Mechanical arm and robot

Abstract

The mechanical arm comprises a first arm body, a second arm body and a driving mechanism, and the first arm body is used for being rotationally connected to a robot body of the robot; the second arm is slidably connected with the first arm, so that the second arm can linearly move along a first direction relative to the first arm, and the first direction is the extension direction of the first arm; the driving mechanism is used for driving the first arm and the second arm to integrally rotate relative to the machine body and driving the first arm to linearly move relative to the second arm in the first direction, so that rotation and telescopic movement of the mechanical arm are achieved, and objects at different positions can be grabbed or carried conveniently.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent devices, and in particular to a robotic arm and a robot. Background Art

[0002] With the rapid development of robot technology, intelligent robots have been widely used in various industrial and life scenarios. Existing intelligent robots usually use mechanical arms to achieve complex operations such as grasping and carrying. Therefore, the mechanical arms often need to use joint rotation and set multiple mutually hinged connecting rods to achieve the telescopic movement of the mechanical arms. Due to the multi-link mechanism, when the length of the mechanical arm changes, the force acting on the joint motor changes continuously, the connecting rod angle changes continuously, the control model is complex, and the control cost is high. Utility Model Content

[0003] In view of this, the present application proposes a mechanical arm and a robot.

[0004] A first aspect of the present application provides a mechanical arm for a robot, the mechanical arm comprising:

[0005] a first arm for rotationally connecting to a body of the robot;

[0006] a second arm, slidably connected to the first arm, so that the second arm can move linearly relative to the first arm along a first direction, where the first direction is an extension direction of the first arm;

[0007] A driving mechanism is used to drive the first arm and the second arm to rotate as a whole relative to the fuselage, and to drive the first arm to move linearly along the first direction relative to the second arm.

[0008] A second aspect of the present application provides a robot, comprising a body and the above-mentioned robotic arm, wherein the robotic arm is connected to the body.

[0009] The robot arm proposed in the present application includes a first arm, a second arm and a driving mechanism, and has a simple structure. The extension and retraction of the robot arm is achieved through the relative linear motion of the second arm and the first arm, so that the force arm of the load on the power source of the driving mechanism remains constant during the extension and retraction process of the robot arm, which simplifies the control model of the robot, improves the accuracy and response speed of the robot movement, and the force arm is relatively short during the extension and retraction process of the robot arm, and the power consumption of the power source is low. The driving mechanism drives the first arm and the second arm to rotate as a whole relative to the body, and drives the first arm to move linearly in a first direction relative to the second arm, thereby realizing the rotation and retracting movement of the robot arm, so as to facilitate operations such as grasping or carrying objects at different positions. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained like these drawings without paying any creative work.

[0011] Figure 1 This is a schematic diagram of the structure of the robot proposed in the embodiment of the present application.

[0012] Figure 2 This is a schematic diagram of the structure of a deformation method of the robot proposed in an embodiment of the present application.

[0013] Figure 3 This is a schematic diagram of the structure of another deformation method of the robot proposed in the embodiment of the present application.

[0014] Figure 4 This is a schematic structural diagram of another deformation method of the robot proposed in an embodiment of the present application.

[0015] Figure 5 This is a schematic diagram of the structure of the robotic arm proposed in an embodiment of the present application.

[0016] Figure 6 for Figure 5 A schematic diagram of the structure of the hidden seat in the structure shown.

[0017] Figure 7 A schematic cross-sectional view of a robotic arm according to an embodiment of the present application.

[0018] Figure 8 This is a schematic diagram of the structure of the first arm proposed in an embodiment of the present application.

[0019] Fig. 9 This is a schematic diagram of the connection between the first transmission assembly, the second transmission assembly and the first arm proposed in an embodiment of the present application. The first flexible member in the figure is a first belt, and the second flexible member is a second belt.

[0020] Fig.10 This is a schematic diagram of the connection between the first driving member, the second driving member and the first arm proposed in an embodiment of the present application. The first flexible member in the figure is the first transmission rope, and the second flexible member is the second transmission rope.

[0021] Fig.11 for Fig.10 A schematic diagram from a first viewing angle showing a structure in which a first transmission rope and a second transmission rope are connected to a first slider and a second slider respectively.

[0022] Fig.12 for Fig.10 A schematic diagram from a second viewing angle showing the structure in which the first transmission rope and the second transmission rope are connected to the first slider and the second slider respectively.

[0023] Fig.13 This is a partially enlarged schematic diagram of the location of the guide wheel of the robotic arm proposed in an embodiment of the present application.

[0024] Fig.14 This is a partially enlarged schematic diagram of the location of the base of the robotic arm proposed in an embodiment of the present application.

[0025] Description of reference numerals:

[0026] 100, mechanical arm; 10, first arm; 11, supporting structure; 11a, first end; 11b, second end; 111, first supporting plate; 112, second supporting plate; 113, blocking plate; 12, mounting member; 13, guide wheel; 131, arc groove; 14, second limit block; 20, second arm; 21, seat; 211, back plate; 212, extension plate; 213, slide groove; 214, reinforcement structure; 30, driving mechanism; 30a, first driving member; 30b, second driving member; 31, first motor; 32, first transmission assembly; 321, first transmission wheel; 322, second transmission wheel; 323, first flexible transmission member; 323a, first belt; 323b, first transmission rope; 3231, first rope segment; 3232, second rope segment; 33, second motor; 34, second transmission assembly; 341, third transmission wheel; 342, third transmission wheel; 343, third transmission wheel; 344, third transmission wheel; 345, third transmission wheel; 346, third transmission wheel; 347, third transmission wheel; 348, third transmission wheel; 349, third transmission wheel; 350, third transmission wheel; 351, third transmission wheel; 352, third transmission wheel; 353, third transmission wheel; 354, third transmission wheel; 355, third transmission wheel; 356, third transmission wheel; 357, third transmission wheel; 358, third transmission wheel; 359, third transmission wheel; 360, third transmission wheel; 361, third transmission wheel; 362, third transmission wheel; 363, third transmission wheel; 364, third transmission wheel; 365, third transmission wheel; 366, third transmission wheel; 367, third transmission wheel; 368, third transmission 2. fourth transmission wheel; 343. second flexible transmission member; 343a. second belt; 343b. second transmission rope; 3431. third rope segment; 3432. fourth rope segment; 3433. baffle; 35. third driving member; 351. third motor; 40. positioning shaft; 41. first bearing; 42. second bearing; 50. sliding assembly; 51. guide member; 51a. guide rod; 511. first guide rod; 512. second guide rod; 52. sliding member; 52a. slider; 521. first slider; 522. second slider; 523. first limit block; 60. positioning mechanism; 61. touch part; 62. first switch; 63. second switch; 70. angle detection mechanism; 71. magnet sensor; 72. connecting rod; 721. extension part; 80. mounting seat; 81. limit baffle; 1000. robot; 200. fuselage. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0028] It should be understood that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0029] It should also be understood that when an element is referred to as being "fixed" or "disposed on" another element, it can be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or it can be indirectly connected to the other element through an intermediate element.

[0030] The terms used in this specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. For example, the descriptions of "first", "second", etc. in the present application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0031] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0032] See also Figure 1-Figure 5 As shown, an embodiment of the present application proposes a robotic arm 100 for a robot 1000, the robotic arm 100 includes a first arm 10, a second arm 20 and a driving mechanism 30, the first arm 10 is used to rotate and is connected to a body 200 of the robot 1000; the second arm 20 is slidably connected to the first arm 10, so that the second arm 20 can move linearly along a first direction relative to the first arm 10, and the first direction is an extension direction of the first arm 10; the driving mechanism 30 is used to drive the first arm 10 and the second arm 20 to rotate as a whole relative to the body 200, and to drive the first arm 10 to move linearly along the first direction relative to the second arm 20.

[0033] The robot arm 100 proposed in the embodiment of the present application includes a first arm 10, a second arm 20 and a driving mechanism 30, and has a simple structure. The extension and retraction of the robot arm 100 is achieved through the relative linear motion of the second arm 20 and the first arm 10, and the linear extension and retraction setting makes the force arm of the load on the power source of the driving mechanism 30 remain constant during the extension and retraction process of the robot arm 100, which simplifies the control model, improves the accuracy and response speed of the movement of the robot 1000, and the force arm is relatively short during the extension and retraction process of the robot arm 100, and the power source power consumption is low. The driving mechanism 30 drives the first arm 10 and the second arm 20 to rotate as a whole relative to the fuselage 200, and drives the first arm 10 to move linearly in the first direction relative to the second arm 20, thereby realizing the rotation and extension and retraction of the robot arm 100, so as to facilitate the grasping or carrying of objects at different positions.

[0034] In addition, due to the linear telescopic arrangement between the first arm 10 and the second arm 20, the energy efficiency of the robot arm 100 at any telescopic position is improved, thereby reducing energy consumption.

[0035] At the same time, due to the linear telescopic movement mode, the lever arm of the robot arm 100 remains unchanged during the telescopic process, that is, the load lever arm of the power source remains unchanged, and the lever arm is relatively short during the telescopic process of the robot arm 100, the power source has low power consumption, strong load capacity and better stability.

[0036] It should be noted that in the prior art, the robot arm is a robot with a connecting rod structure. During the extension and retraction process of the robot arm, the connecting rod angle is constantly changing, and the lever arm of the load borne by the power source is constantly changing. For robots with a connecting rod structure, most of the time, the length of its lever arm is longer than the length of the lever arm with linear extension and retraction in the present application. Therefore, the robot with a connecting rod structure in the prior art not only has high power consumption, but also has a complex control model, and the robot's movement accuracy and response speed are poor.

[0037] Moreover, the linear telescopic setting of the present application makes the appearance of the robot arm 100 more compact, provides greater freedom for the appearance design of the robot 1000, and makes the robot 1000 more in line with humanization and aesthetic requirements.

[0038] For example, during operation, the driving mechanism 30 may only drive the first arm 10 and the second arm 20 to rotate as a whole relative to the fuselage 200 to perform operations such as grabbing or carrying objects within a certain rotation range. Of course, the driving mechanism 30 may also only drive the second arm 20 to move linearly along the first direction relative to the first arm 10 to perform operations such as grabbing or carrying objects within a certain length range. Of course, the driving mechanism 30 may also drive the second arm 20 to move linearly along the first direction relative to the first arm 10 while driving the first arm 10 and the second arm 20 to rotate as a whole relative to the fuselage 200, thereby realizing a compound movement of rotation and telescopic movement, so as to realize operations such as grabbing or carrying objects at different positions.

[0039] In some embodiments, Figure 5 As shown, the driving mechanism 30 includes a first driving member 30a and a second driving member 30b, and the first driving member 30a and the second driving member 30b are used to work together to drive the first arm 10 and the second arm 20 to rotate relative to the body 200 as a whole; the first driving member 30a and the second driving member 30b are also used to work together to drive the second arm 20 to move linearly along the first direction relative to the first arm 10. Therefore, the first driving member 30a and the second driving member 30b need to cooperate to drive the mechanical arm 100 to rotate or extend independently, or to perform a composite movement of rotation and extension. The first driving member 30a and the second driving member 30b work together to cooperate to drive the mechanical arm 100 to rotate and / or extend, so that the power sources of the first driving member 30a and the second driving member 30b are connected in parallel, which can reduce the parameters required for the power source drive, reduce errors, improve the running speed of the robot 1000, and reduce the use cost.

[0040] In some embodiments, Figure 5-Figure 10 As shown, the first driving member 30a includes a first motor 31 and a first transmission assembly 32, and the second driving member 30b includes a second motor 33 and a second transmission assembly 34; the first motor 31 and the second motor 33 are used to connect to the fuselage 200, and the first motor 31 and the second motor 33 are coaxially arranged; the first transmission assembly 32 is connected to the output shaft of the first motor 31 and connected to the second arm 20, and the second transmission assembly 34 is connected to the output shaft of the second motor 33 and connected to the second arm 20; the rotation axis of the first arm 10 is coaxially arranged with the rotation axis of the first motor 31 and the second motor 33. Thus, the rotation axes of the first motor 31 and the second motor 33 are coaxially arranged with the rotation axis of the first arm 10, so that the two motors can be connected in parallel, thereby driving the first transmission assembly 32 and the second transmission assembly 34 to work together to drive the robot arm 100 to rotate and / or extend, which can reduce the parameters required for motor driving, reduce errors, improve the running speed of the robot 1000, and reduce the use cost.

[0041] In some embodiments, Figure 7-Figure 12 As shown, the first transmission assembly 32 includes a first transmission wheel 321, a second transmission wheel 322 and a first flexible transmission member 323. The first transmission wheel 321 and the second transmission wheel 322 are rotatably connected to the first arm 10 and are spaced apart along the first direction. The first transmission wheel 321 is connected to the output shaft of the first motor 31, and the first flexible transmission member 323 is connected between the first transmission wheel 321 and the second transmission wheel 322 and connected to the second arm 20.

[0042] In some embodiments, the second transmission assembly 34 includes a third transmission wheel 341, a fourth transmission wheel 342 and a second flexible transmission member 343. The third transmission wheel 341 and the fourth transmission wheel 342 are rotatably connected to the first arm 10 and are spaced apart along the first direction. The third transmission wheel 341 is connected to the output shaft of the second motor 33, and the first transmission wheel 321 and the third transmission wheel 341 are coaxially arranged. The second flexible transmission member 343 is connected between the third transmission wheel 341 and the fourth transmission wheel 342 and is connected to the second arm 20.

[0043] During operation, the first motor 31 can drive the first transmission wheel 321 to rotate through the reducer, thereby driving the first flexible transmission member 323 to move. At this time, the second transmission wheel 322 rotates accordingly, so that the first flexible transmission member 323 can move between the first transmission wheel 321 and the second transmission wheel 322; at the same time, the second motor 33 can drive the third transmission wheel 341 to rotate through the reducer, thereby driving the second flexible transmission member 343 to move. At this time, the fourth transmission wheel 342 rotates accordingly, so that the second flexible transmission member 343 can move between the third transmission wheel 341 and the fourth transmission wheel 342, thereby driving the first arm 10 to rotate relative to the fuselage 200 and / or driving the second arm 20 to move linearly relative to the first arm 10 through the cooperation of the first flexible transmission member 323 and the second flexible transmission member 343.

[0044] Optionally, the first flexible transmission member 323 and the second flexible transmission member 343 can be belts, ropes or other flexible transmission members, which can play a buffering role, reduce the impact of the impact force directly acting on the motor, and increase the durability and operational stability of the drive mechanism 30.

[0045] In some embodiments, the first motor 31 and the second motor 33 are arranged opposite to each other and are respectively arranged on two opposite sides of the first arm 10, and the arrangement direction of the first motor 31 and the second motor 33 is the second direction, and the second direction is arranged perpendicular to the first direction; in the second direction, the first transmission wheel 321 and the second transmission wheel 322 are arranged on one side of the first arm 10, and the third transmission wheel 341 and the fourth transmission wheel 342 are arranged on the other side of the first arm 10. When the first arm 10 rotates relative to the fuselage 200, the first transmission wheel 321, the first flexible transmission member 323, the second transmission wheel 322, the third transmission wheel 341, the second flexible transmission member 343 and the fourth transmission wheel 342 rotate with the first arm 10 as a whole relative to the fuselage 200. Through the above arrangement, the first arm 10 is arranged between the first motor 31 and the second motor 33, and the first transmission assembly 32 and the second transmission assembly 34 are respectively arranged on two sides of the first arm 10 in the second direction, so that the structure is compact and the volume is reduced.

[0046] It should be noted that the first motor 31 and the second motor 33 are not limited to being relatively arranged on two opposite sides of the first arm 10. For example, in other embodiments, the first motor 31 and the second motor 33 can also be arranged on the same side, that is, the output shafts of the first motor 31 and the second motor 33 face the same direction, and the output shaft of one is inserted through the output shaft of the other and extends out, that is, the output shafts of the first motor 31 and the second motor 33 are in a sleeve structure, so that the rotation axes of the first motor 31 and the second motor 33 are coaxially arranged.

[0047] In some embodiments, the robot arm 100 further includes a positioning shaft 40, which is disposed between the output shaft of the first motor 31 and the output shaft of the second motor 33, and the positioning shaft 40 is rotatably connected to the first transmission wheel 321 and the third transmission wheel 341; the positioning shaft 40 is used to provide a coaxial axis for the rotation axis of the first arm 10 and the rotation axis of the first motor 31 and the second motor 33. By providing the positioning shaft 40, the output shafts of the first motor 31 and the second motor 33 can be aligned, which plays a positioning role and facilitates the connection of the first motor 31, the second motor 33 and the first arm 10, so that the rotation axis of the first arm 10 is coaxial with the rotation axis of the first motor 31 and the second motor 33.

[0048] In some embodiments, the first arm 10 includes a support structure 11, and the support structure 11 is used to be rotatably connected to the body 200 of the robot 1000. Specifically, the support structure 11 is connected to the body 200 through the positioning shaft 40, the first motor 31 and the second motor 33, so that the support structure 11 can rotate relative to the body 200. The first arm 10 and the second arm 20 are slidably connected through the sliding assembly 50, and the sliding assembly 50 includes a guide member 51 provided on the first arm 10 and a sliding member 52 provided on the second arm 20; the guide member 51 is connected to the support structure 11, and the guide member 51 extends along the first direction, and the second arm 20 is slidably connected to the guide member 51 through the sliding member 52. The support structure 11 is provided to support the guide member 51 and other components, and the guide member 51 can be provided to guide the second arm 20 to perform linear motion relative to the first arm 10 along the first direction, so as to avoid the position of the second arm 20 being offset during the motion.

[0049] As an implementation method, Figure 5-Figure 8 As shown, the support structure 11 can be configured as a plate-like structure extending along the first direction, and the support structure 11 can be arranged between the first transmission component 32 and the second transmission component 34, that is, the first transmission wheel 321, the first flexible transmission member 323, and the second transmission wheel are arranged on one side of the support structure 11, and the third transmission wheel 341, the second flexible member and the fourth transmission wheel 342 are arranged on the other side opposite to the support structure 11, with a compact structure and reduced volume.

[0050] As another embodiment, Figure 10-12 As shown, the support structure 11 may include a first support plate 111 and a second support plate 112 extending along the first direction and arranged opposite to each other. The first support plate 111 and the second support plate 112 may be connected by a positioning shaft 40. The first support plate 111 may be arranged between the first motor 31 and the first transmission wheel 321, and the second support plate 112 may be arranged between the second motor 33 and the third transmission wheel 341. By arranging the first support plate 111 and the second support plate 112, the structure of the first arm 10 is more stable, and the first transmission wheel 321, the first flexible member, the second transmission wheel 322, the third transmission wheel 341, the second flexible member and the fourth transmission wheel 342 may be surrounded to protect them.

[0051] In some embodiments, Figure 5-Figure 14 As shown, the second arm 20 includes a base 21 and an end effector (not shown), the base 21 is slidably connected to the guide member 51 through a sliding member 52, so that the second arm 20 can move linearly along a first direction relative to the first arm 10; the end effector is connected to the base 21 and is used to perform end operations, such as grasping or carrying an object. The end effector can be a mechanical gripper or other device.

[0052] Of course, in other embodiments, the guide member 51 may be disposed on the second arm 20, and the slide member 52 may be disposed on the first arm 10. That is, the slide member 52 is mounted on the support structure 11, the guide member 51 is connected to the seat 21, and the first flexible transmission member 323 and the second flexible transmission member 343 are respectively connected to both sides of the seat 21 or the guide member 51. When the second arm 20 moves linearly along the first direction, that is, the seat 21 or the guide member 51 moves relative to the slide member 52 driven by the first flexible member and the second flexible member, when the second arm 20 rotates relative to the fuselage 200, the support structure 11, the slide member 52, the guide member 51, the seat 21 and the end effector are driven to rotate as a whole.

[0053] In some embodiments, the sliding member 52 may include a slider 52a, and the guide member 51 may include a guide rod 51a. The slider 52a may be provided with a sliding hole for the guide rod 51a to pass through, so as to achieve a sliding connection through the cooperation between the slider 52a and the guide rod 51a. A ball bearing may also be arranged between the slider 52a and the guide rod 51a to reduce the friction between the slider 52a and the guide rod 51a.

[0054] For example, Figure 8 As shown, the sliding member 52 may include a first sliding member 521 and a second sliding member 522 arranged relative to each other in a third direction, the guiding member 51 may include a first guiding rod 511 and a second guiding rod 512 arranged relative to each other in the third direction, the first sliding member 521 is slidably connected to the first guiding rod 511, the second sliding member 522 is slidably connected to the second guiding rod 512, the first sliding member 521 and the second sliding member 522 may be connected by a first limiting block 523, and the supporting structure 11 is provided with two blocking plates 113 arranged at intervals along the first direction. When the robot arm 100 is in a horizontal state, the two blocking plates 113 are respectively located on the left and right sides of the support structure 11. When the first slider 521 and the second slider 522 move to the left to the limit position, the first limit block 523 abuts against the blocking plate 113 on the left. When the first slider 521 and the second slider 522 move to the right to the limit position, the first limit block 523 abuts against the blocking plate 113 on the right, thereby limiting the limit position of the left and right movement of the second arm 20 to prevent the second arm 20 from colliding with other components due to the transition of movement, resulting in damage to the parts. The first direction, the second direction and the third direction are arranged perpendicularly in pairs.

[0055] In other embodiments, the sliding member 52 may include a slider 52a, and the guide member 51 may include a guide groove to achieve a sliding connection through the cooperation between the slider 52a and the guide groove. A ball bearing may also be arranged between the slider 52a and the guide groove to reduce the friction between the slider 52a and the guide groove.

[0056] In some embodiments, Figure 6-Figure 9As shown, a mounting member 12 is provided at one end of the support structure 11 close to the second arm 20, and the guide member 51 includes a guide rod 51a for guiding the first arm 10 to move linearly in a first direction, and one end of the guide rod 51a in the first direction is mounted on the mounting member 12. Of course, a mounting member 12 may also be provided at one end of the support structure 11 close to and away from the second arm 20, and in the first direction, opposite ends of the guide rod 51a are respectively mounted on two mounting members 12. Thus, by providing the mounting member 12, the installation of the guide rod 51a can be facilitated, and it can be used for the installation of other components on the robot arm 100, with a compact structure and improved structural stability.

[0057] In some embodiments, Figure 7 As shown, the second arm 20 is located on one side of the first arm 10 in the second direction. Figure 1 and Figure 2 As shown, when the robot 1000 is in a normal walking state, the robot arm 100 can be rotated to a horizontal state, in which case the first direction is the left and right direction of the robot 1000, and the second direction is the up and down direction or the front and back direction of the robot 1000. Of course, in other examples, such as Figure 3 and Figure 4 As shown, when the robot 1000 is in a normal walking state, the robot arm 100 can also rotate to a vertical state. At this time, the first direction is the up and down direction of the robot 1000, and the second direction is the left and right direction or the front and back direction of the robot 1000. The second arm 20 is arranged on the side of the first arm 10, which can ensure the telescopic distance between the second arm 20 and the first arm 10 while making the overall model of the robot 1000 lighter.

[0058] In some embodiments, Fig.13 As shown, a slide groove 213 extending along the first direction is provided on one side of the seat body 21 relative to the guide member 51, and the support structure 11 is partially accommodated in the slide groove 213 and can move relative to the slide groove 213. Therefore, by providing the slide groove 213, the relative sliding of the first arm 10 and the second arm 20 can be made more stable.

[0059] In some embodiments, Fig.13 and Fig.14 As shown, the seat body 21 includes a back plate 211 opposite to the support structure 11 and extension plates 212 connected to both sides of the back plate 211 in the third direction. The extension plates 212 on both sides extend toward the direction of the first arm 10 and enclose with the bottom plate to form a slide groove 213. The bottom plate can be made of plastic material, and a reinforcement structure 214 is provided at the angle between the bottom plate and the extension plates 212 on both sides. The reinforcement structure 214 can be made of metal material to improve the structural strength. The above arrangement can reduce the moment of inertia of the robot arm 100 and improve the durability of the seat body 21. Among them, the first direction, the second direction and the third direction are perpendicular to each other.

[0060] In some embodiments, Figure 6 , Figure 8 and Fig.13 As shown, the first arm 10 further includes a guide wheel 13, which is mounted on a mounting member 12 at one end of the support structure 11 close to the second arm 20, and the guide wheel 13 is used to roll with the second arm 20 when the second arm 20 moves linearly relative to the first arm 10. Specifically, the reinforcing structure 214 between the bottom plate and the extension plate 212 can be configured as a rod-shaped structure with at least an arc-shaped outer side surface, and the guide wheel 13 can be configured to match the arc-shaped outer side surface of the rod-shaped structure. For example, the guide wheel 13 can be provided with an arc-shaped groove 131 that matches the arc-shaped outer side surface of the reinforcing structure 214, so that when the first arm 10 and the second arm 20 slide relative to each other, the arc-shaped outer side surface of the reinforcing structure 214 can be restricted in the arc-shaped groove 131 of the guide wheel 13 to play a guiding role, and when the second arm 20 moves linearly along the first direction, it is prevented from shaking in the third direction.

[0061] The guide wheel 13 is rotatably connected to the mounting member 12 at one end of the support structure 11 close to the end actuator, so that the guide wheel 13 is in rolling contact with the reinforcing structure 214 to reduce friction and avoid relative sliding between the first arm 10 and the second arm 20 to cause jamming.

[0062] In some embodiments, Figure 5-Figure 6 As shown, the robot arm 100 further includes a positioning mechanism 60, which is used to send a signal to the robot 1000 when the second arm 20 moves to the extreme position along the first direction. Therefore, when the second arm 20 moves to the extreme position along the first direction relative to the first arm 10, the positioning structure can transmit a signal to the control system of the robot 1000, so that the robot 1000 can detect the moving position of the second arm 20.

[0063] In some embodiments, Figure 5 , Figure 6 and Figure 8As shown, the support structure 11 has a first end 11a and a second end 11b arranged opposite to each other in a first direction, and the positioning mechanism 60 includes a touch portion 61, which is connected to the second arm 20; the positioning mechanism 60 also includes a first switch 62, which is arranged at the first end 11a of the support structure 11, and the first switch 62 is used to contact the touch portion 61 when the second arm 20 moves in a straight line to the extreme position toward the first end 11a, so as to send a signal to the robot 1000. Therefore, a first switch 62 is set at the first end 11a of the support structure 11. Through the cooperation between the first switch 62 and the touch part 61, when the second arm 20 moves to the extreme position relative to the first arm 10 in the direction of the first switch 62, the contact between the touch part 61 and the first switch 62 is used to transmit a signal to the control system of the robot 1000, so that the robot 1000 can detect the moving position of the second arm 20, and thus can control the driving mechanism 30 to adjust the relative sliding between the first arm 10 and the first arm 10 according to the moving position of the second arm 20, thereby adjusting the length of the robot arm 100.

[0064] In some embodiments, the positioning mechanism 60 further includes a second switch 63, which is disposed at the second end 11b of the support structure 11. The second switch 63 is used to contact the touch portion 61 when the second arm 20 moves to the extreme position toward the second end 11b along a straight line, so as to send a signal to the robot 1000. Therefore, the second switch 63 can also be disposed at the second end 11b of the support structure 11, so that when the second arm 20 moves to the extreme position relative to the first arm 10 toward the direction of the second switch 63, the contact between the touch portion 61 and the second switch 63 transmits a signal to the control system of the robot 1000, so that the robot 1000 can detect the moving position of the second arm 20, and can control the driving mechanism 30 to adjust the relative sliding between the first arm 10 and the first arm 10 according to the moving position of the second arm 20, so as to adjust the length of the robot 100.

[0065] It can be understood that the support structure 11 is not limited to setting the first switch 62 only at the first end 11a of the support structure 11 in the first direction, and the second switch 63 can also be set only at the second end 11b of the support structure 11 in the first direction, and the first switch 62 and the second switch 63 can also be set at both ends of the support structure 11 in the first direction. Among them, the first switch 62 and the second switch 63 can use sensors such as micro switches. Of course, other types of sensors, such as photoelectric sensors, can also be used, which can be triggered when the second arm 20 moves to the extreme position along the first direction to transmit the signal to the control system of the robot 1000.

[0066] Exemplarily, the first switch 62 and the second switch 63 can be respectively installed on the mounting parts 12 at both ends of the first direction of the support structure 11, so as to facilitate the installation of the first switch 62 and the second switch 63. When the second end 11b is the end of the support mechanism close to the end actuator, the mounting part 12 located at the second end 11b can simultaneously install the second switch 63, the guide rod 51a and the guide wheel 13, so that the structure is compact, the integration is high, the volume is reduced, and the assembly is convenient.

[0067] In some embodiments, Figure 5 and Figure 6 As shown, the robot arm 100 further includes an angle detection mechanism 70, which is used to detect the rotation angle of the first arm 10 when the first arm 10 rotates relative to the body 200. Therefore, when the first arm 10 and the second arm 20 rotate relative to the body 200 as a whole, the angle detection mechanism 70 can detect the rotation angle of the first arm 10, and transmit a signal to the control system of the robot 1000, so that the robot 1000 can detect the rotation position of the first arm 10.

[0068] In some embodiments, the angle detection mechanism 70 includes a magnet sensor 71, a connecting rod 72 and a magnet. The magnet sensor 71 is disposed on the driving mechanism 30; the connecting rod 72 is connected to the first arm 10, and the connecting rod 72 has an extension portion 721 extending to be opposite to the magnet sensor 71; the magnet is disposed on the extension portion 721, and the absolute angle of the first arm 10 can be read when the robot 1000 is turned on. When the first arm 10 rotates relative to the fuselage 200, the magnet is driven to rotate, and the magnet sensor 71 is used to sense the rotation angle of the magnet to detect the rotation angle of the first arm 10. Therefore, the setting of the connecting rod 72 can drive the extension portion 721 to rotate with the first arm 10, thereby driving the magnet disposed on the extension portion 721 to rotate, so that the magnet sensor 71 can sense the rotation angle of the magnet, thereby transmitting a signal to the control system of the robot 1000, so that the robot 1000 can detect the rotation position of the first arm 10.

[0069] Of course, in other embodiments, the angle detection mechanism 70 may also use other sensors, such as a capacitive angular displacement sensor, etc., which can detect the rotation angle of the first arm 10.

[0070] In some embodiments, Figure 7As shown, one end of the positioning shaft 40 can be rotatably connected to the first transmission wheel 321 through the first bearing 41, and the other end of the positioning shaft 40 can be rotatably connected to the third transmission wheel 341 through the second bearing 42. The support structure 11 is connected to the positioning shaft 40, so that when the first motor 31 and the second motor 33 cooperate to drive the second arm 20 to move linearly relative to the first arm 10, the rotation of the first transmission wheel 321 and the third transmission wheel 341 will not affect the rotation of the positioning shaft 40. When the first motor 31 and the second motor 33 cooperate to drive the first arm 10 to rotate relative to the fuselage 200, at this time, due to the action of the first flexible transmission member 323 and the second flexible transmission member 343, the first transmission assembly 32, the second transmission assembly 34 and the first arm 10 are driven to rotate as a whole.

[0071] Optionally, the positioning shaft 40 can be integrally connected with the support structure 11 to improve the structural stability. Of course, the positioning shaft 40 can also be separately connected with the support structure 11 to facilitate disassembly and assembly.

[0072] In other embodiments, the output shaft of the first motor 31 may be extended so that the output shaft of the first motor 31 passes through the first transmission wheel 321, thereby connecting the output shaft of the first motor 31 to the positioning shaft 40 via a bearing, and / or, the output shaft of the second motor 33 may be extended so that the output shaft of the second motor 33 passes through the second transmission wheel 322, thereby connecting the output shaft of the second motor 33 to the positioning shaft 40 via a bearing.

[0073] In other embodiments, the two ends of the positioning shaft 40 can be fixedly connected to the first transmission wheel 321 and the second transmission wheel 322 respectively, or the two ends of the positioning shaft 40 can be fixedly connected to the output shaft of the first motor 31 and the output shaft of the second motor 33 respectively, and the support structure 11 and the positioning shaft 40 are rotatably connected through bearings.

[0074] In some usage scenarios, the first direction is the extension direction of the first arm 10. When the first arm 10 rotates relative to the body 200, the angle between the first direction and the body 200 changes accordingly. Figure 1 As shown, when the robot 1000 is in a normal walking state, the robotic arm 100 can rotate to a horizontal state and can swing back and forth. At this time, the first direction is the left and right direction of the robot 1000, and the second direction is the up and down direction of the robot 1000, that is, the first motor 31 and the second motor 33 are relatively arranged along the up and down direction of the robot 1000, and the third direction is the front and back direction of the robot 1000.

[0075] Of course, in other examples, such as Figure 2As shown, when the robot 1000 is in a normal walking state, the robotic arm 100 can also rotate to a horizontal state and be able to swing up and down. At this time, the first direction is the left and right direction of the robot 1000, and the second direction is the front and back direction of the robot 1000, that is, the first motor 31 and the second motor 33 are relatively arranged along the front and back direction of the robot 1000, and the third direction is the up and down direction of the robot 1000.

[0076] Of course, in other examples, such as Figure 3 As shown, when the robot 1000 is in a normal walking state, the robotic arm 100 can also rotate to a vertical state and be able to swing back and forth. At this time, the first direction is the up and down direction of the robot 1000, and the second direction is the left and right direction of the robot 1000, that is, the first motor 31 and the second motor 33 are relatively arranged along the left and right direction of the robot 1000, and the third direction is the front and back direction of the robot 1000.

[0077] Of course, in other examples, such as Figure 4 As shown, when the robot 1000 is in a normal walking state, the robotic arm 100 can also rotate to a vertical state and be able to swing left and right. At this time, the first direction is the up and down direction of the robot 1000, and the second direction is the front and back direction of the robot 1000, that is, the first motor 31 and the second motor 33 are relatively arranged along the front and back direction of the robot 1000, and the third direction is the left and right direction of the robot 1000.

[0078] Exemplarily, when the first motor 31 and the second motor 33 are arranged opposite to each other, due to mirroring reasons, when one of the motors rotates counterclockwise and the other rotates clockwise, the two motors are regarded as rotating in the same direction; when the two motors rotate counterclockwise or clockwise at the same time, they are regarded as rotating in opposite directions.

[0079] For example, when the first motor 31 and the second motor 33 are arranged on the same side, when the two motors themselves rotate counterclockwise or clockwise at the same time, the two motors are regarded as rotating in the same direction, and when one motor itself rotates counterclockwise and the other motor itself rotates clockwise, the two motors are regarded as rotating in opposite directions.

[0080] In some embodiments, Figure 5-Figure 12As shown, the first motor 31 and the second motor 33 respectively drive the first flexible member and the second flexible member to rotate in the same direction and at the same speed, thereby driving the first arm 10 and the second arm 20 to rotate relative to the fuselage 200 as a whole. Specifically, the first motor 31 and the second motor 33 rotate in opposite directions, and the torque of the first motor 31 and the second motor 33 is the same, respectively driving the first flexible member and the second flexible member to rotate in the same direction and at the same speed, so that the force direction of the second arm 20 in the first direction is opposite and the magnitude is the same, thereby locking the linear motion of the second arm 20 in the first direction. At the same time, the torque direction of the first arm 10 is the same, thereby driving the first arm 10 to drive the second arm 20 to rotate relative to the fuselage 20 around the third direction.

[0081] In some embodiments, the first motor 31 and the second motor 33 respectively drive the first flexible member and the second flexible member to rotate in opposite directions and at the same speed, thereby driving the second arm 20 to move linearly in the first direction relative to the first arm 10. Specifically, the first motor 31 and the second motor 33 have the same rotation direction, and the first motor 31 and the second motor 33 have the same torque, respectively driving the first flexible member and the second flexible member to rotate in opposite directions and at the same speed, so that the torques on the first arm 10 are opposite in direction and the same in magnitude, thereby locking the rotational motion of the first arm 10. At the same time, the force direction of the second arm 20 in the first direction is the same, thereby driving the second arm 20 to move linearly in the first direction relative to the first arm 10.

[0082] In some embodiments, the first motor 31 and the second motor 33 respectively drive the first flexible member and the second flexible member to rotate in the same direction and at different speeds, thereby driving the second arm 20 to move linearly in the first direction relative to the first arm 10, and driving the first arm 10 and the second arm 20 to rotate as a whole. Specifically, the first motor 31 and the second motor 33 have the same rotation direction but different torques, and respectively drive the first flexible member and the second flexible member to rotate in the same direction and at different speeds, so that the forces on the second arm 20 in the first direction are opposite in direction but different in magnitude, thereby driving the second arm 20 to move linearly in the first direction relative to the first arm 10. At the same time, the torque on the first arm 10 is in the same direction, thereby driving the first arm 10 to drive the second arm 20 to rotate relative to the fuselage 20 around the third direction.

[0083] In other embodiments, the first motor 31 and the second motor 33 respectively drive the first flexible member and the second flexible member to rotate in opposite directions and at different speeds, thereby driving the first arm 10 and the second arm 20 to rotate as a whole, and driving the second arm 20 to move linearly in the first direction relative to the first arm 10. Specifically, the first motor 31 and the second motor 33 rotate in opposite directions and have different torques, respectively driving the first flexible member and the second flexible member to rotate in opposite directions and at different speeds, so that the torques on the first arm 10 are opposite in direction but different in magnitude, thereby driving the first arm 10 to drive the second arm 20 to rotate relative to the fuselage 20 around the third direction. At the same time, the force direction of the second arm 20 in the first direction is the same, thereby driving the second arm 20 to move linearly in the first direction relative to the first arm 10.

[0084] In some embodiments, Fig. 9 As shown, the first flexible transmission member 323 includes a first belt 323a, which is rotatably wrapped around the first transmission wheel 321 and the second transmission wheel 322 and connected to the second arm 20, and the second flexible transmission member 343 includes a second belt 343a, which is rotatably wrapped around the third transmission wheel 341 and the fourth transmission wheel 342 and connected to the second arm 20. The first belt 323a and the second belt 343a are arranged to realize the rotation and extension of the robot arm 100, which has a simple structure, low cost, and convenient installation and maintenance. The belt is elastic, can alleviate impact and vibration, run smoothly, and has low noise during operation, and reduces the impact of the impact force directly acting on the motor and the reducer, thereby increasing the durability and operational stability of the driving mechanism 30. In addition, the transmission method of the synchronous belt also reduces the exposure of shearing action and high-speed moving parts, reduces the safety risks when used in environments such as homes, and improves safety.

[0085] In some embodiments, the second transmission wheel 322 is coaxially arranged with the fourth transmission wheel 342. For example, the first transmission wheel 321 and the third transmission wheel 341 are in an axisymmetric structure, the second transmission wheel 322 and the fourth transmission wheel 342 are in an axisymmetric structure, the first transmission wheel 321 and the second transmission wheel 322 may have the same or different sizes, and the third transmission wheel 341 and the fourth transmission wheel 342 may have the same or different sizes.

[0086] Exemplarily, the first transmission wheel 321, the second transmission wheel 322, the third transmission wheel 341 and the fourth transmission wheel 342 are all pulleys, and the first belt 323a and the second belt 343a can transmit power through the friction between the pulleys, or the first belt 323a and the second belt 343a can be provided with belt teeth meshing with the pulleys, and power is transmitted through the meshing of the belt teeth and the tooth grooves of the pulleys to drive the robotic arm 100 to extend and retract and / or rotate.

[0087] In some embodiments, the first belt 323a and the second belt 343a are arranged in parallel. Exemplarily, the first belt 323a and the second belt 343a can be in an axially symmetrical structure, that is, the ring structure of the first belt 323a after being tightened around the first transmission wheel 321 and the second transmission wheel 322 is the same size as the ring structure of the second belt 343a after being tightened around the third transmission wheel 341 and the fourth transmission wheel 342, and they are arranged relative to each other, so as to facilitate the mechanical arm 100 to be extended and / or rotated by the double belt transmission method.

[0088] In some embodiments, Figure 8-Figure 9 As shown, the sliding member 52 includes a first slider 521 and a second slider 522 arranged oppositely in the third direction, and the guide member 51 includes a first guide rod 511 and a second guide rod 512 arranged oppositely in the third direction; the first slider 521 and the second slider 522 are connected to both sides of the seat body 21 in the third direction, the first slider 521 is slidably connected to the first guide rod 511 and connected to the side of the first belt 323a close to the first slider 521, and the second slider 522 is slidably connected to the second guide rod 512 and connected to the side of the second belt 343a close to the second slider 522, and the first direction, the second direction and the third direction are perpendicular to each other. Therefore, through the arrangement of the first belt 323a, the second belt 343a and the sliding member 52, not only can the complex structure of the existing multi-link be replaced, but also the overall design of the robot 1000 is simplified, the maintenance cost and the difficulty of operation are reduced, and the compact arrangement can allow the robot arm 100 to achieve sufficient telescopic amount without increasing the volume of the robot 1000, effectively improving the mobility of the robot 1000 in a limited space and improving the space efficiency.

[0089] Exemplarily, the sliding member 52 is connected to the two diagonal sides of the first belt 323a and the second belt 343a in the third direction, and the first motor 31 and the second motor 33 are used to drive the first belt 323a and the second belt 343a to rotate in the same direction and at the same speed, respectively, so as to drive the first arm 10 and the second arm 20 to rotate as a whole. Specifically, when the first motor 31 and the second motor 33 cooperate to drive the first belt 323a and the second belt 343a to rotate in the same direction and at the same speed, the two diagonal sides of the first belt 323a and the second belt 343a in the first direction are subjected to opposite forces and have the same magnitude, so that the linear motion of the second arm 20 in the first direction is locked, and at this time, the sliding member 52 and the guide member 51 are relatively stationary. At the same time, since the movement of the first belt 323a and the second belt 343a in the first direction is restricted, under the action of the torque of the first motor 31 and the second motor 33, the first belt 323a and the second belt 343a are driven to drive the second arm 20 to transfer the torque to the first arm 10, so that the torque direction received by the first arm 10 is the same, so as to drive the first arm 10 to drive the second arm 20 as a whole to rotate around the third direction relative to the fuselage 200.

[0090] The first motor 31 and the second motor 33 are also used to drive the first belt 323a and the second belt 343a to rotate in opposite directions and at the same speed, respectively, so as to drive the second arm 20 to move linearly along the first direction relative to the first arm 10. Specifically, when the first motor 31 and the second motor 33 cooperate to drive the first belt 323a and the second belt 343a to rotate in opposite directions and at the same speed, the force direction and magnitude of the two diagonal sides of the first belt 323a and the second belt 343a in the first direction are the same, so as to drive the sliding member 52 to move along the guide member 51, so that the second arm 20 can move linearly along the first direction relative to the first arm 10.

[0091] The first motor 31 and the second motor 33 are also used to drive the first belt 323a and the second belt 343a to rotate in the same direction and at different speeds, respectively, so as to drive the second arm 20 to move linearly in the first direction relative to the first arm 10, and drive the first arm 10 and the second arm 20 to rotate as a whole. Specifically, when the first motor 31 and the second motor 33 cooperate to drive the first belt 323a and the second belt 343a to rotate in the same direction and at different speeds, the forces on the two diagonal sides of the first belt 323a and the second belt 343a in the first direction are opposite in direction, but different in magnitude, so that the sliding member 52 can move along the guide member 51 to a certain extent, that is, the second arm 20 can move linearly in the first direction relative to the first arm 10, and transmit the torque to the first arm 10, so as to drive the first arm 10 to drive the second arm 20 to rotate as a whole relative to the fuselage 20 around the third direction.

[0092] The first motor 31 and the second motor 33 are also used to drive the first belt 323a and the second belt 343a to rotate in opposite directions and at different speeds, respectively, so as to drive the first arm 10 and the second arm 20 to rotate as a whole, and drive the second arm 20 to move linearly along the first direction relative to the first arm 10. Specifically, when the first motor 31 and the second motor 33 cooperate to drive the first belt 323a and the second belt 343a to rotate in opposite directions and at different speeds, the two diagonal sides of the first belt 323a and the second belt 343a are subjected to the same force in the first direction, but in different magnitudes, so that the torsion force on the first arm 10 is opposite in direction, but in different magnitudes, so that the first arm 10 can drive the second arm 20 to rotate to a certain extent around the third direction relative to the fuselage 200 as a whole, and the sliding member 52 can move along the guide member 51, that is, the second arm 20 moves linearly along the first direction relative to the first arm 10.

[0093] In some embodiments, Figure 10-12 As shown, the first flexible transmission member 323 includes a first transmission rope 323b, and the first transmission rope 323b includes a first rope segment 3231 and a second rope segment 3232. One end of the first rope segment 3231 and one end of the second rope segment 3232 are both wound around the first transmission wheel 321 and fixed, and the other end of the first rope segment 3231 is connected to the other end of the second rope segment 3232 and surrounds the second transmission wheel 322, so that when the first transmission wheel 321 rotates, it can drive the first transmission rope 323b to rotate, so that the first rope segment 3231 and the second rope segment 3232 move in opposite directions in the first direction, and one of the first rope segment 3231 and the second rope segment 3232 is connected to the second arm 20. For example, one end of the first rope segment 3231 and one end of the second rope segment 3232 can be spaced apart by the baffle 3433 and fixed to the first transmission wheel 321 respectively, or one end of the first rope segment 3231 and one end of the second rope segment 3232 can be connected and fixed to the first transmission wheel 321. The number of turns of the first rope segment 3231 and the second rope segment 3232 wound on the first transmission wheel 321 can be set according to the stroke of the linear motion of the second arm 20. During the forward and reverse rotation of the first motor 31, as the first transmission wheel 321 rotates, the number of turns of the first rope segment 3231 and the second rope segment 3232 wound on the first transmission wheel 321 will change accordingly, with one turn becoming less and the other turning more, so as to meet the requirement that the first transmission rope 323b can rotate normally during the forward and reverse rotation of the first motor 31.

[0094] In some embodiments, the second flexible transmission member 343 includes a second transmission rope 343b, the second transmission rope 343b includes a third rope segment 3431 and a fourth rope segment 3432, one end of the third rope segment 3431 and one end of the fourth rope segment 3432 are both wrapped around the third transmission wheel 341 and fixed, the other end of the third rope segment 3431 is connected to the other end of the fourth rope segment 3432 and surrounds the fourth transmission wheel 342, so that when the second transmission wheel 322 rotates, it can drive the second transmission rope 343b to rotate, so that the third rope segment 3431 and the fourth rope segment 3432 move in opposite directions in the first direction, and one of the third rope segment 3431 and the fourth rope segment 3432 is connected to the second arm 20. For example, one end of the third rope segment 3431 and one end of the fourth rope segment 3432 can be spaced apart by the baffle 3433 and fixed to the third transmission wheel 341 respectively, or one end of the third rope segment 3431 and one end of the fourth rope segment 3432 can be connected and fixed to the third transmission wheel 341. The number of turns of the third rope segment 3431 and the fourth rope segment 3432 wound around the third transmission wheel 341 can be set according to the stroke of the linear motion of the second arm 20. During the forward and reverse rotation of the second motor 33, as the third transmission wheel 341 rotates, the number of turns of the third rope segment 3431 and the fourth rope segment 3432 wound around the third transmission wheel 341 will change accordingly, with one of the turns becoming less and the other becoming more, so as to meet the requirement that the second transmission rope 343b can rotate normally during the forward and reverse rotation of the second motor 33.

[0095] By setting the first transmission rope 323b and the second transmission rope 343b, the rotation and extension of the robot arm 100 can be achieved. The structure is simple, and the cost, volume and maintenance cost of the transmission rope are lower, which greatly reduces the cost. The transmission rope can also mitigate impact and vibration, run smoothly, and have low noise during operation. It also reduces the impact force directly acting on the motor and the reducer, thereby increasing the durability and operational stability of the drive mechanism 30.

[0096] In some embodiments, the sliding member 52 includes a first slider 521 and a second slider 522 arranged opposite to each other in the third direction, the guide member 51 includes a first guide rod 511 and a second guide rod 512 arranged opposite to each other in the third direction, the first slider 521 and the second slider 522 are connected to both sides of the seat body 21 in the third direction, the first slider 521 is slidably connected to the first guide rod 511 and is close to the first rope segment 3231, the second slider 522 is slidably connected to the second guide rod 512 and is close to the fourth rope segment 3432, the first rope segment 3231 is connected to the first slider 521, the fourth rope segment 3432 is connected to the second slider 522, and the first rope segment 3231 and the fourth rope segment 3432 are diagonally arranged, and the first direction, the second direction and the third direction are perpendicular to each other. Therefore, through the setting of the above-mentioned first transmission rope 323b, the second transmission rope 343b and the sliding member 52, not only can the existing complex structure of the multi-link be replaced, but also the overall design of the robot 1000 is simplified, the maintenance cost and the operation difficulty are reduced, and at the same time, the compact setting can allow the robot arm 100 to achieve sufficient extension and retraction without increasing the volume of the robot 1000, effectively improving the mobility of the robot 1000 in a limited space and improving space efficiency.

[0097] The first motor 31 and the second motor 33 are used to respectively drive the first transmission rope 323b and the second transmission rope 343b to rotate in the same direction and at the same speed, thereby driving the first arm 10 and the second arm 20 to rotate as a whole; the first motor 31 and the second motor 33 are also used to respectively drive the first transmission rope 323b and the second transmission rope 343b to rotate in the opposite directions and at the same speed, thereby driving the second arm 20 to move linearly in the first direction relative to the first arm 10; the first motor 31 and the second motor 33 are also used to respectively drive the first transmission rope 323b and the second transmission rope 343b to rotate in the same direction and at different speeds, thereby driving the second arm 20 to move linearly in the first direction relative to the first arm 10 while driving the first arm 10 and the second arm 20 to rotate as a whole; the first motor 31 and the second motor 33 are also used to respectively drive the first transmission rope 323b and the second transmission rope 343b to rotate in the opposite directions and at different speeds, thereby driving the first arm 10 and the second arm 20 to rotate as a whole while driving the second arm 20 to move linearly in the first direction relative to the first arm 10. Specifically, when the first motor 31 and the second motor 33 cooperate to drive the first transmission rope 323b and the second transmission rope 343b to rotate in the same direction and at the same speed, in opposite directions and at the same speed, in the same direction and at different speeds, or in opposite directions and at different speeds, the transmission method is similar to the above-mentioned first belt 323a and the second belt 343a, and will not be repeated here.

[0098] In some embodiments, Figure 1-Figure 7As shown, the first motor 31 and the second motor 33 can be installed on the fuselage 200 through the mounting seat 80, and the mounting seat 80 can be provided with two mounting positions arranged opposite to each other, and the first motor 31 and the second motor 33 are respectively installed at the two mounting positions, so that the first motor 31 and the second motor 33 are arranged opposite to each other coaxially. Through the arrangement of the mounting seat 80, it is convenient to install the first motor 31 and the second motor 33 arranged in parallel, so as to facilitate the improvement of the stability of the rotation of the first arm 10.

[0099] In some embodiments, Figure 5 and Figure 6 As shown, a limit baffle 81 can also be provided on the mounting seat 80, and a corresponding second limit block 14 can be provided on the first arm 10. When the first arm 10 rotates to a certain position, the second limit block 14 abuts against the limit baffle 81 to prevent the first arm 10 from rotating excessively and causing a collision between the first arm 10 and the mounting seat 80, resulting in damage to parts.

[0100] In some embodiments, Figure 4 As shown, the driving mechanism 30 may further include a third driving member 35, wherein the first driving member 30a and the second driving member 30b are used to cooperate with each other to drive the first arm 10 and the second arm 20 to rotate relative to the body 200 along a first rotation direction; the third driving member 35 is used to drive the first arm 10 and the second arm 20 to rotate relative to the body 200 along a second rotation direction, and the first rotation direction is different from the second rotation direction. Through the above arrangement, the mechanical arm 100 can realize rotation in two directions, thereby increasing the working range and being more flexible.

[0101] In some embodiments, the third driving member 35 includes a third motor 351, which is installed on the body 200. The output shaft of the third motor 351 can be connected to the mounting seat 80. The first motor 31 of the first driving member 30a and the second motor 33 of the second driving member 30b can be installed on the mounting seat 80, so that the third driving member 35 can rotate along the second rotation direction by driving the mounting seat 80, so as to drive the first driving member 30a and the second driving member 30b to rotate as a whole through the mounting seat 80, wherein the first rotation direction is different from the second rotation direction to avoid mutual interference.

[0102] In some embodiments, the first rotation direction and the second rotation direction can be set vertically, that is, the output shaft of the third driving member 35 is set vertically to the output shafts of the first motor 31 and the second motor 33, so as to avoid mutual interference and enable rotation in two vertical directions, thereby increasing the working range and being more flexible.

[0103] like Figure 1-Figure 4As shown, the embodiment of the present application further provides a robot 1000, including a body 200 and the above-mentioned mechanical arm 100, wherein the mechanical arm 100 is connected to the body 200. The structure and function of the mechanical arm 100 in the robot 1000 proposed in the embodiment of the present application are the same as those in the above-mentioned embodiment, and the specific description can be referred to the description in the above-mentioned embodiment, which will not be repeated in this embodiment.

[0104] Through the configuration of the above-mentioned robotic arm 100, the robot 1000 of the present application provides a significant improvement in safety, efficiency, ease of operation and adaptability compared to the prior art.

[0105] In a specific application, the robot 1000 can be provided with two robotic arms 100, and the two robotic arms 100 can be respectively arranged on both sides of the fuselage 200. By controlling the extension and / or rotation of the two robotic arms 100, the robot 1000 can be assisted to grasp or carry objects on different sides of the fuselage 200.

[0106] Those skilled in the art may combine and associate different embodiments or examples and features of different embodiments or examples described in this specification without mutual contradiction.

[0107] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A mechanical arm for a robot, characterized in that: The robotic arm comprises: a first arm for rotationally connecting to a body of the robot; a second arm, slidably connected to the first arm, so that the second arm can move linearly along a first direction relative to the first arm, the first direction being an extension direction of the first arm; A driving mechanism is used to drive the first arm and the second arm to rotate as a whole relative to the fuselage, and to drive the first arm to move linearly along the first direction relative to the second arm.

2. The robotic arm according to claim 1, characterized in that: The drive mechanism comprises a first drive member and a second drive member; The first driving member and the second driving member are used to work together to drive the first arm and the second arm to rotate as a whole relative to the fuselage, and the first driving member and the second driving member are also used to work together to drive the second arm to move linearly along the first direction relative to the first arm.

3. The robotic arm according to claim 2, characterized in that: The first driving member and the second driving member are used to cooperate with each other to drive the first arm and the second arm to rotate as a whole relative to the body along a first rotation direction; The driving mechanism further includes a third driving component, and the third driving component is used to drive the first arm and the second arm to rotate as a whole relative to the body along a second rotation direction, and the first rotation direction is different from the second rotation direction.

4. The mechanical arm according to claim 2, characterized in that: The first driving member includes a first motor and a first transmission assembly, and the second driving member includes a second motor and a second transmission assembly; The first motor and the second motor are used to be connected to the fuselage, and the first motor and the second motor are coaxially arranged; The first transmission assembly is connected to the output shaft of the first motor and connected to the second arm, and the second transmission assembly is connected to the output shaft of the second motor and connected to the second arm; The rotation axis of the first arm is coaxially arranged with the rotation axes of the first motor and the second motor.

5. The mechanical arm according to claim 4, characterized in that: The first transmission assembly includes a first transmission wheel, a second transmission wheel and a first flexible transmission member. The first transmission wheel and the second transmission wheel are rotatably connected to the first arm and are spaced apart along the first direction. The first transmission wheel is connected to the output shaft of the first motor. The first flexible transmission member is connected between the first transmission wheel and the second transmission wheel and connected to the second arm.

6. The mechanical arm according to claim 5, characterized in that: The second transmission assembly includes a third transmission wheel, a fourth transmission wheel and a second flexible transmission member. The third transmission wheel and the fourth transmission wheel are rotatably connected to the first arm and are spaced apart along the first direction. The third transmission wheel is connected to the output shaft of the second motor, and the first transmission wheel and the third transmission wheel are coaxially arranged. The second flexible transmission member is connected between the third transmission wheel and the fourth transmission wheel and is connected to the second arm.

7. The robot arm according to claim 6, characterized in that: The first motor and the second motor are arranged opposite to each other and are respectively arranged on two opposite sides of the first arm, the arrangement direction of the first motor and the second motor is a second direction, and the second direction is arranged perpendicular to the first direction; In the second direction, the first transmission wheel and the second transmission wheel are arranged on one side of the first arm, and the third transmission wheel and the fourth transmission wheel are arranged on the other side of the first arm.

8. The robot arm according to claim 7, characterized in that: The mechanical arm further includes a positioning shaft, which is disposed between the output shaft of the first motor and the output shaft of the second motor and is rotatably connected to the first transmission wheel and the third transmission wheel; The positioning shaft is used to make the rotation axis of the first arm coaxial with the rotation axes of the first motor and the second motor.

9. The mechanical arm according to claim 7, characterized in that: The first flexible transmission member includes a first belt, which is rotatably wrapped around the first transmission wheel and the second transmission wheel and connected to the second arm; the second flexible transmission member includes a second belt, which is rotatably wrapped around the third transmission wheel and the fourth transmission wheel and connected to the second arm; The first motor and the second motor are used to respectively drive the first belt and the second belt to rotate in the same direction and at the same speed, thereby driving the first arm and the second arm to rotate as a whole; The first motor and the second motor are further used to respectively drive the first belt and the second belt to rotate in opposite directions and at the same speed, thereby driving the second arm to move linearly along the first direction relative to the first arm; The first motor and the second motor are further used to respectively drive the first belt and the second belt to rotate in the same direction and at different speeds, thereby driving the second arm to move linearly along the first direction relative to the first arm and driving the first arm and the second arm to rotate as a whole; The first motor and the second motor are also used to drive the first belt and the second belt to rotate in opposite directions and at different speeds, respectively, so as to drive the first arm and the second arm to rotate as a whole and drive the second arm to move linearly along the first direction relative to the first arm.

10. The mechanical arm according to claim 9, characterized in that: The first arm and the second arm are slidably connected via a sliding assembly, wherein the sliding assembly comprises a guide member disposed on the first arm and a sliding member disposed on the second arm; The sliding member includes a first sliding block and a second sliding block arranged opposite to each other in the third direction, and the guiding member includes a first guiding rod and a second guiding rod arranged opposite to each other in the third direction; The first slider is slidably connected to the first guide rod and connected to a side of the first belt close to the first slider, the second slider is slidably connected to the second guide rod and connected to a side of the second belt close to the second slider, and the first direction, the second direction and the third direction are perpendicular to each other.

11. The mechanical arm according to claim 9, characterized in that: The second transmission wheel is coaxially arranged with the fourth transmission wheel; and / or the first belt is arranged parallel to the belt.

12. The mechanical arm according to claim 7, characterized in that: The first flexible transmission member includes a first transmission rope, the first transmission rope includes a first rope segment and a second rope segment, one end of the first rope segment and one end of the second rope segment are both wound around the first transmission wheel and fixed, the other end of the first rope segment is connected to the other end of the second rope segment and is wrapped around the second transmission wheel, so that when the first transmission wheel rotates, the first transmission rope can be driven to rotate, so that the first rope segment and the second rope segment move in opposite directions in the first direction, and one of the first rope segment and the second rope segment is connected to the second arm; The second flexible transmission member includes a second transmission rope, the second transmission rope includes a third rope segment and a fourth rope segment, one end of the third rope segment and one end of the fourth rope segment are both wound around the third transmission wheel and fixed, the other end of the third rope segment is connected to the other end of the fourth rope segment and surrounds the fourth transmission wheel, so that when the second transmission wheel rotates, the second transmission rope can be driven to rotate, so that the third rope segment and the fourth rope segment move in opposite directions in the first direction, and one of the third rope segment and the fourth rope segment is connected to the second arm; The first motor and the second motor are used to respectively drive the first transmission rope and the second transmission rope to rotate in the same direction and at the same speed, thereby driving the first arm and the second arm to rotate as a whole; The first motor and the second motor are further used to respectively drive the first transmission rope and the second transmission rope to rotate in opposite directions and at the same speed, thereby driving the second arm to move linearly along the first direction relative to the first arm; The first motor and the second motor are further used to respectively drive the first transmission rope and the second transmission rope to rotate in the same direction and at different speeds, thereby driving the second arm to move linearly along the first direction relative to the first arm and driving the first arm and the second arm to rotate as a whole; The first motor and the second motor are also used to drive the first transmission rope and the second transmission rope to rotate in opposite directions and at different speeds, respectively, thereby driving the first arm and the second arm to rotate as a whole and driving the second arm to move linearly along the first direction relative to the first arm.

13. The robot arm according to claim 12, characterized in that: The first arm and the second arm are slidably connected via a sliding assembly, wherein the sliding assembly comprises a guide member disposed on the first arm and a sliding member disposed on the second arm; The sliding member includes a first sliding member and a second sliding member arranged opposite to each other in a third direction, the guiding member includes a first guiding rod and a second guiding rod arranged opposite to each other in the third direction, the first sliding member is slidably connected to the first guiding rod and is close to the first rope segment, the second sliding member is slidably connected to the second guiding rod and is close to the fourth rope segment, the first rope segment is connected to the first sliding member, the fourth rope segment is connected to the second sliding member, and the first rope segment and the fourth rope segment are arranged diagonally, and the first direction, the second direction and the third direction are perpendicular to each other.

14. A robot, characterized in that: It comprises a fuselage and a robotic arm as described in any one of claims 1 to 13, wherein the robotic arm is connected to the fuselage.

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