Mechanical arm and robot

Abstract

The utility model provides a mechanical arm and a robot. The mechanical arm comprises a connecting arm with an inner cavity; a first hinge and a second hinge; the execution unit is hinged to the connecting arm through a first hinge, and the execution unit is used for executing grabbing operation; the linear driving unit is arranged in the inner cavity, the fixed end of the linear driving unit is hinged to the connecting arm, the movable end of the linear driving unit is hinged to the execution unit through a second hinge, and the second hinge and the first hinge are arranged at an interval; the moving end of the linear driving unit moves in the direction close to or away from the execution unit to push the execution unit to swing around the first hinge so as to adjust the angle between the execution unit and the object to be grabbed. According to the mechanical arm, the linear driving unit is arranged in the inner cavity of the connecting arm, bending positioning of the execution unit at different angles is achieved by controlling the stroke of the linear driving unit, and the mechanical arm is small and exquisite in structure and high in reliability.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and more specifically, to a robotic arm and a robot. Background Art

[0002] Robots are widely used in many fields. A clamp is usually set at the end of the robot arm to grab the target object. Due to the limited working space of the robot arm, the target object may be placed far away from the robot arm, which requires the clamp of the robot arm to be able to extend into the narrow space. The clamp at the end of the current robot arm is usually fixed to the robot body. This method greatly compresses the working space of the robot arm and the clamp, which makes it difficult to plan the collision-free motion of the robot arm and the clamp.

[0003] The existing robotic arm structure is bulky and complex, with multiple rotating joints. The rotation of each joint is achieved through a stepper motor or a servo motor. Due to the large driving torque, the stepper motor or servo motor is usually large in size, and a planetary reducer or harmonic reducer of a certain volume is usually required to be installed at the end of the motor shaft. This will make the joint part of the robotic arm larger in size and difficult to apply to working conditions with a small operating space. Utility Model Content

[0004] The present application provides a mechanical arm and a robot. The following introduces various aspects involved in the embodiments of the present application.

[0005] In a first aspect, a robotic arm is provided, comprising: a connecting arm having an inner cavity; a first hinge and a second hinge; an execution unit hinged to the connecting arm through the first hinge, the execution unit being used to perform a grasping operation; a linear drive unit arranged in the inner cavity, a fixed end of the linear drive unit being hinged to the connecting arm, a movable end of the linear drive unit being hinged to the execution unit through the second hinge, and the second hinge being spaced apart from the first hinge; the movable end of the linear drive unit moves toward or away from the execution unit, pushing the execution unit to swing around the first hinge to adjust the angle between the execution unit and the object to be grasped.

[0006] According to the above technical means, by arranging a linear drive unit in the inner cavity of the connecting arm and controlling the stroke of the linear drive unit, the bending positioning of the actuator at different angles is achieved, and the structure is compact and the reliability is high.

[0007] Optionally, the execution unit includes: an execution unit bracket and an execution end assembly, the execution end assembly is detachably connected to the execution unit bracket; the first hinge is arranged between the connecting arm and the execution unit bracket; the second hinge is arranged between the moving end of the linear drive unit and the execution unit bracket.

[0008] According to the above technical means, the execution terminal assembly and the linear unit bracket are set to be detachably connected, which can facilitate the replacement of different terminal assemblies in different application scenarios to support the terminal assembly replacement needs in different application scenarios.

[0009] Optionally, the robotic arm also includes a control circuit; the control circuit is electrically connected to the linear drive unit, and is used to control the extension length of the moving end of the linear drive unit according to the positional relationship between the execution end assembly and the object to be grasped, so that the angle of the execution end assembly matches the position of the object to be grasped.

[0010] According to the above technical means, the position of the execution terminal component is accurately adjusted according to the positional relationship between the execution terminal component and the object to be grasped by using the control circuit, so as to increase the grasping accuracy.

[0011] Optionally, the linear drive unit is an electric push rod.

[0012] According to the above technical means, the self-locking function of the transmission structure in the electric push rod can be used to ensure that the position of the execution unit remains unchanged after rotation, thereby achieving precise positioning.

[0013] Optionally, the execution end assembly is a vacuum suction cup.

[0014] According to the above technical means, the end component is set as a vacuum suction cup, which has a wide range of applications and can realize the grasping of objects of different shapes and sizes, and is simple to operate and has a large load-bearing capacity. Optionally, the robotic arm also includes: a vacuum pump, a vacuum pump air pipe, a vacuum detection air pipe and a vacuum detection unit; the vacuum pump air pipe is arranged between the vacuum pump and the cavity of the vacuum suction cup, and the vacuum pump is used to extract the air in the cavity of the vacuum suction cup through the vacuum pump air pipe; the vacuum detection air pipe is arranged between the vacuum detection unit and the cavity of the vacuum suction cup, and the vacuum detection unit is used to detect the vacuum degree of the cavity of the vacuum suction cup through the vacuum detection air pipe.

[0015] According to the above technical means, the vacuum pump air pipe and the vacuum detection air pipe are decoupled, which can avoid affecting the vacuum detection unit and generating interference signals when the vacuum suction cup adsorbs or stops adsorbing, thereby simplifying the control logic.

[0016] Optionally, the robotic arm also includes: a solenoid valve, which is arranged between the vacuum pump air pipe and the vacuum pump, and the solenoid valve has a first working mode and a second working mode; wherein in the first working mode, the vacuum pump air pipe is connected to the vacuum pump; in the second working mode, the vacuum pump air pipe is connected to the atmosphere; the solenoid valve and the vacuum pump are both connected to the control circuit, and the control circuit is also used to send a first control signal to the solenoid valve and the vacuum pump when the vacuum suction cup releases the object; the vacuum pump is used to stop working in response to the first control signal; the solenoid valve is used to switch to the second working mode in response to the first control signal.

[0017] According to the above technical means, the solenoid valve and the vacuum pump are set to share the same stop signal. When the vacuum suction cup needs to put down an object, the vacuum pump is shut down and the vacuum suction cup is broken simultaneously, which simplifies the control logic and increases the release speed of the grasped object.

[0018] Optionally, the control circuit is also used to send a second control signal to the solenoid valve and the vacuum pump when the vacuum suction cup grasps an object; the vacuum pump is also used to start working in response to the second control signal; the solenoid valve is also used to switch to the first working mode in response to the second control signal.

[0019] According to the above technical means, the solenoid valve and the vacuum pump share the same opening signal. When it is necessary to grasp an object, when the vacuum pump is started, the channel connecting the inner cavity of the vacuum suction cup with the atmosphere is synchronously closed. This technical means simplifies the control logic and improves the efficiency of grasping.

[0020] Optionally, the robotic arm comprises a plurality of the vacuum pump air pipes, and the plurality of vacuum pump air pipes are evenly arranged in the cavity of the vacuum suction cup near the opening ends of the vacuum suction cup.

[0021] According to the above technical means, a plurality of vacuum pump air pipes are provided for the vacuum suction cup, so that the speed of vacuuming can be increased and the air pressure distribution in the vacuum suction cup cavity can be uniform.

[0022] Optionally, the inner diameter of the vacuum pump air pipe is larger than the inner diameter of the vacuum detection air pipe.

[0023] According to the above technical means, the inner diameter of the vacuum pump air pipe is set larger, which can increase the vacuuming speed.

[0024] In a second aspect, a robot is provided, comprising the robotic arm as described in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic structural diagram of a robotic arm provided in an embodiment of the present application;

[0026] Figure 2 for Figure 1 AA section view;

[0027] Figure 3 is a schematic diagram of the swinging of the actuator under the action of the linear drive unit;

[0028] Figure 4 A schematic diagram of the gas circuit of a robotic arm provided in an embodiment of the present application;

[0029] Figure 5 It is a gas path schematic diagram of a robot arm in the related art;

[0030] Figure 6 It is a circuit topology diagram of a robot arm in the related art;

[0031] Figure 7 This is a circuit topology diagram of the robotic arm provided in an embodiment of the present application.

[0032] Among them, 10-robotic arm; 101-connecting arm; 102-first hinge; 103-second hinge; 104-executor unit; 105-linear drive unit; 106-control circuit; 107-vacuum pump; 108-vacuum pump air pipe; 109-vacuum detection air pipe; 110-vacuum detection unit; 111-solenoid valve; 1011-support; 1041-executor unit bracket; 1042-executor end assembly; 1051-fixed end; 1052-movable end; 40-air path; 50-air path; 51-air pipe; 52-vacuum suction cup; 53-vacuum pump; 54-vacuum detection unit; 61-solenoid valve; 62-vacuum pump. DETAILED DESCRIPTION

[0033] The embodiments of the present application provide a mechanical arm and a robot. The technical solution of the present application is further specifically described below through the embodiments and in combination with the accompanying drawings. In the specification, the same or similar figure numbers indicate the same or similar parts. The following description of the implementation mode of the present application with reference to the accompanying drawings is intended to explain the overall concept of the present application and should not be construed as a limitation on the present application.

[0034] Before introducing the technical solution provided in the embodiments of the present application, the robotic arm in the related art and the problems existing therein are first described in detail.

[0035] At present, robots are widely used in industrial production, aerospace, logistics, medicine and other fields. As an important component of robots, the structural forms of robotic arms are diverse, and there are many robotic arms on the market for different industries and different work objects.

[0036] Taking a robotic arm used in the logistics industry as an example, a clamp (such as a gripper or a suction cup) is usually provided at the end thereof to grasp a target object in a warehouse or a shelf.

[0037] Since the working space of the robot arm is limited, the target object may be placed far away from the robot arm, which is essentially a technical problem of grabbing or adsorbing objects from a narrow space. This requires the robot arm's fixture to be able to extend into the narrow space, and the current fixture at the end of the robot arm is usually fixed to the robot arm body, which greatly compresses the working space of the robot arm and fixture, making it difficult to plan collision-free motion of the robot arm and fixture.

[0038] The existing robotic arm structure is bulky and complex, with multiple rotating joints. The rotation of each joint is achieved through a stepper motor or a servo motor. Due to the large driving torque, the stepper motor or servo motor is usually large in size, and a planetary reducer or harmonic reducer of a certain volume is usually required to be installed at the end of the motor shaft. This will make the joint part of the robotic arm larger in size and difficult to apply to working conditions with a small operating space.

[0039] Therefore, how to realize the need of robotic arms to operate in a small space has become an urgent problem to be solved.

[0040] In view of the above problems, the present application embodiment provides a mechanical arm and a robot. The technical solution provided by the application embodiment will be described in detail below in conjunction with the accompanying drawings.

[0041] Figure 1 is a schematic structural diagram of a robotic arm provided in an embodiment of the present application, Figure 2 yes Figure 1 AA section view. Figure 1 and Figure 2 As shown, the robot arm 10 includes a connecting arm 101 , a first hinge 102 , a second hinge 103 , an execution unit 104 and a linear drive unit 105 .

[0042] The connecting arm 101 is a hollow structure, and the cavity inside it is used to install the driving mechanism, transmission mechanism and control mechanism in the mechanical arm 10. The connecting arm 101 is usually made of a material with high mechanical strength so as to provide a space for accommodating the above mechanisms and play a supporting role at the same time.

[0043] The connecting arm 101 can be made of metal materials such as steel or aluminum alloy, or can be made of non-metallic materials such as carbon fiber, aramid fiber, and glass fiber, which is not specifically limited in the embodiment of the present application.

[0044] The execution unit 104 is connected to the connecting arm 101 via the first hinge 102 , and can rotate or swing around the first hinge 102 .

[0045] The first hinge 102 includes a first rotating shaft, both ends of which are respectively connected to the connecting arm 101 , and one end of the execution unit 104 close to the connecting arm 101 is sleeved on the first rotating shaft to form a hinge structure.

[0046] The execution unit 104 is used to execute the grabbing operation, and is usually disposed at one end of the connecting arm 101 .

[0047] The linear drive unit 105 is disposed in the inner cavity of the connecting arm 101 , and has a fixed end 1051 and a movable end 1052 .

[0048] The fixed end 1051 of the linear drive unit 105 is hinged to the connecting arm 101. Figure 2 As shown, a support 1011 is provided in the connecting arm 101, and the support 1011 is fixedly connected to the connecting arm 101. A hinge hole is provided on the support 1011, and a fixed end 1051 of the linear drive unit 105 is a tailstock, which is provided with a through hole. A rotating shaft is passed through the above-mentioned hinge hole and the through hole, so that the linear drive unit 105 can swing around the rotating shaft.

[0049] The moving end 1052 of the linear drive unit 105 is connected to the execution unit 104 via the second hinge 103. Figure 2 The movable end 1052 is a joint shown in the figure, which has a through hole. The second hinge 103 is a second rotating shaft, which is arranged at one end of the execution unit 104 close to the connecting arm 101, and its two ends can be fixedly connected to the execution unit 104. The through hole on the movable end 1052 is sleeved on the second rotating shaft to form the hinge structure shown in the figure.

[0050] The first hinge 102 and the second hinge 103 are arranged at intervals, and the moving end 1052 of the linear drive unit 105 can move toward or away from the execution unit 104 to push the execution unit 104 to swing around the first hinge 102, thereby adjusting the angle between the execution unit 104 and the object to be grasped.

[0051] Figure 3 The schematic diagram shows the swing of the execution unit 104 under the action of the linear drive unit 105, combined with Figure 2 and Figure 3 Under the action of the linear drive unit 105, the execution unit 104 is Figure 2 The horizontal state shown is rotated to Figure 3 The vertical position is shown.

[0052] It should be noted that Figure 2 and Figure 3The position and angle of the execution unit 104 shown in the figure are only examples, and the rotation angle of the execution unit 104 is associated with multiple factors, such as the moving distance of the moving end 1052 of the linear drive unit 105, the distance between the first hinge 102 and the second hinge 103, etc.

[0053] from Figure 3 It can also be seen that the fixed end 1051 of the linear drive unit 105, the first hinge 102 and the second hinge 103 form a triangular stable structure. While ensuring that the position of the moving end 1052 of the linear drive unit 105 remains unchanged, the execution unit 104 can remain stable.

[0054] It can also be understood that, in the above structure, by controlling the extension distance of the mobile end 1052 (ie, the stroke of the mobile end 1052), the execution unit 104 can be positioned at any angle.

[0055] According to the above-mentioned robotic arm provided in the embodiment of the present application, by arranging a linear drive unit in the inner cavity of the connecting arm and controlling the stroke of the linear drive unit, the bending positioning of the execution unit at different angles is achieved, and the structure is compact and the reliability is high.

[0056] In some embodiments, the actuator 104 includes an actuator bracket 1041 and an actuator end assembly 1042 .

[0057] Among them, the execution unit bracket 1041 is used to install the execution end component 1042, and the execution end component 1042 is detachably connected to the linear unit bracket 1041, so as to facilitate the replacement of different end components to support the end component replacement needs in different application scenarios.

[0058] The first hinge 102 is disposed between the connecting arm 101 and the actuator bracket 1041 , and the second hinge 103 is disposed between the moving end 1052 of the linear drive unit 105 and the actuator bracket 1041 .

[0059] In some embodiments, the robot arm 10 also includes a control circuit 106, which is electrically connected to the linear drive unit 105 and is used to control the extension length of the moving end 1052 of the linear drive unit 105 according to the positional relationship between the execution end component 1042 and the object to be grasped, so that the angle of the execution end component 1042 matches the position of the object to be grasped.

[0060] According to the above technical means, the position of the execution terminal component is accurately adjusted according to the positional relationship between the execution terminal component and the object to be grasped by using the control circuit, so as to increase the grasping accuracy.

[0061] In some embodiments, the linear drive unit 105 is an electric push rod. The electric push rod generally includes a motor and a screw transmission mechanism, and the motor can drive the screw to rotate and drive the nut to move. The transmission structure in the electric push rod generally has a self-locking function. When used in the technical solution of the present application, it can ensure that the position of the actuator 104 remains unchanged after rotation, thereby achieving precise positioning.

[0062] It should be noted that, in the embodiment of the present application, the linear drive unit 105 is not limited to the electric push rod described above, and the linear drive unit 105 can also be a gear rack drive mechanism, a cylinder or a hydraulic cylinder, etc.

[0063] According to the above technical means, the self-locking function of the transmission structure in the electric push rod can be used to ensure that the position of the execution unit remains unchanged after rotation, thereby achieving precise positioning.

[0064] In some embodiments, the execution end assembly 1042 is a vacuum suction cup. The vacuum suction cup generally has a cavity, which is connected to a vacuum pump. Under the action of the vacuum pump, the air pressure in the cavity is reduced, so that the suction cup can be adsorbed on the surface of the object to be grasped.

[0065] According to the above technical means, the terminal component is set as a vacuum suction cup, which has a wide range of applications and can grasp objects of different shapes and sizes. It is easy to operate and has a large load-bearing capacity.

[0066] In some embodiments, continue to refer to Figure 2 The robot arm 10 also includes a vacuum pump 107 , a vacuum pump air pipe 108 , a vacuum detection air pipe 109 and a vacuum detection unit 110 .

[0067] The vacuum pump air pipe 108 is disposed between the vacuum pump 107 and the cavity of the vacuum suction cup, and the vacuum pump 107 is used to extract the air in the cavity of the vacuum suction cup through the vacuum pump air pipe 108 .

[0068] The vacuum detection air pipe 109 is disposed between the vacuum detection unit 110 and the cavity of the vacuum suction cup. The vacuum detection unit 110 is used to detect the vacuum degree in the cavity of the vacuum suction cup through the vacuum detection air pipe 109 .

[0069] Figure 4 This is a gas circuit schematic diagram of the robot arm based on the above embodiment. For comparison, Figure 5 This is a schematic diagram of the gas path of a robot arm in the related art. Figure 4 and Figure 5 The beneficial effects of the above embodiments are described as follows:

[0070] like Figure 5As shown, the air path 50 of the robot arm in the related art includes an air pipe 51, one end of which is connected to the cavity of the vacuum suction cup 52, and the other end is connected to the vacuum pump 53 and the vacuum detection unit 54. Since the air flow inlet of the vacuum detection unit 54 is close to the vacuum pump 53, when the vacuum pump 53 starts to work, the vacuum detection unit 54 will detect the change in air pressure and send a signal in response to the change in air pressure; when the vacuum suction cup 52 sucks an object, the air pressure in the air pipe 51 changes again, and the vacuum detection unit 54 sends a second vacuum detection signal, which will cause the control circuit of the robot arm to receive an interference signal.

[0071] And in Figure 4 In the air circuit 40 of the robot arm 10 of the present application, the vacuum pump air pipe 108 and the vacuum detection air pipe 109 are independently arranged. When the vacuum suction cup does not adsorb an object, the start or stop of the vacuum pump 107 will not affect the air pressure in the vacuum detection air pipe 109, that is, there will be no false triggering; and after the vacuum suction cup successfully adsorbs the object, the air pressure in the vacuum detection air pipe 109 will change immediately, and the vacuum detection unit 110 will send a signal in response to the air pressure change. This technical solution can increase the accuracy and speed of vacuum detection.

[0072] According to the above technical means, the vacuum pump air pipe and the vacuum detection air pipe are decoupled, which can avoid affecting the vacuum detection unit when the vacuum suction cup adsorbs or stops adsorbing, that is, generating interference signals, and simplifying the control logic.

[0073] In some embodiments, Figure 2 and Figure 3 As shown, the robot arm 10 also includes a solenoid valve 111, which is arranged between the vacuum pump air pipe 108 and the vacuum pump 107, and the solenoid valve 111 has a first working mode and a second working mode; in the first working mode, the vacuum pump air pipe 108 is connected to the vacuum pump 107, and in the second working mode, the connection between the vacuum pump air pipe 108 and the vacuum pump 107 is disconnected, and the vacuum pump air pipe 108 is connected to the atmosphere.

[0074] The solenoid valve 111 may be a two-position three-way solenoid valve having a first port, a second port and a third port. The first port is connected to the vacuum pump 107, the second port is connected to the vacuum pump air pipe 108, and the third port is connected to the outside, that is, to the atmosphere.

[0075] The solenoid valve also includes a coil. When the coil is energized, it pushes the valve core to move, so that the first port and the second port are connected; when the coil is de-energized, the valve core moves to the initial position under the action of the spring, and the second port is connected to the third port. Applied to the aforementioned robotic arm, when it is necessary to adsorb an object, the control coil is energized, the vacuum pump air pipe 108 is connected to the vacuum pump 107, and the vacuum pump 107 extracts the air in the cavity of the vacuum suction cup through the vacuum pump air pipe 108, so that the object is adsorbed on the vacuum suction cup; after the object is moved to the correct position, the control coil is de-energized, the vacuum pump air pipe 108 is connected to the atmosphere, the air pressure in the cavity of the vacuum suction cup is balanced with the external air pressure, and the object is released.

[0076] The solenoid valve 111 and the vacuum pump 107 are both connected to the control circuit 106 . The control circuit 106 is also used to send a first control signal to the solenoid valve 111 and the vacuum pump 107 when the vacuum suction cup releases the object.

[0077] The vacuum pump 107 is used to stop working in response to the first control signal, and the solenoid valve 111 is used to switch to the second working mode in response to the first control signal. In this technical solution, the same control signal is used to realize the shutdown of the vacuum pump 107 and the vacuum breaking of the vacuum chuck. Figure 6 and Figure 7 The technical effects of the above embodiments are further described. Figure 6 It is a circuit topology diagram of a robotic arm in the related art. Figure 7 This is a circuit topology diagram of the robotic arm provided in an embodiment of the present application.

[0078] like Figure 6 As shown, in the related technology, the control end of the solenoid valve 61 is used to receive a first control signal, and the vacuum pump 62 is used to receive a second control signal. When the grasped object needs to be released, the second control signal is first sent to the vacuum pump 62, so that the vacuum pump 62 stops working in response to the signal; thereafter, the first control signal is sent to the solenoid valve 61, and the solenoid valve 61 is actuated in response to the first control signal, so that the vacuum pump air pipe is connected to the atmosphere, balancing the pressure of the vacuum suction cup cavity with the atmospheric pressure, thereby achieving the purpose of breaking the vacuum.

[0079] exist Figure 7 In the technical solution of the present application shown, the control circuit 106 sends a first control signal to the solenoid valve 111 and the vacuum pump 107 at the same time. The vacuum pump 107 is shut down in response to the first control signal and the solenoid valve 111 is actuated to connect the vacuum pump air pipe 108 to the atmosphere. The pressure of the vacuum suction cup cavity is balanced with the atmospheric pressure, the vacuum suction cup breaks the vacuum, and the sucked object is released.

[0080] According to the above technical means, the solenoid valve and the vacuum pump are set to share the same stop signal, that is, the first control signal. When the vacuum suction cup needs to put down the object, the vacuum pump is shut down and the vacuum of the vacuum suction cup is broken synchronously, so that the vacuum pump stops and the suction cup releases the object, which simplifies the control logic. Moreover, since there is no time difference between the shutdown of the vacuum pump and the breaking of the vacuum of the vacuum suction cup, the release speed of the grasped object is improved.

[0081] In some embodiments, the control circuit 106 is further configured to: when the vacuum suction cup grasps an object, send a second control signal to the solenoid valve 111 and the vacuum pump 107. The vacuum pump 107 is further configured to: start working in response to the second control signal; the solenoid valve 111 is further configured to switch to the first working mode in response to the second control signal.

[0082] According to the above technical means, the solenoid valve and the vacuum pump share the same opening signal, namely the second control signal. When it is necessary to grasp an object, when the vacuum pump is started, the channel connecting the inner cavity of the vacuum suction cup with the atmosphere is closed synchronously, thereby achieving the effect of the vacuum pump working and the suction cup sucking. This technical means simplifies the control logic and improves the efficiency of grasping.

[0083] In some embodiments, the robot arm 10 is provided with a plurality of vacuum pump air pipes 108, and the opening ends of the plurality of vacuum pump air pipes 108 close to the vacuum suction cup are evenly arranged in the cavity of the vacuum suction cup. Such an arrangement can speed up the vacuuming speed and make the air pressure in the cavity of the vacuum suction cup evenly distributed.

[0084] In some embodiments, the inner diameter of the vacuum pump air pipe 108 is larger than the inner diameter of the vacuum detection air pipe 109. The vacuum pump air pipe 108 is set to be thicker, which can increase the speed of vacuuming.

[0085] The present application also provides a robot, including the mechanical arm described in any of the above embodiments. The robot may be a collaborative robot, an industrial robot or a humanoid robot, which is not limited here.

[0086] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0087] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0088] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0089] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0090] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0091] The above is only a preferred embodiment of the present application and is not intended to limit the scope of protection of the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A robotic arm, characterized in that: include: a connecting arm having an inner cavity; a first hinge and a second hinge; an execution unit, hinged to the connecting arm through the first hinge, and used for executing a grasping operation; A linear drive unit is arranged in the inner cavity, a fixed end of the linear drive unit is hinged to the connecting arm, a movable end of the linear drive unit is hinged to the execution unit via the second hinge, and the second hinge is spaced apart from the first hinge; The moving end of the linear drive unit moves toward or away from the execution unit, pushing the execution unit to swing around the first hinge.

2. The robotic arm according to claim 1, characterized in that: The execution unit comprises: an execution unit bracket and an execution end assembly, wherein the execution end assembly is detachably connected to the execution unit bracket; The first hinge is arranged between the connecting arm and the execution unit bracket; The second hinge is arranged between the moving end of the linear drive unit and the execution unit bracket.

3. The robotic arm according to claim 2, characterized in that: The robotic arm also includes a control circuit; The control circuit is electrically connected to the linear drive unit, and is used to control the extension length of the moving end of the linear drive unit according to the positional relationship between the execution end assembly and the object to be grasped, so that the angle of the execution end assembly matches the position of the object to be grasped.

4. The robotic arm according to any one of claims 1 to 3, characterized in that: The linear drive unit includes an electric push rod.

5. The robotic arm according to claim 3, characterized in that: The execution end assembly includes a vacuum suction cup; the robotic arm also includes: a vacuum pump, a vacuum pump air pipe, a vacuum detection air pipe and a vacuum detection unit; The vacuum pump air pipe is arranged between the vacuum pump and the cavity of the vacuum suction cup, and the vacuum pump is used to extract the air in the cavity of the vacuum suction cup through the vacuum pump air pipe; The vacuum detection air pipe is arranged between the vacuum detection unit and the cavity of the vacuum suction cup, and the vacuum detection unit is used to detect the vacuum degree of the cavity of the vacuum suction cup through the vacuum detection air pipe.

6. The robotic arm according to claim 5, characterized in that: Also includes: A solenoid valve, arranged between the vacuum pump air pipe and the vacuum pump, the solenoid valve having a first working mode and a second working mode; Wherein, in the first working mode, the vacuum pump air pipe is connected to the vacuum pump; in the second working mode, the vacuum pump air pipe is connected to the atmosphere; The solenoid valve and the vacuum pump are both connected to the control circuit, and the control circuit is also used to send a first control signal to the solenoid valve and the vacuum pump when the vacuum suction cup releases the object; The vacuum pump is configured to stop working in response to the first control signal; The solenoid valve is used to switch to the second working mode in response to the first control signal.

7. The robotic arm according to claim 6, characterized in that: The control circuit is further configured to send a second control signal to the solenoid valve and the vacuum pump when the vacuum suction cup grabs an object; The vacuum pump is further configured to start working in response to the second control signal; The solenoid valve is further configured to switch to the first operating mode in response to the second control signal.

8. The robot arm according to claim 6 or 7, characterized in that: The robot arm comprises a plurality of vacuum pump air pipes, and the plurality of vacuum pump air pipes are evenly arranged in the cavity of the vacuum suction cup near the opening end of the vacuum suction cup.

9. The robot arm according to any one of claims 5 to 7, characterized in that: The inner diameter of the vacuum pump air pipe is larger than the inner diameter of the vacuum detection air pipe.

10. A robot, characterized in that: Comprising the robotic arm as claimed in any one of claims 1 to 9.

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