Assistive robotic arm and robotic arm assistive system

Abstract

The present application relates to a kind of power-assisted mechanical arm and the mechanical arm power-assisted system with the power-assisted mechanical arm.The power-assisted mechanical arm has: base member;End connecting member, which is used to be connected with heavy object;Connecting rod member, one end of the connecting rod member can be connected with base member relatively rotatably, and the other end can be connected with end connecting member relatively rotatably;Drive cylinder, one end of the drive cylinder can be connected with base member relatively rotatably, and the other end can be connected with connecting rod member relatively rotatably;And rotating housing member, one end of the rotating housing member can be connected with base member relatively rotatably, and the other end can be connected with end connecting member relatively rotatably, drive cylinder is located with end connecting member same side relative to base member, and at least a part of the receiving space of receiving connecting rod member and drive cylinder is formed in the inside of rotating housing member.

Description

Technical Field

[0001] This invention relates to a power-assisted robotic arm and a power-assisted robotic arm system incorporating the power-assisted robotic arm. Background Technology

[0002] Powered robotic arms have long been widely used as assistive mechanisms in production sites such as automobile manufacturing. Traditional powered robotic arms typically consist of a drive cylinder and a four-bar linkage. The four-bar linkage comprises a base component, two connecting rods, and a load-connecting component that links to the load. The drive cylinder is positioned roughly vertically on the side opposite to the base component and the load-connecting component in the four-bar linkage, close to the base component. The piston rod of the drive cylinder can rotate relative to and drive one of the two connecting rods (also called the drive link). Thus, the four-bar linkage performs lifting and transfer operations on the load connected to the load-connecting component.

[0003] However, such robotic arms are usually large and heavy, making them difficult to operate. On the other hand, in order to reliably lift and transfer heavy objects, it is sometimes necessary to increase the cylinder diameter (volume) of the drive cylinder to increase the driving force it can provide, which will further increase the overall size of the robotic arm. Summary of the Invention

[0004] The present invention was made in view of the above circumstances, and its object is to provide a more compact overall structure of a robotic arm and a robotic arm assist system having the robotic arm compared with the past.

[0005] To achieve the above objectives, the present invention provides a power-assisted robotic arm, comprising: a base member; an end-effector for connecting to a weight; a linkage member, one end of which is rotatably connected to the base member and the other end of which is rotatably connected to the end-effector; a drive cylinder, one end of which is rotatably connected to the base member and the other end of which is rotatably connected to the linkage member; and a rotating housing member, one end of which is rotatably connected to the base member and the other end of which is rotatably connected to the end-effector, wherein the drive cylinder is located on the same side as the end-effector relative to the base member, and a storage space for accommodating at least a portion of the linkage member and the drive cylinder is formed inside the rotating housing member.

[0006] In addition, the present invention also provides a robotic arm assist system, wherein the robotic arm assist system includes the aforementioned assist robotic arm.

[0007] According to the present invention, the power-assisted robotic arm and the robotic arm assist system having the power-assisted robotic arm utilize a base member, an end-connecting member, a link member, and a rotating housing member to form a four-bar linkage in the power-assisted robotic arm. The drive cylinder is rotatably connected to the base member and the link member in a manner that is located on the same side as the end-connecting member relative to the base member, thereby driving the link member. At least a portion of the link member and the drive cylinder are housed within the internal storage space of the rotating housing member. Therefore, compared to conventional power-assisted robotic arms with two link members and the drive cylinder positioned on the opposite side relative to the base member and the end-connecting member, the overall size of the power-assisted robotic arm can be effectively reduced, making the overall structure more compact and saving space. Furthermore, the distance between the connection point of the drive cylinder and the link member and the connection point of the link member and the base member can be effectively extended. When performing operations such as lifting heavy objects of the same weight, the driving force required by the drive cylinder can be effectively reduced, thereby reducing the cylinder diameter and further reducing the overall volume of the power-assisted robotic arm, making it miniaturized. Attached Figure Description

[0008] Figure 1 This is a schematic perspective view of a power-assisted robotic arm according to one embodiment of the present invention.

[0009] Figure 2 This is an exploded perspective view schematically illustrating an embodiment of the assistive robotic arm of the present invention.

[0010] Figure 3A and Figure 3B These are schematic front view and schematic cross-sectional view of a power-assisted robotic arm according to an embodiment of the present invention.

[0011] Figure 4 This is a schematic perspective view of the linkage component in a power-assisted robotic arm according to one embodiment of the present invention.

[0012] Figure 5 This is a schematic perspective view of a rotating housing component in a power-assisted robotic arm according to one embodiment of the present invention.

[0013] Figure 6 This is an enlarged perspective view schematically showing the locked state of the locking member in a power-assisted robotic arm according to an embodiment of the present invention.

[0014] Figure 7 This is an enlarged perspective view schematically showing the locked state of the locking member in a power-assisted robotic arm according to an embodiment of the present invention.

[0015] Figure 8This is a schematic cross-sectional view illustrating an embodiment of the present invention with the assisted robotic arm in a descending position.

[0016] Figure 9 This is a schematic cross-sectional view illustrating an embodiment of the present invention with the assisted robotic arm in the lifting position.

[0017] Figure 10 This is a schematic perspective view illustrating a robotic arm assist system according to one embodiment of the present invention.

[0018] Figure 11 This is an exploded perspective view schematically illustrating a robotic arm assist system according to an embodiment of the present invention. Detailed Implementation

[0019] The present invention will now be described with reference to the accompanying drawings, which illustrate several embodiments of the invention. However, it should be understood that the invention can be presented in many different ways and is not limited to the embodiments described below; in fact, the embodiments described below are intended to make the disclosure of the invention more complete and to fully illustrate the scope of protection of the invention to those skilled in the art. It should also be understood that the embodiments disclosed herein can be combined in various ways to provide more additional embodiments.

[0020] It should be understood that the same reference numerals denote the same elements in all the accompanying drawings. For clarity, the dimensions and shapes of certain features may be appropriately modified in the drawings.

[0021] It should be understood that the terminology used in this specification is for describing specific embodiments only and is not intended to limit the invention. All terms used in this specification (including technical and scientific terms) have the meanings commonly understood by those skilled in the art unless otherwise defined. For the sake of brevity and / or clarity, well-known functions or structures may not be described in detail.

[0022] Unless otherwise specified, the singular forms “a,” “the,” and “the” used in this specification include the plural forms. The terms “comprising,” “including,” and “containing” used in this specification indicate the presence of the claimed feature but do not exclude the presence of one or more other features. The term “and / or” used in this specification includes any and all combinations of one or more of the related listed items. The terms “between X and Y” and “between approximately X and Y” used in this specification should be interpreted as including both X and Y. The term “between approximately X and Y” used in this specification means “between approximately X and approximately Y,” and the term “from approximately X to Y” used in this specification means “from approximately X to approximately Y.”

[0023] In the specification, when an element is described as being "on," "attached," "connected," "coupled," or "in contact" with another element, the element can be directly located on, attached to, connected to, coupled to, or in contact with the other element, or there may be intermediate elements present. Conversely, when an element is described as being "directly" located on, directly attached to, directly connected to, directly coupled to, or directly in contact with another element, no intermediate elements are present. In the specification, the description of a feature being arranged "adjacent" to another feature can mean that a feature has a portion overlapping with the adjacent feature or a portion located above or below the adjacent feature.

[0024] In the specification, spatial relation terms such as "up," "down," "left," "right," "front," "back," "high," and "low" describe the relationship between one feature and another in the accompanying drawings. It should be understood that spatial relation terms include not only the orientation shown in the drawings but also the different orientations of the device during use or operation. For example, when the device in the drawings is inverted, a feature previously described as "below" other features can now be described as "above" other features. The device can also be oriented in other ways (rotated 90 degrees or in other orientations), in which case the relative spatial relationships will be explained accordingly.

[0025] The following is for reference Figures 1 to 9 This document provides a detailed description of an embodiment of the assisted robotic arm 100. It should be noted that in the following drawings, similar or identical parts are labeled with similar or identical reference numerals. However, the drawings are schematic, and attention should be paid to the possibility that the proportions of various dimensions may differ from reality. Therefore, specific dimensions should be determined by referring to the following description. Furthermore, the drawings may include parts with different dimensional relationships or proportions.

[0026] like Figures 1-3BAs shown, the power-assisted robotic arm 100 of this embodiment includes, for example, at least a base member 10 serving as a frame, an end-connecting member 20 for connecting to a work object such as a heavy object, a linkage member 30, a rotating housing member 50, and a drive cylinder 40. One end of the linkage member 30 is rotatably connected to the base member 10, and the other end is rotatably connected to the end-connecting member 20. Similarly, one end of the rotating housing member 50 is rotatably connected to the base member 10, and the other end is rotatably connected to the end-connecting member 20. Thus, the base member 10, the end-connecting member 20, the linkage member 30, and the rotating housing member 50 constitute a four-bar linkage in the power-assisted robotic arm 100, and the heavy object or work object connected to the end-connecting member 20 is lifted and lowered via this four-bar linkage.

[0027] For ease of explanation, in this specification, the length direction of the base member 10 is sometimes designated as the X direction, the thickness direction as the Y direction, and the height direction as the Z direction. Furthermore, it should be noted that in this specification, expressions such as "A and B are connected in a manner that allows relative rotation" and "A can be rotatably connected to B" refer to, for example, that A and B can be rotatably connected via structures known in the art, such as pins, combinations of pins and bearings (hereinafter sometimes simply referred to as "pin assemblies"), universal joints, or couplings. The specific structure is not particularly limited as long as it enables A and B to be rotatably connected.

[0028] In the power-assisted robotic arm 100 of this embodiment, the drive cylinder 40 is a component used to drive a four-bar linkage consisting of a base member 10, an end-connecting member 20, a connecting rod member 30, and a rotating housing member 50. As an example, optionally, one end of the drive cylinder 40 is rotatably connected to the base member 10, and the other end is rotatably connected to the connecting rod member 30, and the drive cylinder 40 is located on the same side as the end-connecting member 20 relative to the base member 10. In some embodiments, the drive cylinder 40, for example, has a cylinder 41, a piston rod 42 that is retractable relative to the cylinder 41, and a rotating connecting portion 43 disposed on the side of the cylinder 41 opposite to the piston rod 42. Optionally, the piston rod 42 of the drive cylinder 40 is rotatably connected to the connecting rod member 30, and the rotating connecting portion 43 of the drive cylinder 40 is rotatably connected to the base member 10. However, it is not limited to this. The piston rod 42 of the drive cylinder 40 can be rotatably connected to the base member 10, and the rotating connection part 43 of the drive cylinder 40 can be rotatably connected to the connecting rod member 30.

[0029] In the power-assisted robotic arm 100 of this embodiment, optionally, for example, a first connecting hole 11, a second connecting hole 12, and a third connecting hole 13 are provided in the base member 10, respectively extending along the thickness direction (Y direction). As an example, the first connecting hole 11 is used to engage with one end of a connecting rod member 30 to allow the connecting rod member 30 to be rotatably connected to the base member 10; the second connecting hole 12 is used to engage with one end of a rotating housing member 50 to allow the rotating housing member 50 to be rotatably connected to the base member 10; and the third connecting hole 13 is used to engage with one end of a drive cylinder 40 to allow the drive cylinder 40 to be rotatably connected to the base member 10. Optionally, in the base member 10, the first connecting hole 11 and the second connecting hole 12 overlap each other in the X direction but do not overlap with the third connecting hole 13. The third connecting hole 13 is, for example, located on the end connecting member 20 side closer than the first connecting hole 11 and the second connecting hole 12. In addition, as an example, the base member 10 may be formed into a roughly triangular shape with two curved sides, but it is not limited to this. The base member 10 may also be formed into other shapes such as a roughly square shape, a roughly rectangular shape, a roughly elliptical shape, or a roughly circular shape, depending on the need.

[0030] The end effector 20 in the power-assisted robotic arm 100 of this embodiment is a component for connecting to a work object such as a heavy object. Optionally, the end effector 20 has a fourth connecting hole 21 and a fifth connecting hole 22 that extend along the thickness direction (Y direction). As an example, the fourth connecting hole 21 is used to engage with the other end of the connecting rod 30 so that the connecting rod 30 can be rotatably connected to the end effector 20, and the fifth connecting hole 22 is used to engage with the other end of the rotating housing 50 so that the rotating housing 50 can be rotatably connected to the end effector 20. The fourth connecting hole 21 and the fifth connecting hole 22 overlap each other in the X direction, for example. Alternatively, a mounting groove 23 is provided on the end face of the end effector 20, which is used to mount a work object such as a heavy object.

[0031] In the power-assisted robotic arm 100 of this embodiment, the linkage member 30 is, for example, a drive linkage member that is rotatably connected to and driven by the drive cylinder 40. By driving the linkage member 30 using the drive cylinder 40, the four-bar linkage including the linkage member 30 is driven, thereby performing operations such as lifting and transferring heavy objects or other work objects connected to the end-connecting member 20. As an example, for instance... Figure 2 and Figure 4As shown, a first connecting rod connection portion 30a is provided at one end of the connecting rod member 30. The first connecting rod connection portion 30a is used to cooperate with the first connecting hole 11 of the base member 10 and to connect the connecting rod member 30 and the base member 10 rotatably. In addition, a second connecting rod connection portion 30b is provided at the other end of the connecting rod member 30. The second connecting rod connection portion 30b is used to cooperate with the fourth connecting hole 21 of the end connecting member 20 and to connect the connecting rod member 30 and the end connecting member 20 rotatably.

[0032] It should be noted that the first connecting part 30a and the second connecting part 30b are only required to be able to mate with the first connecting hole 11 of the base member 10 and the fourth connecting hole 21 of the end connecting member 20 respectively, and to allow the connecting member 30 to be rotatably connected to the base member 10 and the end connecting member 20. Their specific forms are not particularly limited. For example, such as... Figure 2 and Figure 4 As shown, the first connecting rod connection portion 30a is, for example, a pair of plate-shaped portions extending from both sides of one end of the connecting rod member 30. By inserting the portion of the base member 10 with the first connecting hole 11 between the pair of plate-shaped portions and allowing a pin or pin assembly to pass through the first connecting rod connection portion 30a and the first connecting hole 11, the connecting rod member 30 and the base member 10 are rotatably connected. Alternatively, as an example, the second connecting rod connection portion 30b is, for example, a cylindrical portion with a through hole. By inserting the second connecting rod connection portion 30b between the two side walls of the end connecting member 20, which has a concave cross-section, and allowing a pin or pin assembly to pass through the second connecting rod connection portion 30b and the fourth connecting hole 21, the connecting rod member 30 and the end connecting member 20 are rotatably connected. Alternatively, the structures of the first connecting part 30a and the second connecting part 30b can be interchanged or changed in accordance with the shape of the portion of the base member 10 provided with the first connecting hole 11 and the shape of the portion of the end connecting member 20 provided with the fourth connecting hole 21.

[0033] In addition, as an example, such as Figure 2 and Figure 4As shown, a third connecting part 30c is further provided between the first connecting part 30a and the second connecting part 30b of the connecting rod member 30. The third connecting part 30c is used, for example, to cooperate with the piston rod 42 of the drive cylinder 40 and to connect the connecting rod member 30 and the drive cylinder 40 in a rotatable manner. Optionally, a piston rod connecting hole can be opened at the end of the piston rod 42 of the drive cylinder 40, and a pin or pin assembly can pass through the piston rod connecting hole and the third connecting part 30c of the connecting rod member 30 to connect the connecting rod member 30 and the drive cylinder 40 in a rotatable manner. Alternatively, a fisheye bearing 42a, which is a self-aligning ball bearing, can be sleeved at the end of the piston rod 42 of the drive cylinder 40, and a pin can pass through the fisheye bearing 42a and the third connecting part 30c of the connecting rod member 30 to connect the connecting rod member 30 and the drive cylinder 40 in a rotatable manner.

[0034] In the power-assisted robotic arm 100 of this embodiment, the rotating housing member 50 is, for example, formed with a concave cross-section and opens toward the side where the connecting rod member 30 and the drive cylinder 40 are provided. As an example, for instance... Figure 2 and Figure 5 As shown, a first housing connection hole 50a is provided at one end of the rotating housing member 50, and a second housing connection hole 50b is provided at the other end of the rotating housing member 50. By aligning the first housing connection hole 50a with the second connection hole 12 of the base member 10 and inserting the first pin assembly P1, the rotating housing member 50 and the base member 10 can be rotatably connected relative to each other. Furthermore, by aligning the second housing connection hole 50b with the fifth connection hole 22 of the end connecting member 20 and inserting the second pin assembly P2, the rotating housing member 50 and the end connecting member 20 can be rotatably connected relative to each other. Additionally, as... Figures 1-3B As shown, a storage space S is formed inside the rotating housing member 50, which can accommodate at least a portion of the connecting rod member 30 and the drive cylinder 40. Regardless of whether the assisted robotic arm 100 is in the descending position (e.g., referring to...), Figure 8 ) or is still in the promotion stage (e.g., refer to Figure 9 At least a portion of the connecting rod member 30 and the drive cylinder 40 are housed in the storage space S inside the rotating housing member 50.

[0035] According to this embodiment, the power-assisted robotic arm 100 utilizes a base member 10, an end-connecting member 20, a connecting rod member 30, and a rotating housing member 50 to form a four-bar linkage. A drive cylinder 40 is rotatably connected to the base member 10 and the connecting rod member 30 such that it is located on the same side as the end-connecting member 20 relative to the base member 10, thereby driving the connecting rod member 30. At least a portion of the connecting rod member 30 and the drive cylinder 40 are housed within a storage space S inside the rotating housing member 50. Thus, unlike conventional power-assisted robotic arms which have two connecting rod members and a drive cylinder... Compared to the case where the base member and the end connection member are opposite, the overall size of the power-assisted robotic arm 100 can be effectively reduced and the overall structure can be made more compact, saving the space occupied by the power-assisted robotic arm 100. In addition, the distance between the connection point of the drive cylinder 40 and the connecting rod member 30 and the connection point of the connecting rod member 30 and the base member 10 can be effectively extended. When performing operations such as lifting heavy objects of the same weight, the amount of driving force required by the drive cylinder 40 can be effectively reduced. As a result, the cylinder diameter of the drive cylinder 40 can be reduced, and the overall volume of the power-assisted robotic arm 100 can be further reduced and miniaturized.

[0036] In some embodiments, the assisted robotic arm 100 may optionally include a locking member 60 located between the link member 30 and the rotating housing member 50, and locking the link member 30 and the rotating housing member 50 to prevent relative movement between the two.

[0037] Alternatively, the locking member 60 may be, for example, a diaphragm cylinder 60. As an example, such as... Figure 6 and Figure 7 As shown, the diaphragm cylinder 60 may, for example, have a mounting base 61, a diaphragm cylinder body 62 disposed on the mounting base 61, and a diaphragm member 63 capable of telescoping relative to the diaphragm cylinder body 62. Optionally, the telescoping stroke range of the diaphragm member 63 relative to the diaphragm cylinder body 62 may be several mm to several cm, for example, 2 mm to 10 cm, or 3 mm to 5 cm. Figure 6 The diagram schematically illustrates the unlocked state of the locking member 60 in the power-assisted robotic arm 100, i.e., the retracted state of the diaphragm member 63 relative to the diaphragm cylinder body 62. Figure 7The diagram schematically illustrates the locked state of the locking member 60 in the power-assisted robotic arm 100, i.e., the diaphragm member 63 extending relative to the diaphragm cylinder body 62. Furthermore, the diaphragm cylinder 60, as the locking member, only needs to be located between the connecting rod member 30 and the rotating housing member 50 to prevent relative movement between them. The mounting base 61 of the diaphragm cylinder 60 can be mounted on either the inner side of the rotating housing member 50 or the outer side of the connecting rod member 30; it is not particularly limited.

[0038] In addition, Figure 2 The diagram shows a structure in which a pair of locking members 60 are provided between the connecting rod member 30 and the rotating housing member 50 and on both sides of the connecting rod member 30. However, it is not limited to this structure. It is possible to provide only one locking member 60 between the connecting rod member 30 and the rotating housing member 50, or to provide three or more locking members 60. For example, multiple locking members 60 can be provided between the connecting rod member 30 and the rotating housing member 50 and on both sides of the connecting rod member 30.

[0039] In this way, by providing a locking member 60 between the link member 30 and the rotating housing member 50, the link member 30 and the rotating housing member 50 can be locked by the locking member 60 and the relative movement between the two can be prevented. As a result, when using the power-assisted robotic arm 100 to lift heavy objects or other work objects, the heavy objects or other work objects can be reliably held at a predetermined height and prevented from falling or swaying up and down. This can effectively improve the reliability and stability of the work performed by using the power-assisted robotic arm 100.

[0040] Furthermore, when using the diaphragm cylinder 60 as the locking component, since the diaphragm cylinder 60 itself is inexpensive and the extension stroke of the diaphragm component 63 in the diaphragm cylinder 60 relative to the diaphragm cylinder body 62 is short, it is possible to use the diaphragm cylinder 60 to lock the connecting rod component 30 and the rotating housing component 50 at low cost and quickly, and reliably hold heavy objects or other work objects at a predetermined height.

[0041] In some embodiments, alternatively, such as Figure 2 and Figure 4 As shown, for example, a mounting boss 31 is provided on the outer side of the connecting rod member 30, and the locking member 60 is provided on the outer side of the connecting rod member 30 via the mounting boss 31. As an example, the mounting base 61 of the diaphragm cylinder 60, which serves as the locking member, is fixed to the mounting boss 31 of the connecting rod member 30 by using fastening connectors such as screws, thereby setting the diaphragm cylinder 60 on the outer side of the connecting rod member 30 via the mounting boss 31 and positioning it between the connecting rod member 30 and the rotating housing member 50.

[0042] In this way, by providing a mounting boss 32 on the outer side of the connecting rod member 30 and setting the locking member 60 on the outer side of the connecting rod member 30 via the mounting boss 32, the locking member 60 can be easily installed. Since the locking member 60 is mounted on the mounting boss 32, the distance between the locking member 60 and the inner side of the rotating housing member 50 is shortened, which can reduce the extension stroke of the diaphragm member 63 and other telescopic members that function as piston rods in the locking member 60, and the connecting rod member 30 and the rotating housing member 50 can be quickly locked using the locking member 60.

[0043] In some embodiments, alternatively, such as Figure 2 and Figure 4 , Figure 8 and Figure 9 As shown, for example, a clearance groove 32 is provided in the connecting rod member 30. The clearance groove 32 is provided in the connecting rod member 30 at a position closer to the base member 10 than the connection portion of the connecting rod member 30 and the drive cylinder 40. Figure 4 In the examples shown, the clearance groove 32 is an example of an arc-shaped groove, but it is not limited to this. The clearance groove 32 can be used as long as it can assist the robotic arm 100 in... Figure 8 The shown descent station and Figure 9 When lifting heavy objects or other work objects between the lifting stations shown, it is necessary to avoid interference between the connecting rod component 30 and the drive cylinder 40. The specific shape and setting position of the clearance groove 32 can be appropriately changed as needed.

[0044] In this way, by opening a clearance groove 32 in the link member 30, interference between the link member 30 and the drive cylinder 40 can be effectively avoided when the power-assisted robotic arm 100 is used to lift heavy objects or other work objects. This can improve the operational reliability of the power-assisted robotic arm 100 and effectively prevent accidents.

[0045] In some embodiments, such as Figure 3B As shown, optionally, when the center point of the connection between the rotating housing member 50 and the base member 10 is designated as the first connection point Pa, the center point of the connection between the rotating housing member 50 and the end connecting member 20 is designated as the second connection point Pb, and the connecting line connecting the first connection point Pa and the second connection point Pb is designated as the housing connection line L, the housing connection line L is approximately parallel to the connecting rod member 30. Furthermore, the housing connection line L defined as described above can also be considered as the connection line between the center of the first housing connection hole 50a and the center of the second housing connection hole 50b of the rotating housing member 50.

[0046] In this way, by making the housing connection line L in the rotating housing member 50 approximately parallel to the connecting rod member 30, a parallel four-bar linkage can be formed using the base member 10, the end connecting member 20, the connecting rod member 30, and the rotating housing member 50. As a result, when the power-assisted robotic arm 100 lifts heavy objects or other work objects, the connection surface between the end connecting member 20 and the heavy object (e.g., the end face with the mounting groove 23) can always be kept approximately perpendicular to the vertical direction (Z direction), which can stably lift and lower the heavy objects or other work objects and effectively prevent the heavy objects or other work objects from swaying.

[0047] In some embodiments, such as Figure 3B As shown, optionally, the housing connection line L is located lower than the connecting rod member 30. By positioning the housing connection line L lower than the connecting rod member 30, it is possible to reliably house at least a portion of the connecting rod member 30 and the drive cylinder 40 within the rotating housing member 50, while further extending the distance between the connection point of the drive cylinder 40 and the connecting rod member 30 and the connection point of the connecting rod member 30 and the base member 10. This allows for a more effective reduction in the driving force required by the drive cylinder 40 when performing operations such as lifting objects of the same weight. Consequently, the cylinder diameter of the drive cylinder 40 can be further reduced, and the overall volume of the power-assisted robotic arm 100 can be decreased.

[0048] In some embodiments, such as Figure 2 and Figure 3B As shown, optionally, at least one pin hole 50c is provided in the wall of the rotating housing member 50, and a strength-reinforcing pin 70 is inserted into the pin hole 50c. The rotating housing member 50 in the power-assisted robotic arm 100 is formed with a concave cross-section, for example, opening towards the side where the connecting rod member 30 and the drive cylinder 40 are provided, and when the locking member 60 is provided between the connecting rod member 30 and the rotating housing member 50, it receives the locking force (thrust) from the locking member 60 from the inside. Therefore, by providing a pin hole 50c in the wall of the rotating housing member 50 and inserting a strength-reinforcing pin 70 in the pin hole 50c, the strength of the rotating housing member 50 itself can be effectively improved by using the strength-reinforcing pin 70 that penetrates both sides of the rotating housing member 50, and the outward deformation of both sides of the rotating housing member 50 can be effectively prevented from causing an accident that would prevent the locking member 60 from locking the connecting rod member 30 and the rotating housing member 50.

[0049] Furthermore, the number and location of the pin holes 50c opened in the wall of the rotating housing member 50 are not particularly limited, as long as they can strengthen the strength of the rotating housing member 50 and prevent the two side walls of the rotating housing member 50 from deforming outward.

[0050] In some embodiments, such as Figure 2 and Figure 5 As shown, optionally, a plurality of pin holes 50c are provided in the wall of the rotating housing member 50, and when viewed in a direction perpendicular to the wall of the rotating housing member 50 (Y direction), the locking member 60 is disposed between two of the plurality of pin holes 50c.

[0051] In this way, by opening multiple pin holes 50c in the wall of the rotating housing member 50, and positioning the locking member 60 between two of the multiple pin holes 50c when viewed in a direction perpendicular to the wall of the rotating housing member 50, when multiple strength-reinforcing pins 70 are respectively inserted into each pin hole 50c and pass through both sides of the rotating housing member 50, the locking member 60 is positioned between two of the multiple strength-reinforcing pins 70. The strength-reinforcing pins 70 can be used to strengthen the rotating housing member 50 on both sides of the part of the rotating housing member 50 that receives the thrust from the locking member 60 from the inside. This can make the force on the part of the rotating housing member 50 that receives the thrust from the locking member 60 uniform, and improve the overall strength of the rotating housing member 50. It can effectively prevent the locking based on the locking member 60 from failing due to the outward deformation of the two sides of the rotating housing member 50.

[0052] In some embodiments, such as Figure 2 and Figure 3A As shown, optionally, the power-assisted robotic arm 100 may also include a housing cover plate 80. This housing cover plate 80, for example, is formed with a concave cross-section corresponding to the rotating housing member 50, and together with the rotating housing member 50, constitutes a storage space for housing the connecting rod member 30 and the drive cylinder 40. The housing cover plate 80 can be connected to the side walls of the rotating housing member 50 using fasteners such as screws to form the storage space for housing the connecting rod member 30 and the drive cylinder 40.

[0053] Alternatively, a first cover plate connecting hole 80a is provided at one end of the housing cover plate 80, and a second cover plate connecting hole 80b is provided at the other end of the housing cover plate 80. By inserting the first pin assembly P1 into the second connecting hole 12 of the base member 10, the first housing connecting hole 50a of the rotating housing member 50, and the first cover plate connecting hole 80a of the housing cover plate 80, the rotating housing member 50 and the housing cover plate 80 are rotatably connected to the base member 10. Furthermore, by inserting the second pin assembly P2 into the fifth connecting hole 22 of the end connecting member 20, the second housing connecting hole 50b of the rotating housing member 50, and the second cover plate connecting hole 80b of the housing cover plate 80, the rotating housing member 50 and the housing cover plate 80 are rotatably connected to the end connecting member 20.

[0054] In this way, by having a housing cover plate 80 that is shaped into a concave cross-section corresponding to the rotating housing member 50, the housing cover plate 80 and the rotating housing member 50 together can form a storage space that houses the connecting rod member 30 and the drive cylinder 40. The housing cover plate 80 and the rotating housing member 50 can protect the connecting rod member 30 and the drive cylinder 40 and reduce the impact of dust, moisture and other external factors on them, which can help reduce the maintenance cost of the power-assisted robotic arm 100.

[0055] In some embodiments, such as Figure 2 and Figure 3A As shown, optionally, the power-assisted robotic arm 100 may also include a pressure regulating member 90. The pressure regulating member 90 is, for example, a pressure regulating valve corresponding to the drive cylinder 40, and can be fixed on both sides of the base member 10 in the thickness direction (Y direction). By adjusting the drive pressure within the drive cylinder 40 using the pressure regulating member 90, it is possible to conveniently control the drive cylinder 40 to provide a driving force matching the work object, such as a heavy object, connected to the end connecting member 20 to the four-bar linkage consisting of the base member 10, the end connecting member 20, the connecting rod member 30, and the rotating housing member 50. This allows the power-assisted robotic arm 100 to reliably and stably perform lifting operations on heavy objects. Furthermore, by fixing the pressure regulating member 90 on both sides of the base member 10 in the thickness direction, the overall size of the power-assisted robotic arm 100 can be made more compact, reducing its overall volume.

[0056] Alternatively, the aforementioned assisted robotic arm 100 can be used, for example, for... Figure 10 The robotic arm assist system 1000 is shown. Furthermore, by incorporating the assist robotic arm 100 as described above, the robotic arm assist system 1000 can obtain the same advantageous effects as the assist robotic arm 100 described above.

[0057] As an example, such as Figure 10 and Figure 11 As shown, the robotic arm assist system 1000, for example, includes, in addition to the assist robotic arm 100 as described above, a base 200 and a rotary robotic arm 300. One end of the rotary robotic arm 300 in the robotic arm assist system 1000 is rotatably connected to the base 200, and the base member 10 of the assist robotic arm 100 is rotatably connected to the other end of the rotary robotic arm 300.

[0058] In this way, by applying the power-assisted robotic arm 100 to a robotic arm assist system 1000 having a base 200 and a rotary robotic arm 300, and by enabling one end of the rotary robotic arm 300 to be rotatably connected to the base 200 and the other end of the rotary robotic arm 300 to be rotatably connected to the base member 10 of the power-assisted robotic arm 100, the degree of freedom of operation of the power-assisted robotic arm 100 can be increased and the application range of the power-assisted robotic arm 100 can be effectively expanded.

[0059] The above describes in detail some embodiments and examples of the assisted robotic arm 100 and the robotic arm assist system 1000 having the assisted robotic arm 100, but is not limited thereto. The assisted robotic arm 100 of the present invention may also be modified as follows.

[0060] For example, in the above embodiment, it is described that the power-assisted robotic arm 100 may have at least one of the following components: locking member 60, pin hole 50c and strength-enhancing pin 70, housing cover plate 80, and pressure regulating member 90. However, it is not limited to this. The power-assisted robotic arm 100 may have only some of the above components, or it may not have any of the above components and may be composed only of base member 10, end connection member 20, connecting rod member 30, rotating housing member 50 and drive cylinder 40.

[0061] Furthermore, in the above embodiment, it is illustrated that the first connecting hole 11 in the base member 10, which mates with one end of the connecting rod member 30, is located above the second connecting hole 12, which mates with one end of the rotating housing member 50, and the fourth connecting hole 21 in the end connecting member 20, which mates with the other end of the connecting rod member 30, is located above the fifth connecting hole 22, which mates with the other end of the rotating housing member 50. That is, it is illustrated that the connecting line L between the center of the first housing connecting hole 50a and the center of the second housing connecting hole 50b in the rotating housing member 50 is located below the connecting rod member 30. However, it is not limited to this. It is also possible to place the first connecting hole 11 in the base member 10, which mates with one end of the connecting rod member 30, below the second connecting hole 12, which mates with one end of the rotating housing member 50, and to place the fourth connecting hole 21 in the end connecting member 20, which mates with the other end of the connecting rod member 30, below the fifth connecting hole 22, which mates with the other end of the rotating housing member 50. In other words, the connection line L between the center of the first housing connection hole 50a and the center of the second housing connection hole 50b of the rotating housing component 50 and the vertical position relationship of the connecting rod component 30 can be interchanged as needed.

[0062] Furthermore, although exemplary embodiments of the present invention have been described, those skilled in the art will understand that various changes and modifications can be made to the exemplary embodiments of the present invention without departing from the spirit and scope of the invention. Therefore, all changes and modifications are included within the scope of protection of the invention as defined by the claims. The present invention is defined by the appended claims, and equivalents of those claims are also included.

Claims

1. A power-assisted robotic arm (100), wherein, The assisted robotic arm (100) has the following features: Base component (10); End connection member (20), the end connection member (20) is used to connect to the weight; A connecting rod member (30), one end of which is rotatably connected to the base member (10), and the other end of which is rotatably connected to the end connecting member (20); A drive cylinder (40), one end of which is rotatably connected to the base member (10), and the other end of which is rotatably connected to the connecting rod member (30); and A rotating housing component (50) is provided, one end of which is rotatably connected to the base component (10), and the other end of which is rotatably connected to the end connecting component (20). The drive cylinder (40) is located on the same side as the end connecting member (20) relative to the base member (10). An accommodating space (S) for accommodating at least a portion of the connecting rod member (30) and the drive cylinder (40) is formed inside the rotating housing member (50).

2. The assisted robotic arm (100) according to claim 1, wherein, The assisted robotic arm (100) also has a locking member (60) located between the connecting rod member (30) and the rotating housing member (50).

3. The assisted robotic arm (100) according to claim 2, wherein, A mounting boss (31) is provided on the outer side of the connecting rod member (30), and the locking member (60) is provided on the outer side of the connecting rod member (30) via the mounting boss (31).

4. The assisted robotic arm (100) according to any one of claims 1 to 3, wherein, A clearance groove (32) is provided in the connecting rod member (30).

5. The assisted robotic arm (100) according to any one of claims 1 to 3, wherein, When the center point of the connection between the rotating housing component (50) and the base component (10) is set as the first connection point (Pa), the center point of the connection between the rotating housing component (50) and the end connecting component (20) is set as the second connection point (Pb), and the connecting line connecting the first connection point (Pa) and the second connection point (Pb) is set as the housing connection line (L), the housing connection line (L) is parallel to the connecting rod component (30).

6. The assisted robotic arm (100) according to claim 5, wherein, The housing connection line (L) is located on the lower side than the connecting rod member (30).

7. The assisted robotic arm (100) according to claim 2 or 3, wherein, At least one pin hole (50c) is provided in the wall of the rotating housing member (50), and a strength-enhancing pin (70) is inserted into the pin hole (50c).

8. The assisted robotic arm (100) according to claim 7, wherein, A plurality of pin holes (50c) are provided in the wall of the rotating housing component (50). When viewed in a direction perpendicular to the wall of the rotating housing member (50), the locking member (60) is disposed between two of the plurality of pin holes (50c).

9. A robotic arm assist system (1000), wherein, The robotic arm assist system (1000) comprises the assist robotic arm (100) as described in any one of claims 1 to 8.

10. The robotic arm assist system (1000) according to claim 9, wherein, The robotic arm assist system (1000) also includes a base (200) and a rotary robotic arm (300). One end of the rotary robotic arm (300) is rotatably connected to the base (200), and the base component (10) of the assist robotic arm (100) is rotatably connected to the other end of the rotary robotic arm (300).

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