Mechanical arm and robot

Abstract

The utility model relates to the technical field of intelligent equipment, in particular to a mechanical arm and a robot, and solves the problem of poor anthropomorphism of the mechanical arm. The mechanical arm comprises a large arm assembly, a first driving assembly, a driving bevel gear, a driven bevel gear, a small arm assembly, two linear driving assemblies, a first connecting assembly and a second connecting assembly. The first driving assembly is used for driving the driving bevel gear to rotate, then the driving bevel gear drives the driven bevel gear to rotate, then the driven bevel gear drives the small arm assembly to rotate around the second axis, and the rotation freedom degree of the small arm assembly is achieved. The two linear driving assemblies are used for driving the second connecting assembly to rotate around the fourth axis and the third axis, and two degrees of freedom of the second connecting assembly are achieved. The extension direction of the first output shaft of the first driving assembly is the same as that of the large arm assembly, and the extension direction of the second output shafts of the two linear driving assemblies is the same as that of the small arm assembly, so that the appearance of the mechanical arm is closer to that of a human arm, and the anthropomorphic property is good.

Description

Technical Field

[0001] This application relates to the technical field of intelligent devices, and particularly to a robotic arm and a robot. Background Art

[0002] Robotic arms are widely used in industrial production and are an important structure for realizing automated production. For example, they are widely used in fields such as industrial assembly, industrial processing, and safety explosion protection. In order to complete more anthropomorphic movements, it is necessary to set appropriate degrees of freedom and shapes for the robotic arms, which have relatively high requirements for the quality, volume, and shape design of the robotic arms.

[0003] However, in order to improve the anthropomorphism of the robotic arm, it is necessary to design multiple degrees of freedom, resulting in a complex structure of the robotic arm. The shape of the robotic arm is quite different from that of a human arm, and the anthropomorphism is still poor. Summary of the Utility Model

[0004] In view of this, the embodiments of this application provide a robotic arm and a robot, which solve the problem of poor anthropomorphism of the robotic arm.

[0005] In a first aspect, an embodiment of this application provides a robotic arm, including: a large arm assembly extending along a first direction; a first drive assembly, the first drive assembly includes a first drive member and a first output shaft connected to each other, the first drive member is connected to the large arm assembly, the first output shaft rotates around its own axis under the drive of the first drive member, and the first output shaft extends along the first direction; a driving bevel gear coaxially connected to the first output shaft and rotating around a first axis under the drive of the first output shaft, the first axis extending along the first direction; a driven bevel gear rotatably connected to the large arm assembly around a second axis and meshing with the driving bevel gear, and rotating around the second axis under the drive of the driving bevel gear, the second axis being perpendicular to the first axis; a small arm assembly connected to the driven bevel gear and capable of rotating around the second axis along with the driven bevel gear; two linear drive assemblies, the linear drive assembly includes a second drive member and a second output shaft connected to each other, the second drive member is rotatably connected to the small arm assembly around a third axis, the second output shaft rotates around its own axis under the drive of the second drive member, the third axis being parallel to the second axis, and the extending direction of the second output shaft being perpendicular to the third axis; a first connection assembly rotatably connected to the small arm assembly around a fourth axis, the fourth axis being perpendicular to the third axis and perpendicular to the first axis; a second connection assembly rotatably connected to the first connection assembly around a fifth axis and rotatably connected to the second output shaft in multiple directions, the fifth axis being parallel to the third axis.

[0006] In some embodiments, the two linear drive assemblies are arranged side by side in a direction perpendicular to the extending direction of the forearm assembly. Among them, when the extending length of the second output shaft of one linear drive assembly remains unchanged, as the second output shaft of the other linear drive assembly extends or retracts, the first connection assembly rotates around the fourth axis to realize the left and right swing of the first connection assembly and the second connection assembly. Among them, when the extending lengths of the second output shafts of the two linear drive assemblies are the same, as the second output shafts of the two linear drive assemblies extend or retract, the second connection assembly rotates around the fifth axis to realize the pitching of the second connection assembly. Among them, as the second output shafts of the two linear drive assemblies extend or retract simultaneously at different speeds, the second connection assembly rotates around the fourth axis and rotates around the fifth axis simultaneously to realize the upper left swing, lower left swing, upper right swing or lower right swing of the second connection assembly.

[0007] In some embodiments, the second driving member has a spline hole. Among them, the second output shaft includes: a spline shaft, which is slidably connected to the spline hole and expands and contracts along the extending direction of the spline shaft under the drive of the second driving member.

[0008] In some embodiments, the robotic arm further includes: a spherical plain bearing, the inner ring of the spherical plain bearing is connected to the second connection assembly, and the outer ring of the spherical plain bearing is connected to the second output shaft to realize the multi-directional rotatable connection between the second connection assembly and the second output shaft.

[0009] In some embodiments, the upper arm assembly includes: a first upper arm support member extending along the first direction; a second upper arm support member extending along the first direction and arranged adjacent to the first upper arm support member along the first direction; a second drive assembly including a third drive member and a third output shaft connected to each other, the third output shaft rotates around a sixth axis under the drive of the third drive member, and the sixth axis is parallel to the first direction. Among them, the third drive member is connected to the first upper arm support member, and the third output shaft is connected to the second upper arm support member; or, the third drive member is connected to the second upper arm support member, and the third output shaft is connected to the first upper arm support member.

[0010] In some embodiments, the first upper arm support member includes a first housing, and the second upper arm support member includes a second housing; wherein, when the third driving member is connected to the first upper arm support member, the third driving member is disposed in the first housing and connected to the first housing, and the third output shaft is connected to the second housing; when the third driving member is connected to the second upper arm support member, the third driving member is disposed in the second housing and connected to the second housing, and the third output shaft is connected to the first housing.

[0011] In some embodiments, the forearm assembly includes: a first forearm support member extending along a second direction and connected to the driven bevel gear, and capable of rotating around the second axis along with the driven bevel gear; a second forearm support member extending along the second direction and disposed adjacent to the first forearm support member along the second direction; a third driving assembly including a fourth driving member and a fourth output shaft connected to each other, the fourth output shaft rotating around a seventh axis under the drive of the fourth driving member, the seventh axis being parallel to the second direction; wherein, the fourth driving member is connected to the first forearm support member, and the fourth output shaft is connected to the second forearm support member; or, the fourth driving member is connected to the second forearm support member, and the fourth output shaft is connected to the first forearm support member.

[0012] In some embodiments, the robotic arm further includes: a fourth driving assembly configured to provide a first rotational force; a fifth driving assembly configured to provide a second rotational force; a first bevel gear connected to the fourth driving assembly and rotating around an eighth axis under the drive of the first rotational force; a second bevel gear disposed opposite to the first bevel gear and connected to the fifth driving assembly and rotating around the eighth axis under the drive of the second rotational force; a support assembly rotatably connected to the fourth driving assembly around the eighth axis; a third bevel gear meshing with the first bevel gear and meshing with the second bevel gear, and capable of rotating around a ninth axis and / or rotating around the eighth axis under the drive of the first bevel gear and the second bevel gear; a fifth output shaft coaxially disposed with the third bevel gear and rotatably connected to the support assembly around the ninth axis, the fifth output shaft being connected to the upper arm assembly; an elastic connection assembly having elasticity in a direction parallel to the ninth axis, connecting the third bevel gear and the fifth output shaft, and enabling the third bevel gear to move in a direction parallel to the ninth axis, so as to dynamically adjust the gap between the third bevel gear and the first bevel gear and the second bevel gear.

[0013] In some embodiments, the third bevel gear has at least one first through-hole, the extending direction of the first through-hole is parallel to the extending direction of the ninth axis, and penetrates through the first end face and the second end face of the third bevel gear. The first end face of the third bevel gear is the end face of the third bevel gear close to the eighth axis; the elastic connection assembly includes: a connecting member, the first end of the connecting member is located on one side of the third bevel gear close to the first end face of the third bevel gear, the second end of the connecting member passes through the first through-hole and is connected to the fifth output shaft, and the third bevel gear can slide relative to the connecting member along a direction parallel to the ninth axis; an elastic member, disposed between the support assembly and the first end face of the third bevel gear, and configured to provide a pressing force to the first end face of the third bevel gear.

[0014] In a second aspect, an embodiment of the present application provides a robot, including: a torso structure; at least one robotic arm according to the first aspect, connected to the torso structure.

[0015] A robotic arm provided by an embodiment of the present application includes a large arm assembly, a first driving assembly, a driving bevel gear, a driven bevel gear, a small arm assembly, two linear driving assemblies, a first connection assembly, and a second connection assembly. The first driving assembly is used to drive the driving bevel gear to rotate, the driving bevel gear then drives the driven bevel gear to rotate, and then the driven bevel gear drives the small arm assembly to rotate around the second axis, realizing the rotational degree of freedom of the small arm assembly. The meshing transmission of the driving bevel gear and the driven bevel gear changes the transmission direction of the rotational force of the first driving assembly, making the extending direction of the first output shaft of the first driving assembly the same as the extending direction of the large arm assembly, avoiding the first driving assembly protruding from the robotic arm, making the appearance of the robotic arm closer to that of a human arm, and improving the anthropomorphism of the robotic arm. The two linear driving assemblies are used to drive the second connection assembly to rotate around the fourth axis and the third axis, realizing two degrees of freedom of the second connection assembly, and the second output shafts of the two linear driving assemblies are the same as the extending direction of the small arm assembly, avoiding the two linear driving assemblies protruding from the robotic arm, making the appearance of the robotic arm closer to that of a human arm, and further improving the anthropomorphism of the robotic arm. In summary, the robotic arm provided by the embodiment of the present application can have at least three degrees of freedom, the extending direction of the first output shaft of the first driving assembly is the same as the extending direction of the large arm assembly, and the second output shafts of the two linear driving assemblies are the same as the extending direction of the small arm assembly, making the appearance of the robotic arm closer to that of a human arm and having good anthropomorphism. Description of the Drawings

[0016] The embodiments of the present application will be described in more detail with reference to the accompanying drawings. The above and other objects, features, and advantages of the present application will become more apparent. The drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation to the present application. In the drawings, the same reference numerals generally represent the same components.

[0017] Figure 1 The following is a schematic structural diagram of a robotic arm provided by an embodiment of the present application.

[0018] Figure 2 The following is a schematic structural diagram of a robotic arm provided by another embodiment of the present application.

[0019] Figure 3 The following is provided by an embodiment of the present application Figure 2 An enlarged view of the robotic arm shown in the A area.

[0020] Figure 4 The following is a schematic structural diagram of a robotic arm provided by another embodiment of the present application.

[0021] Figure 5 The following is provided by an embodiment of the present application Figure 4 An enlarged view of the robotic arm shown in the B area.

[0022] Figure 6 The following is a side view of a robotic arm provided by an embodiment of the present application.

[0023] Figure 7 The following is provided by an embodiment of the present application Figure 6 A schematic cross-sectional view of the robotic arm shown in the C-C direction.

[0024] Figure 8 The following is provided by an embodiment of the present application Figure 7 An enlarged partial view of the robotic arm shown in the E area.

[0025] Figure 9 The following is provided by an embodiment of the present application Figure 6 A schematic cross-sectional view of the robotic arm shown in the D-D direction.

[0026] Figure 10 The following is provided by another embodiment of the present application Figure 6 A schematic cross-sectional view of the robotic arm shown in the D-D direction.

[0027] Figure 11 The following is a schematic structural diagram of a robot provided by an embodiment of the present application.

[0028] Reference numerals:

[0029] 1. Robot; 10. Robotic arm; 100. Upper arm assembly; 110. First upper arm support; 111. First housing; 120. Second upper arm support; 121. Second housing; 130. Second drive assembly; 131. Third drive; 132. Third output shaft; 200. First drive assembly; 210. First drive; 220. First output shaft; 300. Driving bevel gear; 400. Driven bevel gear; 500. Forearm assembly; 510. First forearm support; 520. Second forearm support; 530. Third drive assembly; 531. Fourth drive; 532. Fourth output shaft; 600. Linear drive assembly; 610. Second drive; 611. Spline hole; 620. Second output shaft; 621. Spline shaft; 700. First connection assembly; 800. Second connection assembly; 850. Ball eye bearing; 900. Shoulder structure; 910. Fourth drive assembly; 920. Fifth drive assembly; 930. First bevel gear; 940. Second bevel gear; 950. Support assembly; 951. Gearbox housing; 9513. Threaded part; 952. Output base bracket; 960. Third bevel gear; 961. First through hole; 962. First end face of the third bevel gear; 963. Second end face of the third bevel gear; 970. Fifth output shaft; 980. Elastic connection assembly; 981. Connector; 9811. First end of the connector; 9812. Second end of the connector; 982. Elastic member; 991. Compression member; 992. Clearance adjusting compression piece; 993. Connecting shaft; 994. Auxiliary bevel gear; 9941. First end face of the auxiliary bevel gear; 9942. Second end face of the auxiliary bevel gear; 20. Trunk structure; X1. First direction; X2. Second direction; L1. First axis; L2. Second axis; L3. Third axis; L4. Fourth axis; L5. Fifth axis; L6. Sixth axis; L7. Seventh axis; L8. Eighth axis; L9. Ninth axis. Detailed implementation manners

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0031] Figure 1 The figure shows a schematic structural diagram of a robotic arm provided by an embodiment of the present application. Figure 2 The figure shows a schematic structural diagram of a robotic arm provided by another embodiment of the present application. Figure 3 Shown in the present application is an embodiment Figure 2 An enlarged view of the robotic arm shown in the A area. Figure 4The figure shows a schematic structural diagram of a robotic arm provided by another embodiment of the present application. Figure 5 The figure shows one provided by an embodiment of the present application Figure 4 An enlarged view of the robotic arm shown in the B area. Figure 6 The figure shows a side view of the robotic arm provided by an embodiment of the present application. Figure 7 The figure shows one provided by an embodiment of the present application Figure 6 A schematic cross-sectional view of the robotic arm shown in the C-C direction. Figure 8 The figure shows one provided by an embodiment of the present application Figure 7 A partial enlarged view of the robotic arm shown in the E area. As Figures 1 to 8 As shown, the robotic arm 10 includes a large arm assembly 100, a first drive assembly 200, a driving bevel gear 300, a driven bevel gear 400, a small arm assembly 500, two linear drive assemblies 600, a first connection assembly 700, and a second connection assembly 800.

[0032] The large arm assembly 100 extends along the first direction X1. Exemplarily, the shape of the large arm assembly 100 can be columnar or similar to the shape of a human large arm. The large arm assembly 100 can include only one part or a combination of multiple parts.

[0033] The first drive assembly 200 includes a first drive member 210 and a first output shaft 220 connected to each other. The first drive member 210 is connected to the large arm assembly 100. The first output shaft 220 rotates around its own axis under the drive of the first drive member 210, and the first output shaft 220 extends along the first direction X1. Exemplarily, the first drive assembly 200 can be a motor, the first drive member 210 can be the drive part of the motor, and the first output shaft 220 can be the output shaft of the motor. Exemplarily, the first drive assembly 200 can be a servo motor. Exemplarily, the first drive assembly 200 can also be a rotary cylinder, the first drive member 210 can be the cylinder part of the rotary cylinder, and the first output shaft 220 can be the output shaft of the rotary cylinder.

[0034] The driving bevel gear 300 is coaxially connected to the first output shaft 220 and rotates around the first axis L1 under the drive of the first output shaft 220. The first axis L1 extends along the first direction X1. The driven bevel gear 400 is rotatably connected to the large arm assembly 100 around the second axis L2 and meshes with the driving bevel gear 300, and rotates around the second axis L2 under the drive of the driving bevel gear 300. The second axis L2 is perpendicular to the first axis L1.

[0035] The relative rotation between the various components of the present application can be achieved through hinging or other structures, as long as it can achieve rotation around the corresponding axis. The present application does not limit the specific rotation method. Exemplarily, both of the two components with relative rotation can be provided with shaft holes, and then a movable shaft is inserted into the respective shaft holes of the two components with relative rotation, thereby realizing the relative rotation of the two components. Exemplarily, bearings can also be provided between the movable shaft and these two components to improve the flexibility of rotation.

[0036] The small arm assembly 500 is connected to the driven bevel gear 400 and can rotate around the second axis L2 with the driven bevel gear 400. Exemplarily, the shape of the small arm assembly 500 can be cylindrical or similar to the shape of a human small arm. The small arm assembly 500 can include only one part or a combination of multiple parts.

[0037] Two linear drive assemblies 600, the linear drive assembly 600 includes a second drive member 610 and a second output shaft 620 connected to each other. The second drive member 610 is rotatably connected to the small arm assembly 500 around the third axis L3. The second output shaft 620 rotates self-driven under the drive of the second drive member 610. The third axis L3 is parallel to the second axis L2. The extending direction of the second output shaft 620 is perpendicular to the third axis L3. Exemplarily, the linear drive assembly 600 can be a linear motor, the second drive member 610 can be the drive part of the linear motor, and the second output shaft 620 can be the output shaft of the linear motor. Exemplarily, the linear drive assembly 600 can also be a linear module, a cylinder, etc.

[0038] The first connection assembly 700 is rotatably connected to the small arm assembly 500 around the fourth axis L4. The fourth axis L4 is perpendicular to the third axis L3 and perpendicular to the first axis L1. Exemplarily, the first connection assembly 700 can be a special-shaped part or a T-shaped structure. The second connection assembly 800 is rotatably connected to the first connection assembly 700 around the fifth axis L5 and is rotatably connected to the second output shaft 620 in multiple directions. The fifth axis L5 is parallel to the third axis L3. Exemplarily, the second connection assembly 800 can be a special-shaped part or a block structure.

[0039] Exemplarily, the second connection assembly 800 can be connected to an execution end such as a dexterous hand, a gripper, a suction cup, etc.

[0040] The first drive assembly 200 is used to drive the driving bevel gear 300 to rotate, the driving bevel gear 300 then drives the driven bevel gear 400 to rotate, and then the driven bevel gear 400 drives the small arm assembly 500 to rotate around the second axis L2, realizing the rotational freedom degree of the small arm assembly 500.

[0041] If the small arm assembly 500 is directly rotated by the motor, the extending direction of the output shaft of the motor needs to be the same as the extending direction of the second axis L2, and the motor will extend from the elbow of the robotic arm 10 along the extending direction of the second axis L2, resulting in a large difference in the shape between the robotic arm and a human arm. However, in this application, the meshing transmission of the driving bevel gear 300 and the driven bevel gear 400 is used to change the transmission direction of the rotational force of the first driving assembly 200, so that the extending direction of the first output shaft 220 of the first driving assembly 200 is the same as the extending direction of the large arm assembly 100, avoiding the first driving assembly 200 protruding from the robotic arm 10, making the shape of the robotic arm 10 closer to that of a human arm, and improving the anthropomorphism of the robotic arm 10.

[0042] By using two linear driving assemblies 600 to drive the second connecting assembly 800 to rotate around the fourth axis L4 and the third axis L3, two degrees of freedom of the second connecting assembly 800 are achieved, and the second output shafts 620 of the two linear driving assemblies 600 are in the same extending direction as the small arm assembly 500, avoiding the two linear driving assemblies 600 protruding from the robotic arm 10, making the shape of the robotic arm 10 closer to that of a human arm, and further improving the anthropomorphism of the robotic arm 10.

[0043] In summary, the robotic arm 10 provided by the embodiment of this application can have at least three degrees of freedom, and the extending direction of the first output shaft 220 of the first driving assembly 200 is the same as the extending direction of the large arm assembly 100, and the second output shafts 620 of the two linear driving assemblies 600 are in the same extending direction as the small arm assembly 500, making the shape of the robotic arm 10 closer to that of a human arm and having good anthropomorphism.

[0044] In addition, the parallel driving mode of the two linear driving assemblies 600 can use linear driving assemblies 600 with smaller sizes to achieve larger output power. In addition, the deceleration effect can be achieved by setting the reduction ratio of the driving bevel gear 300 and the driven bevel gear 400.

[0045] In some embodiments, the two linear driving assemblies 600 are arranged side by side in a direction perpendicular to the extending direction of the small arm assembly 500. When the extending length of the second output shaft 620 of one linear driving assembly 600 remains unchanged, as the second output shaft 620 of the other linear driving assembly 600 extends or retracts, the first connecting assembly 700 rotates around the fourth axis L4 to achieve the left - right swing of the first connecting assembly 700 and the second connecting assembly 800.

[0046] When the extending lengths of the second output shafts 620 of the two linear driving assemblies 600 are the same, as the second output shafts 620 of the two linear driving assemblies 600 extend or retract, the second connecting assembly 800 rotates around the fifth axis L5 to achieve the pitching of the second connecting assembly 800.

[0047] As the second output shafts 620 of the two linear drive assemblies 600 extend or retract simultaneously at different speeds, the second connection assembly 800 rotates simultaneously about the fourth axis L4 and about the fifth axis L5 to achieve the upper left swing, lower left swing, upper right swing, or lower right swing of the second connection assembly 800.

[0048] By arranging the two linear drive assemblies 600 side by side in a direction perpendicular to the extension direction of the forearm assembly 500 and using the timing and speed of the telescoping of the two linear drive assemblies 600, different motion effects of the second connection assembly 800 are achieved.

[0049] In some embodiments, the second driving member 610 has a spline hole 611. The second output shaft 620 includes a spline shaft 621. The spline shaft 621 is slidably connected to the spline hole 611 and telescopes along the extension direction of the spline shaft 621 under the drive of the second driving member 610, thereby using the spline shaft 621 for guiding to prevent the second output shaft 620 from rotating and improving the driving accuracy of the linear drive assembly 600.

[0050] Exemplarily, the spline shaft 621 may have a spline structure throughout the entire shaft or may have a spline structure in part of the shaft and a smooth shaft in part of the shaft.

[0051] In some embodiments, the robotic arm 10 further includes a spherical bearing 850. The inner ring of the spherical bearing 850 is connected to the second connection assembly 800, and the outer ring of the spherical bearing 850 is connected to the second output shaft 620 to achieve a multi-directional rotatable connection between the second connection assembly 800 and the second output shaft 620, with a simple and reliable structure and small size.

[0052] Exemplarily, the spherical bearing 850 is a two-way bearing composed of a central sphere and two annular tracks. The structure of the spherical bearing 850 mainly includes two inner and outer steel rings, a sphere, and a cage. The working principle of the spherical bearing 850 is spherical rolling, that is, the sphere between the two bearing rings distributes the load on the contact surface between the ball and the ring, thereby reducing friction and resistance and achieving precise and smooth rotation. Exemplarily, the robotic arm 10 may further include multiple groups of one-way bearings to achieve a multi-directional rotatable connection between the second connection assembly 800 and the second output shaft 620.

[0053] In some embodiments, the boom assembly 100 includes a first boom support member 110, a second boom support member 120, and a second drive assembly 130. The first boom support member 110 extends along a first direction X1. The second boom support member 120 extends along the first direction X1 and is disposed adjacent to the first boom support member 110 along the first direction X1. The second drive assembly 130 includes a third drive member 131 and a third output shaft 132 that are connected to each other. The third output shaft 132 rotates about a sixth axis L6 under the drive of the third drive member 131. The sixth axis L6 is parallel to the first direction X1.

[0054] Exemplarily, the third drive member 131 is connected to the first boom support member 110, and the third output shaft 132 is connected to the second boom support member 120. Exemplarily, the third drive member 131 is connected to the second boom support member 120, and the third output shaft 132 is connected to the first boom support member 110.

[0055] The rotation of the first boom support member 110 and the second boom support member 120 about the sixth axis L6 is achieved by using the second drive assembly 130, that is, the rotational degree of freedom of the boom assembly 100 is achieved.

[0056] Exemplarily, the first boom support member 110 can be a columnar structure or a housing. The second boom support member 120 can be a columnar structure or a housing. Exemplarily, the second drive assembly 130 can be a motor, the third drive member 131 can be the drive part of the motor, and the third output shaft 132 can be the output shaft of the motor. Exemplarily, the second drive assembly 130 can be a servo motor. Exemplarily, the second drive assembly 130 can also be a rotary electric cylinder, the third drive member 131 can be the cylinder part of the rotary electric cylinder, and the third output shaft 132 can be the output shaft of the rotary electric cylinder.

[0057] In some embodiments, the first boom support member 110 includes a first housing 111, and the second boom support member 120 includes a second housing 121. When the third drive member 131 is connected to the first boom support member 110, the third drive member 131 is disposed in the first housing 111 and connected to the first housing 111, and the third output shaft 132 is connected to the second housing 121. When the third drive member 131 is connected to the second boom support member 120, the third drive member 131 is disposed in the second housing 121 and connected to the second housing 121, and the third output shaft 132 is connected to the first housing 111.

[0058] Supported by the first housing 111 and the second housing 121, and the second driving component 130 is arranged in the first housing 111 or the second housing 121, making the shape of the large arm component 100 closer to that of a human arm, further improving the anthropomorphism of the robotic arm 10. In addition, arranging the second driving component 130 in the first housing 111 or the second housing 121 can also protect the second driving component 130.

[0059] In addition, the robotic arm 10 further includes a shoulder structure 900. The shoulder structure 900 can be connected to the torso structure of the robot and is connected to the large arm component 100. Arranging the second driving component 130 in the first housing 111 or the second housing 121 can make the center of gravity of the second driving component 130 closer to the shoulder structure 900, improving the stability of the robotic arm 10.

[0060] In some embodiments, the forearm component 500 includes a first forearm support 510, a second forearm support 520, and a third driving component 530. The first forearm support 510 extends along the second direction X2 and is connected to the driven bevel gear 400, and can rotate around the second axis L2 with the driven bevel gear 400. The second forearm support 520 extends along the second direction X2 and is arranged adjacent to the first forearm support 510 along the second direction X2. The third driving component 530 includes a fourth driving member 531 and a fourth output shaft 532 that are connected to each other. The fourth output shaft 532 rotates around the seventh axis L7 under the drive of the fourth driving member 531. The seventh axis L7 is parallel to the second direction X2.

[0061] Exemplarily, the fourth driving member 531 is connected to the first forearm support 510, and the fourth output shaft 532 is connected to the second forearm support 520. Exemplarily, the fourth driving member 531 is connected to the second forearm support 520, and the fourth output shaft 532 is connected to the first forearm support 510.

[0062] The third driving component 530 is used to realize the rotation of the first forearm support 510 and the second forearm support 520 around the seventh axis L7, that is, to realize the rotational degree of freedom of the forearm component 500.

[0063] Exemplarily, the first forearm support 510 can be a columnar structure or a housing. The second forearm support 520 can be a columnar structure or a housing. Exemplarily, the third driving component 530 can be a motor, the fourth driving member 531 can be the driving part of the motor, and the fourth output shaft 532 can be the output shaft of the motor. Exemplarily, the third driving component 530 can be a servo motor. Exemplarily, the third driving component 530 can also be a rotary cylinder, the fourth driving member 531 can be the cylinder part of the rotary cylinder, and the fourth output shaft 532 can be the output shaft of the rotary cylinder.

[0064] Figure 9 As shown in the figure, it is provided by one embodiment of the present application Figure 6 A schematic cross-sectional view of the shown robotic arm in the D-D direction.

[0065] Figure 10 As shown in the figure, it is provided by another embodiment of the present application Figure 6 A schematic cross-sectional view of the shown robotic arm in the D-D direction. In some embodiments, as Figure 9 and Figure 10 shown, the robotic arm 10 further includes a shoulder structure 900. The shoulder structure 900 includes a fourth drive assembly 910, a fifth drive assembly 920, a first bevel gear 930, a second bevel gear 940, a support assembly 950, a third bevel gear 960, a fifth output shaft 970, and an elastic connection assembly 980.

[0066] The fourth drive assembly 910 is configured to provide a first rotational force. The fifth drive assembly 920 is configured to provide a second rotational force. The fourth drive assembly 910 can be a motor or a combination of a motor and a speed reducer. Exemplarily, the fourth drive assembly 910 can also be a rotary cylinder. The specific structure of the fourth drive assembly 910 can be selected according to actual needs as long as it can provide a rotational driving force. Exemplarily, the fifth drive assembly 920 can be a motor or a combination of a motor and a speed reducer. Exemplarily, the fifth drive assembly 920 can also be a rotary cylinder. The specific structure of the fifth drive assembly 920 can be selected according to actual needs as long as it can provide a rotational driving force.

[0067] The first bevel gear 930 is connected to the fourth drive assembly 910 and rotates around the eighth axis L8 under the drive of the first rotational force. Exemplarily, the first bevel gear 930 can be key-connected to the output shaft of the fourth drive assembly 910. The second bevel gear 940 is disposed opposite to the first bevel gear 930 and is connected to the fifth drive assembly 920 and rotates around the eighth axis L8 under the drive of the second rotational force. Exemplarily, the second bevel gear 940 can be key-connected to the output shaft of the fifth drive assembly 920. In other words, the first bevel gear 930 and the second bevel gear 940 are coaxially arranged and rotate around the same axis.

[0068] The support assembly 950 is rotatably connected to the fourth drive assembly 910 around the eighth axis L8. Exemplarily, the support assembly 950 can be a housing, which can not only play a supporting role but also protect the first bevel gear 930 and the second bevel gear 940. Exemplarily, the support assembly 950 can also be structures such as a bracket or a frame, as long as it can play a supporting role. The present application does not specifically limit the structure of the support assembly 950.

[0069] The third bevel gear 960 meshes with the first bevel gear 930 and also meshes with the second bevel gear 940, and can rotate about the ninth axis L9 and / or rotate about the eighth axis L8 under the drive of the first bevel gear 930 and the second bevel gear 940.

[0070] In some embodiments, under the respective drives of the fourth drive assembly 910 and the fifth drive assembly 920, the first bevel gear 930 and the second bevel gear 940 rotate in the same direction, so that the first bevel gear 930 and the second bevel gear 940 drive the third bevel gear 960 to rotate about the ninth axis L9. For example, both the first bevel gear 930 and the second bevel gear 940 rotate clockwise or both rotate counterclockwise.

[0071] In some embodiments, under the respective drives of the fourth drive assembly 910 and the fifth drive assembly 920, the first bevel gear 930 and the second bevel gear 940 rotate in opposite directions, so that the first bevel gear 930 and the second bevel gear 940 drive the third bevel gear 960 to rotate about the eighth axis L8. For example, the first bevel gear 930 rotates clockwise and the second bevel gear 940 rotates counterclockwise. For example, the first bevel gear 930 rotates counterclockwise and the second bevel gear 940 rotates clockwise.

[0072] In some embodiments, the first bevel gear 930 does not rotate, and the second bevel gear 940 rotates under the drive of the fifth drive assembly 920, so that the second bevel gear 940 drives the third bevel gear 960 to rotate about the ninth axis L9 and rotate about the eighth axis L8. For example, the first bevel gear 930 does not rotate, and the second bevel gear 940 rotates clockwise or counterclockwise.

[0073] In some embodiments, the second bevel gear 940 does not rotate, and the first bevel gear 930 rotates under the drive of the fourth drive assembly 910, so that the first bevel gear 930 drives the third bevel gear 960 to rotate about the ninth axis L9 and rotate about the eighth axis L8. For example, the second bevel gear 940 does not rotate, and the first bevel gear 930 rotates clockwise or counterclockwise.

[0074] The fifth output shaft 970 is coaxially arranged with the third bevel gear 960 and is rotatably connected to the support assembly 950 about the ninth axis L9. The fifth output shaft 970 is connected to the boom assembly 100. Exemplarily, a first bearing may be provided between the fifth output shaft 970 and the support assembly 950, that is, the inner ring of the first bearing is sleeved on the fifth output shaft 970, and the outer ring of the first bearing contacts the support assembly 950.

[0075] The elastic connection component 980 has elasticity in a direction parallel to the ninth axis L9. Exemplarily, the elastic connection component 510 can be a telescopic rod. The third bevel gear 960 is connected to the fifth output shaft 970, enabling the third bevel gear 960 to move in a direction parallel to the ninth axis L9, so as to dynamically adjust the clearance between the third bevel gear 960 and the first bevel gear 930 and the second bevel gear 940, improving the transmission accuracy of the shoulder structure 900 and thus improving the transmission accuracy of the robotic arm 10.

[0076] In some embodiments, the third bevel gear 960 has at least one first through hole 961, the extending direction of the first through hole 961 is parallel to the extending direction of the ninth axis L9, and it penetrates through the first end face 962 and the second end face 963 of the third bevel gear. The first end face 962 of the third bevel gear is the end face of the third bevel gear 960 close to the eighth axis L8.

[0077] The elastic connection component 980 includes a connecting member 981 and an elastic member 982. The first end 9811 of the connecting member is located on one side of the third bevel gear 960 close to the first end face 962 of the third bevel gear, and the second end 9812 of the connecting member passes through the first through hole 961 and is connected to the fifth output shaft 970. The third bevel gear 960 can slide relative to the connecting member 981 in a direction parallel to the ninth axis L9.

[0078] Exemplarily, the connecting member 981 can be parts such as bolts and screws, or other parts with a screw rod and a nut. Exemplarily, the third bevel gear 960 can slide along the extending direction of the connecting member 981. In other words, the connecting member 981 can also have a guiding function. The elastic member 982 can be elastic parts such as springs and rubber pads.

[0079] Exemplarily, the elastic member 982 is arranged between the support component 950 and the first end face 962 of the third bevel gear, and is configured to provide a pressing force to the first end face 962 of the third bevel gear.

[0080] Exemplarily, the elastic member 982 can also be arranged between the first end 9811 of the connecting member and the first end face 962 of the third bevel gear, and is configured to provide a pressing force to the first end face 962 of the third bevel gear.

[0081] The third bevel gear 960 and the fifth output shaft 970 are connected by a connecting member 981, achieving a rigid connection between the third bevel gear 960 and the fifth output shaft 970 in the torsional direction. By providing an elastic member 982, elastic contact between the third bevel gear 960 and the fifth output shaft 970 is achieved in a direction parallel to the ninth axis L9, so as to dynamically adjust the gap between the third bevel gear 960 and the first bevel gear 930 and the second bevel gear 940. This structure is simple and reliable, and convenient for maintenance. In addition, the shoulder structure 900 can be fixedly connected to the torso structure of the robot, reducing the weight of the moving part of the robotic arm 10.

[0082] In some embodiments, the shoulder structure 900 further includes a connecting shaft 993 and an auxiliary bevel gear 994.

[0083] The connecting shaft 993 is rotatably connected to the support assembly 950 about the ninth axis L9. The connecting shaft 993 is disposed between the first bevel gear 930 and the second bevel gear 940. The third bevel gear 960 is sleeved on the connecting shaft 993 and can slide relative to the connecting shaft 993 along the ninth axis L9. Exemplarily, a second bearing is provided between the auxiliary bevel gear 994 and the connecting shaft 993, that is, the inner ring of the second bearing is sleeved on the connecting shaft 993, and the outer ring of the second bearing contacts the auxiliary bevel gear 994.

[0084] The auxiliary bevel gear 994 is sleeved on the connecting shaft 993. The auxiliary bevel gear 994 meshes with the first bevel gear 930 and also meshes with the second bevel gear 940. The auxiliary bevel gear 994 is disposed opposite to the third bevel gear 960. The first end face 9941 of the auxiliary bevel gear is close to the first end face 962 of the third bevel gear. The second end face 9942 of the auxiliary bevel gear abuts against the support assembly 950. The first end of the elastic member 982 abuts against the support assembly 950 through the auxiliary bevel gear 994, and the second end of the elastic member 982 abuts against the first end face 962 of the third bevel gear.

[0085] By providing the auxiliary bevel gear 994, the support for the first bevel gear 930 and the second bevel gear 940 is achieved, facilitating the more stable rotation of the first bevel gear 930 and the second bevel gear 940, thereby further improving the transmission accuracy of the shoulder structure 900.

[0086] In some embodiments, the support assembly 950 includes a gearbox housing 951 and an output base bracket 952. The first bevel gear 930, the second bevel gear 940 and the third bevel gear 960 are disposed in the accommodation space formed by the gearbox housing 951 and the output base bracket 952. The gearbox housing 951 is rotatably connected to the fourth drive assembly 910 about the eighth axis L8 and is rotatably connected to the fifth drive assembly 920 about the ninth axis L9.

[0087] The output base bracket 952 is detachably connected to the gearbox housing 951. The fifth output shaft 970 is rotatably connected to the output base bracket 952 about the ninth axis L9, and the fifth output shaft 970 passes through the output base bracket 952. By making the support assembly 950 include the gearbox housing 951 and the output base bracket 952, it is convenient for the installation, disassembly and maintenance of the support assembly 950.

[0088] In some embodiments, the gearbox housing 951 has a threaded portion 9513. The shoulder structure 900 further includes a clearance adjusting pressing piece 992 and a pressing member 991. The clearance adjusting pressing piece 992 is disposed between the auxiliary bevel gear 994 and the gearbox housing 951. The pressing member 991 is screwed to the threaded portion 9513 of the gearbox housing 951 and presses the auxiliary bevel gear 994.

[0089] After the pressing member 991 applies pressure to the auxiliary bevel gear 994, the auxiliary bevel gear 994 transmits the pressure to the elastic member 982, so that the elastic member 982 applies the pressure to the third bevel gear 960.

[0090] In practical applications, the pre-tightening force of the elastic member 982 can be determined by detecting the pressing force of the pressing member 991, so as to adjust the clearance between the third bevel gear 960 and the first bevel gear 930 and the second bevel gear 940 to a suitable size, further improving the transmission accuracy of the shoulder structure 900.

[0091] The embodiment of the present application also provides a robot. Figure 11 The following is a schematic structural diagram of a robot provided by an embodiment of the present application. As Figure 11 shown, the robot 1 includes a torso structure 20 and at least one robotic arm 10 mentioned in the above embodiments. The robotic arm 10 is connected to the torso structure 20.

[0092] Since the robot 1 includes the robotic arm 10 mentioned in the above embodiments, the robot 1 has all the technical features and technical effects of the robotic arm 10, which will not be elaborated here.

[0093] In the embodiments of the present application, if the form of connection is not clearly defined, the form of connection can be a detachable connection form such as bolt nut, screw, buckle, magnetic attraction, etc. In some connections, if there is no special requirement for the form of non-detachable fit, non-detachable connection can be carried out by welding, bonding, etc.

[0094] As used in the specification, phrases such as "an embodiment" and "embodiments" mean that the described embodiments may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes the specific feature, structure, or characteristic. Moreover, such phrases do not necessarily refer to the same embodiment. Additionally, when a specific feature, structure, or characteristic is described in connection with an embodiment, it is within the knowledge of those skilled in the art to implement such feature, structure, or characteristic in connection with other embodiments, whether explicitly or implicitly described.

[0095] It should be understood that the terms "on", "above", and "over" in this disclosure should be interpreted in the broadest manner such that "on" not only means "directly on something", but also includes the meaning of "on something" with intermediate features or layers therebetween, and "above" or "over" not only includes the meaning of "above" or "over something", but may also include the meaning of "above" or "over something" with no intermediate features or layers therebetween (i.e., directly on something).

[0096] In addition, for ease of description, spatial relative terms may be used in this document, such as "below", "beneath", "under", "above", "over", etc., to describe the relationship of one component or feature to another as shown in the figures. Spatial relative terms are intended to encompass different orientations of the components in use or operation in addition to the orientation shown in the figures. The device may have other orientations (rotated 90 degrees or at other orientations), and the spatial relative descriptive terms used herein may be interpreted accordingly.

[0097] It should be noted that, in this document, the term "comprise", "include", or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a series of elements includes not only those elements but also other elements not expressly listed, or elements that are inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0098] The foregoing are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present application shall be included within the protection scope of the present application.

Claims

1. A robotic arm, characterized in that: include: A big arm assembly extending along a first direction; A first driving assembly, the first driving assembly comprising a first driving member and a first output shaft connected to each other, the first driving member being connected to the arm assembly, the first output shaft rotating under the driving of the first driving member, and the first output shaft extending along the first direction; An active bevel gear, coaxially connected to the first output shaft, and driven by the first output shaft to rotate around a first axis, wherein the first axis extends along the first direction; A driven bevel gear is rotatably connected to the boom assembly around a second axis and meshes with the driving bevel gear. The driven bevel gear rotates around the second axis driven by the driving bevel gear, and the second axis is perpendicular to the first axis. A small arm assembly connected to the driven bevel gear and capable of rotating around the second axis along with the driven bevel gear; Two linear drive assemblies, the linear drive assemblies comprising a second drive member and a second output shaft connected to each other, the second drive member being rotatably connected to the arm assembly around a third axis, the second output shaft rotating under the driving of the second drive member, the third axis being parallel to the second axis, and the extension direction of the second output shaft being perpendicular to the third axis; A first connecting assembly, rotatably connected to the forearm assembly about a fourth axis, wherein the fourth axis is perpendicular to the third axis and perpendicular to the first axis; The second connecting component is rotatably connected to the first connecting component around a fifth axis and is rotatably connected to the second output shaft in multiple directions. The fifth axis is parallel to the third axis.

2. The robotic arm according to claim 1, characterized in that: The two linear drive assemblies are arranged side by side in a direction perpendicular to the extension direction of the small arm assembly; Wherein, when the extension length of the second output shaft of one of the linear drive components remains unchanged, as the second output shaft of the other linear drive component is extended or retracted, the first connecting component rotates around the fourth axis to achieve left-right swinging of the first connecting component and the second connecting component; Wherein, when the extension lengths of the second output shafts of the two linear drive assemblies are the same, as the second output shafts of the two linear drive assemblies extend or retract, the second connecting assembly rotates around the fifth axis to achieve the pitch of the second connecting assembly; Among them, as the second output shafts of the two linear drive components are extended or retracted at different speeds at the same time, the second connecting component rotates around the fourth axis and around the fifth axis at the same time to achieve the upper left swing, lower left swing, upper right swing or lower right swing of the second connecting component.

3. The robotic arm according to claim 1 or 2, characterized in that: The second drive member has a spline hole; Wherein, the second output shaft comprises: The spline shaft is slidably connected to the spline hole and is driven by the second driving member to extend and retract along the extending direction of the spline shaft.

4. The robotic arm according to claim 1 or 2, characterized in that: Also includes: A fisheye bearing, wherein the inner ring of the fisheye bearing is connected to the second connecting component, and the outer ring of the fisheye bearing is connected to the second output shaft, so as to realize a multi-directional rotatable connection between the second connecting component and the second output shaft.

5. The robotic arm according to claim 1 or 2, characterized in that: The big arm assembly comprises: A first large arm support member extending along the first direction; A second upper arm support member extending along the first direction and disposed adjacent to the first upper arm support member along the first direction; The second drive assembly includes a third drive member and a third output shaft connected to each other, wherein the third output shaft is The third driving member rotates around a sixth axis under the driving of the third driving member, and the sixth axis is parallel to the first direction; Wherein, the third driving member is connected to the first boom support member, and the third output shaft is connected to the second boom support member; or, the third driving member is connected to the second boom support member, and the third output shaft is connected to the first boom support member.

6. The robotic arm according to claim 5, characterized in that: The first large arm support member includes a first shell, and the second large arm support member includes a second shell; Among them, when the third driving member is connected to the first boom support member, the third driving member is arranged in the first shell and connected to the first shell, and the third output shaft is connected to the second shell; when the third driving member is connected to the second boom support member, the third driving member is arranged in the second shell and connected to the second shell, and the third output shaft is connected to the first shell.

7. The robotic arm according to claim 1 or 2, characterized in that: The small arm assembly comprises: A first small arm support member extending along the second direction, connected to the driven bevel gear, and capable of rotating around the second axis with the driven bevel gear; A second forearm support member extending along the second direction and disposed adjacent to the first forearm support member along the second direction; A third driving assembly, comprising a fourth driving member and a fourth output shaft connected to each other, wherein the fourth output shaft rotates around a seventh axis under the drive of the fourth driving member, and the seventh axis is parallel to the second direction; Wherein, the fourth driving member is connected to the first forearm support member, and the fourth output shaft is connected to the second forearm support member; or, the fourth driving member is connected to the second forearm support member, and the fourth output shaft is connected to the first forearm support member.

8. The robotic arm according to claim 1 or 2, characterized in that: Also includes: a fourth drive assembly configured to provide a first rotational force; a fifth drive assembly configured to provide a second rotational force; a first bevel gear connected to the fourth drive assembly and driven by the first rotational force to rotate around an eighth axis; a second bevel gear, arranged opposite to the first bevel gear and connected to the fifth driving assembly, and rotating around the eighth axis under the driving of the second rotational force; a support assembly, rotatably connected to the fourth drive assembly about the eighth axis; a third bevel gear meshing with the first bevel gear and the second bevel gear, and being driven by the first bevel gear and the second bevel gear to rotate about the ninth axis and / or rotate about the eighth axis; a fifth output shaft, which is coaxially arranged with the third bevel gear and rotatably connected with the support assembly around the ninth axis, and the fifth output shaft is connected with the boom assembly; An elastic connecting component is elastic in a direction parallel to the ninth axis, connecting the third bevel gear and the fifth output shaft, so that the third bevel gear can move in a direction parallel to the ninth axis to dynamically adjust the gap between the third bevel gear and the first bevel gear and the second bevel gear.

9. The robot arm according to claim 8, characterized in that: The third bevel gear has at least one first through hole, the extension direction of the first through hole is parallel to the extension direction of the ninth axis, and passes through the first end face and the second end face of the third bevel gear, and the first end face of the third bevel gear is the end face of the third bevel gear close to the eighth axis; The elastic connection assembly comprises: a connecting member, wherein the first end of the connecting member is located at a side of the third bevel gear close to the first end surface of the third bevel gear, the second end of the connecting member passes through the first through hole and is connected to the fifth output shaft, and the third bevel gear can slide relative to the connecting member in a direction parallel to the ninth axis; The elastic member is disposed between the support assembly and the first end surface of the third bevel gear, and is configured to provide a pressing force to the first end surface of the third bevel gear.

10. A robot, characterized in that: include: Trunk structure; At least one robotic arm according to any one of claims 1 to 9, connected to the torso structure.

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