and the second drive rope 340 to be tensioned with the first control end 202. After tensioning, because the first outer ring 352 of the first one-way transmission member 350 connected to the first drive rope 330 cannot rotate counterclockwise relative to the first rotating output shaft 311, it will not be affected by tension force (elastic force). If the first outer ring 352 of the first one-way transmission component 350 rotates counterclockwise due to accidental contact (i.e., no cable release), its first drive rope 330 and first control end 202 will remain taut. Similarly, its second drive rope 340 and first control end 202 will also remain taut. Furthermore, if the first drive rope 330 and the second drive rope 340 become slack due to deformation of the side length after long-term use, they can be tensioned manually, which greatly improves the lifespan and applicability of the entire structure.

[0112] In specific scenarios, researchers found that when the first drive element 300 rotates clockwise, and the first drive rope 330 drives the first control end 202 to rotate too far to the first side, if the first drive element 300 rotates counterclockwise, i.e., when the second drive rope 330 drives the first control end 202 to pull back, the first drive rope 330, being under tension, will suddenly cause the first outer loop 352 connected to the first drive rope 330 to rotate. However, the first drive rope 330 has not yet been retracted, resulting in the rotation amplitude of the first outer loop 352 being greater than the actual retraction length of the first drive rope 330. This repeated occurrence leads to cumulative errors, causing a difference between the unwinding length of the first drive rope 330 and the retracting length of the second drive rope 340 (i.e., one side has...). Excess length / untensioned tension makes it impossible to achieve immediate response during control, affecting the lifespan and accuracy of the entire robotic arm 10. Therefore, by fixing the two first outer rings 350, they can rotate synchronously without being affected by cumulative errors. That is, no matter how they rotate, the two first outer rings 350 will rotate synchronously, so that the amplitude of their winding and unwinding is consistent, which can effectively improve the accuracy and lifespan of the entire structure. Furthermore, by setting a detachable locking component or a locking structure with a locking state, when tension problems arise due to deformation of the first drive rope 330 / second drive 340 over time, the locking component can be removed, allowing them to rotate independently and tensioning the first drive rope 330 / second drive 340. In the above embodiment, by fixing the first outer rings 352 of the two first one-way transmission members 350 together, they can rotate synchronously. Since the first drive rope 330 is connected to one of the two first one-way transmission members 350 along the first rotation direction, and the second drive rope 340 is connected to the other of the two first one-way transmission members 350 along the rotation direction, when the first drive member 310 controls the first rotation output shaft 311 to rotate clockwise, when the two first outer rings 352 rotate clockwise synchronously, the first drive rope 330 retracts the line, and the second drive rope 340 releases the line synchronously. Thus, both the first drive rope 330 and the second drive rope 340 are kept taut with the flexible arm 200. When the first drive member 310 controls the first rotation output shaft 311 to rotate counterclockwise, the second drive rope 340 retracts the line and controls the flexible arm 200 in time, so that the flexible arm 200 can respond quickly, and the first drive rope 330 releases the line synchronously.

[0113] In some embodiments, the first drive rope 330 and the second drive rope 340 may be the same rope.

[0114] In some embodiments, the first outer rings 352 of the two first one-way transmission members 350 are respectively provided with a third slide groove and an inclined groove connecting the two third slide grooves. The first drive rope 330 and the second drive rope 340 are wound around the third slide groove and the inclined groove, so that the first drive rope 330 and the second drive rope 340 can cross the two third slide grooves that are misaligned in the axial direction.

[0115] In some embodiments, the flexible arm 200 includes a main column 210, which includes a fixed end 201 connected to the base 100.

[0116] 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.

[0117] 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.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] 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.

[0122] In some embodiments, the first plate 222 may be arranged circumferentially around the first cylindrical portion 221.

[0123] 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.

[0124] In some embodiments, the axis of the first cylindrical groove 223 is parallel to the axis of the main column 210.

[0125] 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.

[0126] 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.

[0127] In some embodiments, multiple first side holes 224 may be provided around the circumference of the first cylindrical groove 223.

[0128] 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.

[0129] 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.

[0130] 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.

[0131] 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.

[0132] 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.

[0133] 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.

[0134] 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.

[0135] 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 component 310 and the load of the robotic arm 10 can be effectively controlled, so as to avoid the first drive component 310 being overloaded and damaged due to the ratio being too large, and also to avoid the problem of the entire robotic arm 10 being too large (i.e., the first control end 202 being too large) due to the ratio being too small.

[0136] 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.

[0137] 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).

[0138] 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.

[0139] 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.

[0140] 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.

[0141] 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.

[0142] 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.

[0143] 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.

[0144] 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.

[0145] 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.

[0146] 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.

[0147] 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.

[0148] In some embodiments, such as Figure 11The 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.

[0149] In some embodiments, such as Figure 12 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.

[0150] 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.

[0151] 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.

[0152] 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.

[0153] 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.

[0154] In some embodiments, four support plates 2361 are arranged circumferentially around the fixing sleeve 237.

[0155] In some embodiments, all four support plates 2361 can be connected to the fixing sleeve 237.

[0156] 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.

[0157] 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.

[0158] 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.

[0159] 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.

[0160] 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.

[0161] 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.

[0162] 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.

[0163] 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 multiple points of the second drive rope 340 are restricted by the multiple 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.

[0164] 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.

[0165] 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.

[0166] 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.

[0167] 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.

[0168] 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.

[0169] 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.

[0170] 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.

[0171] In some embodiments, the base 100 includes a first surface 101 and a second surface 102 facing away from each other, a first drive member 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.

[0172] 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.

[0173] In some embodiments, such as Figure 26 As shown, the flexible arm 200 also 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.

[0174] In some embodiments, such as Figures 21-26 The robotic arm 10 also includes a second drive assembly 40.

[0175] 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.

[0176] In some embodiments, the third control plane and the fourth control plane are arranged in an interleaved manner.

[0177] 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.

[0178] In some embodiments, the first control plane and the third control plane coincide, that is, the first control plane is the third control plane.

[0179] 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.

[0180] In some embodiments, the second control plane and the fourth control plane coincide, that is, the second control plane is the fourth control plane.

[0181] 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.

[0182] 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.

[0183] In some embodiments, the first connector 230 and the second connector 240 may have the same structure, which helps to save on structural costs.

[0184] In some embodiments, such as Figure 15 and Figure 16 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.

[0185] 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.

[0186] In some embodiments, the third mounting position 243 may be a third mounting hole or a third mounting post.

[0187] In some embodiments, the fourth mounting position 244 may be a fourth mounting hole or a fourth mounting post.

[0188] 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.

[0189] In some embodiments, the second cylindrical portion 241 further has a second cylindrical groove 245 for passing through the main column 210.

[0190] 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.

[0191] In some embodiments, the second control component 400 further includes a second drive component 410 and a second transmission component 420.

[0192] In some embodiments, a second drive member 410 is also disposed on the base 100, and the second drive member 410 includes a second rotation output shaft 411. The second transmission assembly 420 includes two second unidirectional transmission members 450 connected to the second rotation output shaft 411 and having opposite transmission directions.

[0193] In some embodiments, one end of the third drive rope 430 is connected to one of the two second one-way transmission members 450 along the first rotation direction, and the other end is connected to the second control end 203.

[0194] In some embodiments, one end of the fourth drive rope 440 is connected to the other of the two second one-way transmission members 450 along a second rotation direction opposite to the first rotation direction, and the other end is connected to the second control end 203.

[0195] In some embodiments, the connection method between the second control component 400 and the second control terminal 203 is similar to the connection method between the first control component 300 and the first control terminal 202 in the above embodiments. Specifically, the second drive component 410 is similar to the first drive component 310 and can also be a motor. The second one-way transmission component 450 is similar to the first one-way transmission component 350 and can also be a one-way bearing. The cooperation and movement of the third drive rope 430, the second one-way transmission component 450, and the second control terminal 203 are also similar to the cooperation and movement of the first drive rope 330, the first one-way transmission component 350, and the first control terminal 202.

[0196] 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.

[0197] It should be noted that, in some embodiments, one end of the third drive rope 430 is connected to one of the two second one-way transmission members 450 along the first rotation direction, and one end of the first drive rope 330 mentioned in the above embodiments is connected to one of the two first one-way transmission members 350 along the first rotation direction. Here, the two first rotation directions can both be clockwise, both be counterclockwise, or one can be counterclockwise and the other clockwise. Similarly, in some embodiments, one end of the fourth drive rope 440 is connected to the other of the two second one-way transmission members 450 along the second rotation direction, and one end of the second drive rope 340 mentioned in the above embodiments is connected to the other of the two second one-way transmission members 450 along the second rotation direction. Here, the two second rotation directions can both be counterclockwise, both be clockwise, or one can be counterclockwise and the other clockwise.

[0198] In some embodiments, the second drive member 410 is used to drive the third drive rope 430 via the second transmission assembly 420 to bend the second control end 203 of the flexible arm 200 toward the first side and / or drive the fourth drive rope 440 via the second transmission assembly 420 to bend the second control end 203 of the flexible arm 200 toward the second side opposite to the first side.

[0199] In some embodiments, one of the two second control components 400 in the second drive assembly 40 drives a third drive rope 430 via a second transmission component 420 connected thereto, causing the second control end 203 of the flexible arm 200 to bend towards the first side of the third control plane, and drives a fourth drive rope 440 to bend the second control end 203 of the flexible arm 200 towards the second side of the third control plane; the other of the two second control components 400 in the second drive assembly 40 drives a third drive rope 430 via a second transmission component 420 connected thereto, causing the second control end 203 of the flexible arm 200 to bend towards the first side of the fourth control plane, and drives a fourth drive rope 440 to bend the second control end 203 of the flexible arm 200 towards the second side of the fourth control plane. The specific control logic is similar to the logic of the two first control components 300 controlling the first control end 202 in the first drive assembly 30 of the above embodiment, and will not be repeated here.

[0200] In some embodiments, the axis of the flexible arm 200 defines the third control plane as two sides, wherein the side of the axis of the flexible arm 200 near at least a portion of the third drive rope 430 of one of the two second control components 400 in the second drive assembly 40 is the first side of the third control plane, and the side of the axis of the flexible arm 200 near at least a portion of the fourth drive rope 440 is the second side of the third control plane.

[0201] In some embodiments, the axis of the flexible arm 200 defines the fourth control plane as two sides, wherein the side of the axis of the flexible arm 200 near at least a portion of the third drive rope 430 of the other of the two second control components 400 in the second drive assembly 40 is the first side of the fourth control plane, and the side of the axis of the flexible arm 200 near at least a portion of the fourth drive rope 440 is the second side of the third control plane.

[0202] In some embodiments, the axis of at least a portion of the third drive rope 430, the axis of at least a portion of the fourth drive rope 440, and the axis of the flexible arm 200 of one of the two second control components 400 in the second drive assembly 40 lie within the third control plane. The axis of at least a portion of the third drive rope 430, the axis of at least a portion of the fourth drive rope 440, and the axis of the flexible arm 200 of the other second control component 400 in the second drive assembly 400 lie within the second control plane.

[0203] In some embodiments, the axes of at least a portion of the axis of the third drive rope 430 of one of the two second control components 400 in the second drive assembly 40, the axis of at least a portion of the axis of the fourth drive rope 440 near the second control end 203, 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 third drive rope 430 of the other of the two second control components 400 in the second drive assembly 40, the axis of at least a portion of the axis of the fourth drive rope 440 near the second control end 203, and the axis of the flexible arm 200 are parallel to each other.

[0204] In some embodiments, the transmission direction of the second one-way transmission member 450 connected to the third drive rope 430 is the same as the first rotation direction, and the transmission direction of the second one-way transmission member 450 connected to the fourth drive rope 440 is the same as the second rotation direction.

[0205] In some embodiments, the second one-way transmission member 450 includes a second inner ring 451, a second outer ring 452 connected to the second inner ring 451, and a second one-way limiting member 453 disposed between the second inner ring 451 and the second outer ring 452; the second inner ring 451 is connected to the second rotation output shaft 411, one end of the third drive rope 430 is connected along the first rotation direction to the first outer ring 352 of one of the two second one-way transmission members 450, and one end of the fourth drive rope 440 is connected along the second rotation direction to the second outer ring 452 of the other of the two second one-way transmission members 450.

[0206] In some embodiments, the second outer ring 452 may have a fourth groove 455.

[0207] In some embodiments, the third drive rope 430 may be wound around the fourth slide groove 455.

[0208] In some embodiments, the fourth drive rope 440 may be wound around the fourth slide groove 455.

[0209] In some embodiments, the positioning plate 230 may also be disposed between the second connector 240 and the base 100.

[0210] In some embodiments, the positioning plate 230 further has a third positioning hole 233 for the third drive rope 430 to pass through and a fourth positioning hole 234 for the fourth drive rope 440 to pass through.

[0211] In some embodiments, the third positioning hole 233 and the fourth positioning hole 234 are provided on the flat plate portion 236.

[0212] In some embodiments, the third positioning hole 233 is located on the side of the adjacent first positioning hole 231 away from the main body post 210, and the fourth positioning hole 234 is located on the side of the adjacent second positioning hole 232 away from the main body post 210.

[0213] In some embodiments, the third positioning hole 233 is located on the side of the adjacent first positioning hole 231 away from the main column sleeve hole 235, and the fourth positioning hole 234 is located on the side of the adjacent second positioning hole 232 away from the main column sleeve hole 235.

[0214] In some embodiments, the third positioning hole 233 is located on the side of the adjacent first positioning hole 231 near the main body post 210, and the fourth positioning hole 234 is located on the side of the adjacent second positioning hole 232 near the main body post 210.

[0215] In some embodiments, the third positioning hole 233 is located on the side of the adjacent first positioning hole 231 near the main column sleeve hole 235, and the fourth positioning hole 234 is located on the side of the adjacent second positioning hole 232 near the main column sleeve hole 235.

[0216] In some embodiments, a plurality of positioning plates 230 are spaced apart along the length of the main column 210.

[0217] In some embodiments, the third positioning holes 233 of the plurality of positioning plates 230 restrict the third drive rope 430 such that the axis of at least a portion of the third drive rope 430 near the second control end 203 is in the same plane as the axis of the main column 210.

[0218] In some embodiments, the fourth positioning holes 234 of the plurality of positioning plates 230 restrict the fourth drive rope 440 such that at least a portion of the fourth drive rope 440 near the second control end 203 is in the same plane as the axis of the main column 210.

[0219] In some embodiments, the third positioning holes 233 of the plurality of positioning plates 230 restrict the third drive rope 430 such that the axis of at least a portion of the third drive rope 430 near the two control ends is parallel to the axis of the main column 210. In some embodiments, the fourth positioning holes 234 of the plurality of positioning plates 230 restrict the fourth drive rope 440 such that the axis of at least a portion of the fourth drive rope 440 near the second control end 203 is parallel to the axis of the main column 210.

[0220] It should be noted that the concepts of the first side and the second side in the third control plane, and the concepts of the third side and the fourth side in the fourth control plane, are somewhat similar to the concepts of the first side and the second side in the first control plane. For details, please refer to the detailed description in the above embodiments.

[0221] It should be noted that the axes of at least a portion of the third drive rope 430 near the second control end 203 and the axes of at least a portion of the fourth drive rope 440 near the second control end 203 are located in the same plane or parallel, which is similar to the concept that the axes of at least a portion of the first drive rope 330 near the first control end 202 and the axes of at least a portion of the second drive rope 340 near the first control end 202 are located in the same plane or parallel. For details, please refer to the detailed description in the above embodiments.

[0222] In some embodiments, such as Figure 20 The base 100 is provided with a first through hole 131 and a second through hole 132 that are spaced apart along a first direction.

[0223] In some embodiments, a first drive rope 330 connected to a first unidirectional transmission component 320 in a first control component 300 of the first drive component 30 passes at least partially through the first through hole 131 to connect with the first control terminal 202, and a second drive rope 340 connected thereto passes at least partially through the second through hole 132 to connect with the first control terminal 202.

[0224] In some embodiments, the connection (force-bearing point) of the first through hole 131, the first drive rope 330 and the first control end 202 together 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.

[0225] In some embodiments, the connection (force-bearing point) of the second through hole 132, the second drive rope 340 and the first control end 202 together 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.

[0226] In some embodiments, the first direction is parallel to the first control plane or the third control plane.

[0227] In some embodiments, the base 100 is provided with a third through hole and a fourth through hole spaced apart along a first direction.

[0228] In some embodiments, the third drive rope 430 passes at least partially through the third through hole to connect to the first control end 202.

[0229] In some embodiments, the connection (force-bearing point) between the third through hole, the third drive rope 430, and the second control end 203 together restricts the third drive rope 430 such that the axis of at least a portion of the third drive rope 430 near the second control end 203 is in the same plane as the axis of the main column 210.

[0230] In some embodiments, the fourth drive rope 440 passes at least partially through the fourth through hole to connect to the first control end 202.

[0231] In some embodiments, the connection (force-bearing point) between the fourth through hole, the fourth drive rope 440, and the second control end 203 together restricts the fourth drive rope 440 such that the axis of at least a portion of the fourth drive rope 440 near the second control end 203 is in the same plane as the axis of the main column 210.

[0232] In some embodiments, the first through hole 131 and the second through hole 132 are in two sets, corresponding to the first drive rope 330 and the second drive rope 340 of the two first control components 300, respectively. One set of the first through holes 131 and the second through holes 132 is spaced apart along a first direction, while the other set of the first through holes 131 and the second through holes 132 is spaced apart along a second direction perpendicular to the first direction. Specifically, the second direction may be parallel to a second control plane or a fourth control plane.

[0233] In some embodiments, similarly, there are two sets of third and fourth through holes, each corresponding to a third drive rope 430 and a fourth drive rope 440 of a second control component 400, respectively. One set of third and fourth through holes is spaced apart along a first direction, and the other set is spaced apart along a second direction perpendicular to the first direction. In some embodiments, such as Figure 2 As shown, the robotic arm 10 includes a first reversing wheel 141 and / or a second reversing wheel 142 disposed on the base 100.

[0234] In some embodiments, the first drive rope 330 is at least partially wound around the first reversing wheel 141.

[0235] In some embodiments, the connection (force-bearing point) of the first reversing wheel 141, the first drive rope 330 and the first control end 202 together restricts 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 in the same plane as the axis of the main column 210.

[0236] In some embodiments, the second drive rope 340 is at least partially wound around the second reversing wheel 142.

[0237] In some embodiments, the connection (force-bearing point) of the second reversing wheel 142, the second drive rope 340 and the first control end 202 together restricts 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.

[0238] In some embodiments, such as Figure 27 The robotic arm 10 includes a third reversing wheel 143 and / or a fourth reversing wheel 144 disposed on the base 100.

[0239] In some embodiments, the third drive rope 430 is at least partially wound around the third reversing wheel 143.

[0240] In some embodiments, the connection (force-bearing point) between the third reversing wheel 143, the third drive rope 430, and the second control end 203 together restricts the third drive rope 430 such that the axis of at least a portion of the third drive rope 430 near the second control end 203 is in the same plane as the axis of the main column 210.

[0241] In some embodiments, the fourth drive rope 440 is at least partially wound around the fourth reversing wheel 144.

[0242] In some embodiments, the connection (force-bearing point) between the fourth reversing wheel 144, the fourth drive rope 440, and the second control end 203 together restricts the fourth drive rope 440 such that the axis of at least a portion of the fourth drive rope 440 near the second control end 203 is in the same plane as the axis of the main column 210.

[0243] In some embodiments, the first reversing wheel 141, the second reversing wheel 142, the third reversing wheel 143, and the fourth reversing wheel 144 are disposed on the first surface 101 of the base 100.

[0244] In some embodiments, the robotic arm 10 further includes a sleeve forming a sleeve space for accommodating at least a portion of the flexible arm 200.

[0245] The first drive rope 330 and / or the second drive rope 340 are at least partially threaded through the sleeve space and connected to the first control terminal 202.

[0246] In some embodiments, the sleeve may specifically be a corrugated pipe.

[0247] It should be noted that the "one end" and "the other end" mentioned in this application do not simply refer to the ends of the first drive rope 330 / second drive rope 340, but are a description of relative positions. Optionally, taking the first drive rope 330 as an example, if one end A of the first drive rope 330 is defined as one end, then its other end B can be the other end, or any segment between end A and end B can be the other end. The first drive rope 330 includes end A, middle segment C, middle segment D, middle segment E, and end B in sequence along its length. If end A is defined as one end, then any one of the middle segments C, D, E, and B can be defined as the other end, or the middle segment C near end A can be one end, and the middle segment E near end B can be the other end.

[0248] In some embodiments, the first drive rope 330 and the second drive rope 340 can be long rope structures with a certain strength and flexibility, which can be made of metal (such as steel wire), nylon, Kevlar or high-strength materials.

[0249] It should be noted that the first side and the second side mentioned in this application can be the control plane (first control plane / second control plane / third control plane / fourth control plane) divided into two sides by the axis (straight line) when the main column 210 is in its natural state (vertical and without bending). The side closer to the first drive rope 330 / third drive rope 430 (the connection point / force point with the main column 210) is the first side of the control plane, and the side closer to the second drive rope 340 / fourth drive rope 440 (the connection point / force point with the main column 210) is the second side of the control plane. Alternatively, the control plane (first control plane / second control plane / third control plane / fourth control plane) can be divided into two sides by the axis (curve) of the main column 210 in any state (i.e., it may be bent under force). The side closer to the first drive rope 330 / third drive rope 430 (the connection point / force point with the main column 210) is the first side of the control plane, and the side closer to the second drive rope 340 / fourth drive rope 440 (the connection point / force point with the main column 210) is the second side of the control plane.

[0250] 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.

[0251] 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.

[0252] 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: The first driving component is disposed on the base and includes a first rotation output shaft; The first transmission assembly includes two first one-way transmission members connected to the first rotating output shaft and having opposite transmission directions; The first drive rope has one end connected to one of the two first unidirectional transmission components 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 other of the two first unidirectional transmission components along a second rotation direction opposite to the first rotation direction, and the other end connected to the first control end. Wherein, the first driving member is used to drive the first driving rope through the first transmission component to cause the first control end of the flexible arm to bend toward the first side and / or drive the second driving rope through the first transmission component to cause the first control end of the flexible arm to bend toward the second side opposite to the first side; The first control plane is defined as the plane shared by 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. 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.

2. The robotic arm according to claim 1, characterized in that, The transmission direction of the first one-way transmission member connected to the first drive rope is the same as the first rotation direction, and the transmission direction of the first one-way transmission member connected to the second drive rope is the same as the second rotation direction.

3. The robotic arm according to claim 1, characterized in that, The first one-way transmission component includes a first inner ring, a first outer ring connected to the first inner ring, and a first one-way limiting component disposed between the first inner ring and the first outer ring; Wherein, the first inner ring is connected to the first rotating output shaft, one end of the first drive rope is connected along the first rotation direction to the first outer ring of one of the two first one-way transmission components, and one end of the second drive rope is connected along the second rotation direction to the first outer ring of the other of the two first one-way transmission components. The first outer rings of the two first one-way transmission components are fixedly connected so that the first outer rings of the two first one-way transmission components rotate synchronously.

4. The robotic arm according to claim 3, characterized in that, The first outer ring is provided with a perforation, and the first transmission assembly includes a fixing member; The fixing member is detachably passed through the through hole of the first outer ring of the two first one-way transmission members so that the first outer rings of the two first one-way transmission members rotate synchronously.

5. The robotic arm according to claim 1, characterized in that, The flexible arm includes a main column, and the main column includes a fixed end connected to the base.

6. The robotic arm according to claim 5, characterized in that, The main column also includes the first control end, and the first control end is provided with a first fixed position and a second fixed position on both sides of the axis of the main column, the first drive rope is connected to the first fixed position, and the second drive rope is connected to the second fixed position.

7. The robotic arm according to claim 6, characterized in that, The flexible arm also includes a first connector sleeved on the main column, and the first connector includes the first control end; The first drive rope is connected to one side of the axis of the main column of the first connector, and the second drive rope is connected to the other side of the axis of the main column of the first connector.

8. The robotic arm according to claim 7, characterized in that, The first connector includes a first cylindrical part sleeved on the main column and a first plate disposed on the first cylindrical part; 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.

9. The robotic arm according to claim 7, characterized in that, The flexible arm also includes a positioning plate disposed between the first connector and the base and sleeved on the main column; The positioning plate has a first positioning hole for the first driving rope to pass through and a second positioning hole for the second driving rope to pass through. There are multiple positioning plates, and the multiple positioning plates are spaced apart along the length direction of the main column; The first positioning holes of the plurality of positioning plates restrict the first drive rope such that the axis of at least a portion of the first drive rope near the first control end is in the same plane as the axis of the main column; and / or The second positioning holes of the plurality of positioning plates restrict the second drive rope such that at least a portion of the second drive rope near the first control end is in the same plane as the axis of the main column.

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