Modularized mechanical arm for film and television shooting

Abstract

The modularized mechanical arm for film and television shooting comprises a plurality of shaft joints, the shaft joints comprise movable joints and static joints, the movable joints can output rotary motion, and at least two shaft joints with different torques and / or rotating speeds exist in the shaft joints; a plurality of extension arms, wherein at least two extension arms with different lengths exist in the plurality of extension arms; wherein the shaft joint and the shaft joint or the extension arm are detachably assembled to form a mechanical arm, and a camera can be assembled at the tail end of the mechanical arm; the shaft joints and the assembly interfaces of the shaft joints or the extension arms are unified, and the shaft joints and the extension arms can be assembled at different positions of the mechanical arm. In this way, all parts of the mechanical arm can be rapidly disassembled, assembled and exchanged, and the defects that a traditional film and television mechanical arm is complex in structure, inconvenient to transport and high in maintenance cost are overcome. And diversified requirements in different shooting scenes are met.

Description

Technical Field

[0001] This application relates to the field of filming equipment, and in particular to a modular robotic arm for film and television shooting. Background Technology

[0002] Traditional robotic arms and camera cranes used in photography typically consist of multiple fixed components, resulting in complex and bulky structures that hinder transportation and rapid assembly. Furthermore, the lack of interchangeability between components means that damage to any single part often necessitates the replacement of the entire arm, increasing maintenance costs and downtime. In addition, traditional robotic arms are limited in terms of functional expansion and adaptability, failing to meet the diverse, efficient, and flexible requirements of modern film and television production. One type of robotic arm known to the inventors for filming typically consists of three links, with the shooting angle changed by altering the angles of these links. The photographic path created by this type of arm is constrained by its arm length and swing speed, and the maximum weight the arm can bear is limited by the torque of its motor. Moreover, in special scenarios such as high-altitude operations, the robotic arm needs to be folded and disassembled for transportation and carrying, which presents significant challenges for existing robotic arms in on-site folding and disassembly. In summary, existing robotic arms in the field of photography suffer from structural complexity, high cost, and difficulty in portability. Utility Model Content

[0003] This application is made in view of the aforementioned state of the prior art. The purpose of this application is to provide a modular robotic arm for film and television shooting.

[0004] The technical solution adopted in this application includes: a plurality of shaft joints, wherein the shaft joints include movable joints and stationary joints, the movable joints being capable of outputting rotational motion, and at least two of the plurality of shaft joints having unequal torques and / or rotational speeds; a plurality of extension arms, wherein at least two of the plurality of extension arms have unequal lengths; wherein the shaft joints are detachably assembled with the shaft joints or the extension arms to form a robotic arm, and a camera can be mounted at the end of the robotic arm; the assembly interface of the shaft joints and the shaft joints or the extension arms is unified, and the shaft joints and the extension arms can be assembled at different positions of the robotic arm.

[0005] As a further improvement of this application, the robotic arm is a six-axis robotic arm; the robotic arm also includes a gimbal, and the robotic arm can be assembled with the camera via the gimbal.

[0006] As a further improvement of this application, the robotic arm is signal-connected to a control module, which integrates a remote controller and a display screen. The control module is used to remotely control the mechanical movements of the robotic arm.

[0007] As a further improvement of this application, the axis joint includes a first axis joint, a second axis joint, a third axis joint, a fourth axis joint, a fifth axis joint, and a sixth axis joint, and the extension arm includes a first extension arm and a second extension arm; from the root to the end of the robotic arm, one assembly method of the robotic arm is to sequentially connect the first axis joint, the second axis joint, the first extension arm, the third axis joint, the fourth axis joint, the second extension arm, the fifth axis joint, and the sixth axis joint; the lengths of the first extension arm and the second extension arm are not equal, and their positions can be interchanged.

[0008] As a further improvement of this application, the first axis joint, the second axis joint, the third axis joint, and the sixth axis joint are movable joints, and each has a rotary motor inside; the fifth axis joint is a movable joint, and has two rotary motors arranged perpendicularly to each other inside; the fourth axis joint is a static joint, and has no rotary motor inside, and the fourth axis joint is fixed to the connected extension arm and mutually locked to prevent rotational freedom.

[0009] As a further improvement of this application, the shaft joint includes a housing, the housing including a barrel-shaped part and a tubular part that are perpendicularly connected and communicate with each other, the barrel-shaped part having only one shaft end opening, and the tubular part having shaft end openings at both ends, and a rotary motor is located inside the barrel-shaped part of the movable joint.

[0010] As a further improvement of this application, the shaft joint includes a flange that is assembled with the shaft joint or the extension arm, and the flange has a plurality of through holes arranged in a ring.

[0011] As a further improvement of this application, the shaft end opening of the shaft joint and both ends of the extension arm are provided with universal interfaces. The universal interfaces can transmit electrical signals between the shaft joint and the shaft joint or the extension arm, and the universal interfaces can be interlocked with each other.

[0012] As a further improvement of this application, slip rings are provided at the axis of both the shaft joint and the axis of the extension arm, and a contact point is provided at the center of the slip ring, the contact point being the universal interface.

[0013] As a further improvement of this application, the shaft joint at the root of the robotic arm is movably fitted with a base, and a chassis is fixed to the bottom surface of the base. The volume and / or mass of the chassis is greater than the volume and / or mass of the base; the bottom of the chassis can roll into contact with the track via rollers.

[0014] The advantages of the modular robotic arm for film and television shooting described in this application include:

[0015] A modular mechanical jib arm for photography is provided. As a jib arm that can provide complex and precise shooting paths for photography, the modular design allows for quick disassembly and interchange of the various components of the mechanical arm. This improves upon the shortcomings of traditional film and television mechanical arms, such as complex structure, bulkiness, inconvenient transportation, and high maintenance costs, and can meet the diverse needs of different shooting scenarios.

[0016] The flexibility of the robotic arm has been improved. Unlike existing robotic arms where the joints often vary in size and specifications, the standardized assembly interface allows for the placement of joints with different torques and speeds at different positions on the robotic arm, as well as extension arms of varying lengths, according to actual shooting needs. The final robotic arm shape is not static. For example, replacing the extension arm allows for different lengths of the upper and lower arms, resulting in different arm lengths and shooting motion paths without relying on the robotic arm's programming. Similarly, replacing joints with different torques or speeds allows for changes in the torque and speed of a particular joint. Torque variations enable the robotic arm to drive cameras of different weights, while speed variations allow for faster or slower shooting paths. Furthermore, the difficulty of improving and upgrading the robotic arm has been reduced.

[0017] The portability of the robotic arm has also been improved. Compared with the heavy weight and large size of existing integral robotic arms, the robotic arm of this application can be disassembled and packaged separately for each axis joint and extension arm, which can be broken down into parts and facilitate the movement of the robotic arm between different shooting locations.

[0018] The maintainability of the robotic arm has also been optimized. Each joint is independently detachable, and each extension arm is also independently detachable, exposing the joints and extension arms to facilitate maintenance personnel's internal inspection and repair, providing ample operating space. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments, the accompanying drawings of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a perspective view of the first embodiment of the modular robotic arm for film and television shooting of this application;

[0021] Figure 2 This is a perspective view of the first embodiment of the modular robotic arm for film and television shooting of this application;

[0022] Figure 3This is a perspective view of the first embodiment of the modular robotic arm for film and television shooting of this application;

[0023] Figure 4 This is a perspective view of a second embodiment of the modular robotic arm for film and television shooting according to this application;

[0024] Figure 5 This is a perspective view of a single rotary joint of one embodiment of the modular robotic arm for film and television shooting of this application;

[0025] Figure 6 This is a perspective view of a third embodiment of the modular robotic arm for film and television shooting according to this application;

[0026] Figure 7 This is an exploded view of the first embodiment of the modular robotic arm for film and television shooting of this application;

[0027] Figure 8 This is a schematic diagram of the first embodiment of the load-bearing interface of the modular robotic arm for film and television shooting according to this application;

[0028] Figure 9 This is a schematic diagram of the second embodiment of the carrier interface of the modular robotic arm for film and television shooting according to this application;

[0029] Figure 10 This is a structural schematic diagram of the third embodiment of the carrier interface of the modular robotic arm for film and television shooting of this application;

[0030] Figure 11 This is an exploded view of the second embodiment of the modular robotic arm for film shooting of this application;

[0031] Figure 12 yes Figure 11 A magnified view of part A;

[0032] Figure 13 This is an exploded view of the third embodiment of the modular robotic arm for film and television shooting of this application;

[0033] Figure 14 yes Figure 13 A magnified view of section B.

[0034] Explanation of reference numerals in the attached figures

[0035] 1-Rail; 2-Chassis; 21-Anti-collision beam; 3-Base; 4-First axis joint; 5-Second axis joint; 6-First extension arm; 7-Third axis joint; 8-Fourth axis joint; 9-Second extension arm; 10-Fifth axis joint; 11-Sixth axis joint; 12-Gimbal; 13-Camera; b1-Long straight arm; b2-Short straight arm; j1-Single rotary joint; j2-Hollow joint; j3-Double rotary joint; 40-Barrel-shaped part; 41-Tube-shaped part; 42-Shaft end opening; 43-Flange; 431-Through hole; 44-Contact point; 45-Slip ring; 50-Rotary motor; 60-Plum blossom handle bolt; 61-Washer; 62-C-shaped clamp; 63-L-shaped handle bolt; 64-Slot; 65-Rib; 66-Outer protruding angle bracket; 67-Hand-tightening bolt; 68-Tongue; 69-End plate. Detailed Implementation

[0036] Exemplary embodiments of this application are described below with reference to the accompanying drawings. It should be understood that these specific descriptions are for teaching those skilled in the art how to implement this application only, and are not intended to exhaustively describe all possible methods of this application, nor to limit the scope of this application.

[0037] See Figure 1 This application provides a modular robotic arm for film and television shooting. The robotic arm includes: joints and extension arms. Among the joints are movable joints and stationary joints. The movable joints are capable of outputting rotational motion, and at least two of the joints have unequal torques or rotational speeds. Among the extension arms, at least two have unequal lengths. Wherein, for example... Figure 7 The exploded view shown illustrates that the shaft joints can be detachably assembled with each other and with the extension arm, ultimately forming a robotic arm. A camera 13 can be mounted at the end of the robotic arm. The assembly interfaces between the shaft joints and the extension arm are standardized; for example, the inner dimensions or outer dimensions of the shaft joints and extension arms are consistent. A specific shaft joint or extension arm can be assembled at different positions on the robotic arm according to actual needs.

[0038] In one embodiment, the robotic arm is a six-axis robotic arm. For example... Figure 1 , Figure 6 As shown, the robotic arm also includes a gimbal 12, which allows the robotic arm to be mounted to a camera 13. Figure 2 As shown, Figure 2 The solid double-curved arrowheads in the diagram represent the bidirectional rotational degrees of freedom of each axis joint. The movable joint has rotational degrees of freedom in two directions around its own axis.

[0039] The beneficial effect of adopting the above embodiments is that the gimbal 12 can effectively reduce the shaking caused by the movement of the robotic arm and ensure the stability of the image.

[0040] In one embodiment, the robotic arm is signal-connected to a control module, which integrates a remote controller and a display screen. The control module is used to remotely control the robotic arm's rotation, lifting, and other mechanical movements. Furthermore, the control module can integrate intelligent functions to achieve automatic path planning for the robotic arm.

[0041] The beneficial effect of using the above embodiments is that operators can remotely operate the robotic arm to take pictures. Both the shooting by the camera 13 and the movement of the robotic arm can be controlled by the control module.

[0042] In one embodiment, such as Figure 1 , Figure 6 As shown, the axis joints include a first axis joint 4, a second axis joint 5, a third axis joint 7, a fourth axis joint 8, a fifth axis joint 10, and a sixth axis joint 11. The extension arms include a first extension arm 6 and a second extension arm 9. Let the fixed bottom of the robotic arm be the root, and the point where the robotic arm is assembled with the camera 13 be the end. From the root to the end, one assembly method for the robotic arm is to sequentially connect the first axis joint 4, the second axis joint 5, the first extension arm 6, the third axis joint 7, the fourth axis joint 8, the second extension arm 9, the fifth axis joint 10, and the sixth axis joint 11. The first extension arm 6 and the second extension arm 9 are not of equal length and their positions can be interchanged. Figure 2 and Figure 4 Examples are provided for comparison. Figure 2 and Figure 4 Based on length, extension arms are divided into long straight arms (b1) and short straight arms (b2). Figure 2 and Figure 4 The positions of the first extension arm 6 and the second extension arm 9 have been interchanged. Therefore... Figure 2 The upper arm of the robotic arm is longer than Figure 4 The large arm of the robotic arm, Figure 2 The forearm of the medium-sized robotic arm is shorter than Figure 4 The forearm of the robotic arm. Additionally, the total number of extension arms can be more than two; several extension arms can be reserved as backups.

[0043] The beneficial effects of using the above embodiments are: it demonstrates the flexibility of robotic arm assembly; different lengths of the upper and lower arms result in different shooting paths. Without relying on robotic arm programming, different lengths of extension arms can be directly replaced or exchanged to obtain robotic arms with different motion trajectories, thus enriching the shooting paths. Alternatively, the robotic arm can be modified as needed to avoid interference in some narrow shooting scenarios.

[0044] In one embodiment, such as Figure 3As shown, the first axis joint 4, the second axis joint 5, the third axis joint 7, and the sixth axis joint 11 are movable joints, each containing a rotary motor 50. The fifth axis joint 10 is a movable joint, containing two mutually perpendicularly arranged rotary motors 50. The fourth axis joint 8 is a stationary joint, without a rotary motor 50. The fourth axis joint 8 is fixed to the connected extension arm and interlocks with each other to prevent rotational freedom. Figure 1 As shown, the fourth axis joint 8 is fixed together with the second extension arm 9 and remains relatively stationary. Figure 3 The motor 50 is represented by a dashed cylindrical outline. The exterior of the motor 50 is the housing of the shaft joint. The two rotary motors 50 of the fifth shaft joint 10 are arranged in a T-shape, so the fifth shaft joint 10 can output two rotational movements. Figure 3 , Figure 4 As shown, a single rotary joint j1 has one rotary motor 50 and a stationary joint j2, while a double rotary joint j3 has two rotary motors 50. All single rotary joints j1 and empty joints j2 can have the same external dimensions.

[0045] The beneficial effects of adopting the above embodiments are that the joints can be interchanged, especially the first joint 4, the second joint 5, the third joint 7, and the sixth joint 11, which are all single rotary joints j1. They have the same shape, making it easier to interchange and install them. The design of the fourth joint 8 as an empty joint j2 and the fifth joint 10 as a double rotary joint j3 is to reduce the inertia of the robotic arm end effector, allowing the robotic arm to drive the camera 13 to move more flexibly.

[0046] In one embodiment, such as Figure 5 As shown, the shaft joint includes a housing, which includes a barrel-shaped portion 40 and a tubular portion 41 that are perpendicularly connected and communicate with each other. The barrel-shaped portion 40 has only one shaft end opening 42, and both ends of the tubular portion 41 have shaft end openings 42. A rotary motor 50 is located inside the barrel-shaped portion 40 of the movable joint.

[0047] The beneficial effects of the above embodiment are: the barrel-shaped part 40 is sealed at one end and open at the other end, the tubular part 41 is open at both ends, and one end of the tubular part 41 is connected to the middle of the barrel-shaped part 40. Such a shaft joint ensures that the shape of the shaft joint is closed and uniform after the robot arm is assembled, while the shaft end opening 42 facilitates the provision of a uniform assembly interface.

[0048] In one embodiment, the shaft joint includes a flange 43 that is assembled with the shaft joint or the extension arm. The flange 43 has a plurality of through holes 431 arranged in a ring. Bolts can pass through the through holes 431. To facilitate the assembly and disassembly of the bolts and through holes 431, the housing of the shaft joint and the housing of the extension arm are detachable. For example, the housing of a single shaft joint can be split in two, and the housing of a single extension arm can also be split in two. The housings of the shaft joint and the extension arm can be snapped together in half.

[0049] The beneficial effects of the above embodiments are: the flange 43 with through holes 431 facilitates the assembly of shaft joints with shaft joints or extension arms, ensuring the structural strength after assembly. The array of flanges 43 with several through holes 431 provides a load-bearing interface; there are many other forms of load-bearing interfaces for the modular and rapid assembly and disassembly of robotic arms. The specific form of the load-bearing interface can be selected and arranged according to the specific shape of the robotic arm.

[0050] In a non-restrictive example, such as Figure 8 As shown, a bearing interface is provided using a Torx handle bolt 60 and a washer 61. The Torx handle bolt 60 passes through the washer 61, and a detachable assembly is achieved by turning the Torx handle bolt 60. This bearing interface can also be called a Mitchell interface.

[0051] In a non-restrictive example, such as Figure 9 As shown, another type of bearing interface is also constructed using C-shaped clamps 62 and L-shaped handles 63 bolts. A pair of C-shaped clamps 62 can be mirror-symmetrically distributed on the same integral component. The L-shaped handle 63 passes through the gap of the C-shaped clamps 62, and the width of the gap is changed by rotating the L-shaped handle 63, thereby fine-tuning the inner diameter of the C-shaped clamps 62, ultimately achieving the loosening and tightening of the component held by the C-shaped clamps 62. This type of bearing interface can also be called a European-style adapter. Figure 9 The practical application of C-shaped clamp 62 in the middle is as follows: Figure 11 , Figure 12 As shown, adjacent shaft joints or extension arms have opposing tenons 68, and the tenons 68 of adjacent shaft joints or extension arms are interlocked. Each C-shaped clamp 62 encloses one tenon 68. An integral component integrating two C-shaped clamps 62 can be called a double clamp, so a double clamp can realize the free combination and limitation of adjacent shaft joints or extension arms.

[0052] In a non-restrictive example, such as Figure 10 As shown, another type of bearing interface is illustrated. Two adjacent mating components each have a slot 64 and a rib 65. The slot 64 and rib 65 are parallel in their respective length directions, facilitating the rib 65 to slide into the slot 64 from a specific direction. However, at this point, one linear mechanical degree of freedom remains unrestricted. Simultaneously, both adjacent mating components have externally projecting angle brackets 66, typically triangular in shape. After the slot 64 and rib 65 are assembled, the two externally projecting angle brackets 66 also fit together. Then, a hand-tightening bolt 67 is passed through the two externally projecting angle brackets 66, thus restricting the last linear mechanical degree of freedom, thereby achieving the final limiting and fixing of the robotic arm. Figure 10 Practical applications such as Figure 13 , Figure 14 As shown, adjacent shaft joints or extension arms have end plates 69 at their opposing ends. Each end plate 69 has the ability to rotate around its own axis and can be fixed to the output shaft of the rotary motor 50. When necessary, the end plates 69 can also be locked to the shaft joint body or extension arm body to restrict their respective mechanical degrees of freedom. The sides of the end plates 69 are provided with protruding angle brackets 66. Two adjacent end plates 69 first undergo preliminary assembly by radial movement, at which point the slot 64 and the rib 65 achieve sliding assembly. Then, the protruding angle brackets 66 on the sides of the two end plates 69 align and fit together, and finally, the two protruding angle brackets 66 are locked together using hand-tightening bolts 67. This assembly method also allows for the free combination and positioning of adjacent shaft joints or extension arms.

[0053] In one embodiment, the shaft end opening 42 of the joint and both ends of the extension arm are equipped with universal interfaces, which can transmit electrical signals between joints or extension arms. The universal interfaces can be interlocked. That is, the universal interfaces can all be identical in shape and size, improving the versatility of the robotic arm components. After two identical universal interfaces are rotated 180° around the same center point, the two universal interfaces form a centrally symmetrical figure, and the concave and convex parts on the surface of the universal interfaces can achieve complementary interlocking.

[0054] In one embodiment, such as Figure 5 As shown, slip rings 45 are provided at the axis of both the shaft joint and the extension arm. A contact point 44 is located at the center of each slip ring 45, with the slip ring 45 radially outward from the contact point 44. The contact point 44 can be connected to a wire. The contact point 44 also has axial elastic extension capability. An accessory box is provided on the outside of the robotic arm to store several spare slip rings 45. Each joint of the robotic arm can have only one slip ring 45. Therefore, when assembling or disassembling the robotic arm, if a slip ring 45 is missing in a certain area, it can be taken from the accessory box; if there are too many slip rings 45 in a certain area, they can be returned to the accessory box.

[0055] The beneficial effects of the above embodiments are as follows: contact 44 is responsible for transmitting electrical signals, and slip ring 45 can counteract the rotational movement of the robotic arm, avoiding interference from relatively rotating shaft joints or extension arms, and ensuring that contact 44 remains continuously connected to contact 44. The function of slip ring 45 is to prevent wires from tangling or knotting. The various sections of the robotic arm are connected by slip rings, which allows for free planning of wire paths, ensuring conductivity while preventing wire tangling.

[0056] In one embodiment, such as Figure 6 As shown, a base 3 is movably mounted on the shaft joint at the root of the robotic arm. A chassis 2 is fixed to the bottom surface of the base 3. The volume of the chassis 2 is greater than the volume of the base 3, or the mass of the chassis 2 is greater than the mass of the base 3.

[0057] The beneficial effect of using the above embodiments is that the chassis 2 provides a larger and more stable base for the robotic arm. The robotic arm has the ability to rotate 360° on the base 3.

[0058] In one embodiment, such as Figure 6 As shown, the bottom of the chassis vehicle 2 can roll and contact the track 1 via rollers.

[0059] The beneficial effect of adopting the above embodiment is that the track 1 adds another mechanical degree of freedom of translation, which allows the robotic arm to move horizontally quickly and the range of the photography path is larger.

[0060] In one embodiment, such as Figure 6 As shown, track 1 provides the entire robotic arm with a greater range of translational movement. In addition, the chassis 2 has a raised anti-collision beam 21 on its side.

[0061] The beneficial effects of the above embodiments are: the anti-collision beam 21 can limit the extreme position of the robotic arm on the track 1, prevent the robotic arm from getting too close to external objects, and protect the robotic arm during operation.

[0062] In one embodiment, the extension arm extends in a straight line along its length. The extension arm also includes a linear telescopic arm, which has the mechanical degree of freedom to extend and retract along its length. The linear telescopic arm may contain a linear electric cylinder, a linear hydraulic cylinder, or a linear pneumatic cylinder. The linear telescopic arm can be a nested structure, primarily used to raise the height of the robotic arm's end effector. The linear telescopic arm may also be equipped with a safety locking device to control its farthest and closest extreme positions.

[0063] The modular robotic arm for film and television shooting described in this application can also be divided into six independent and interchangeable units: a basic support module, a rotary motor module, an arm body module, a lifting module, an end effector module, and a control module. The basic support module includes the base 3, and the chassis 2 can also be classified as a basic support module. The rotary motor module is the movable joint, which is the shaft joint containing the rotary motor 50. The arm body module is the extension arm. The lifting module is the linear telescopic arm. The end effector module includes components such as the gimbal 12 that work with the camera 13.

[0064] The advantages of the modular robotic arm for film and television shooting described in this application include:

[0065] This significantly improves the versatility and flexibility of the robotic arm. Through modular design, users can quickly and easily replace and combine various modules according to different work needs and scenarios. For example, different photography scenarios have varying requirements for the robotic arm's length, rotation angle, lifting height, and end effector. Modular design allows users to select appropriately sized arm modules, rotary motor modules with specific angle control ranges, and end effector modules that meet specific operational requirements, enabling the robotic arm to easily adapt to a variety of complex tasks and greatly enhancing its versatility and application potential in different fields.

[0066] Stability and reliability have been improved. The basic support module provides stable support for the entire robotic arm, enabling it to withstand various forces without tipping over. The modules are connected via reliable methods, ensuring the stability and reliability of the robotic arm during operation. The modular design allows for quick location and individual replacement or repair of faulty modules in case of problems, without affecting the normal operation of other modules. For example, if the rotary motor module fails, only that module needs to be replaced, eliminating the need for extensive disassembly and overhaul of the entire robotic arm. This reduces maintenance time and costs, and improves the availability and stability of the equipment.

[0067] This significantly improves the operational precision and control performance of the robotic arm. The rotary motor module features precise angle control, enabling rapid and smooth rotation with accurate angle control and minimal error. The lifting module allows for precise height adjustment using either a hydraulic or electric drive system, ensuring accurate positioning in various working scenarios. The control module provides precise control over each module. Its intelligent control algorithm monitors and provides real-time feedback on the device's operating status, dynamically adjusting based on actual conditions to further enhance operational precision. For example, during detailed imaging, the robotic arm can accurately position the end effector module to the required location, ensuring operational accuracy and consistency.

[0068] This modular design facilitates the repair and maintenance of the robotic arm. When a malfunction occurs, users can quickly locate the faulty module and replace or repair it individually, eliminating the need to disassemble and inspect the entire robotic arm. This greatly simplifies repair and maintenance, reducing costs. Furthermore, each module can be maintained and upgraded independently. As technology advances, more advanced modules can be replaced individually, extending the robotic arm's lifespan and improving the equipment's cost-effectiveness.

[0069] This improves portability. Each module can be disassembled independently, greatly reducing the overall weight and size of the robotic arm, making it easier to transport and store. Ultimately, this also improves shooting efficiency.

[0070] It meets the customization requirements of different tasks. The end effector module can be customized according to different task needs, such as the selection of different tools like grippers, spray guns, and suction cups, which can meet various work requirements and provide users with more choices and possibilities. The modular design allows users to flexibly combine different modules according to specific work tasks to create a robotic arm that is best suited to the user's needs, improving work efficiency and quality.

[0071] The above embodiments are only for illustrating the technical concept and features of this application. Their purpose is to enable those skilled in the art to understand the content of this application and implement it. They should not be used to limit the scope of protection of this application. All equivalent changes or modifications made in accordance with the spirit and essence of this application should be covered within the scope of protection of this application.

Claims

1. A modular robotic arm for film and television shooting, characterized in that, include: A plurality of shaft joints, the shaft joints including movable joints and stationary joints, the movable joints being capable of outputting rotational motion, and at least two of the shaft joints having unequal torques and / or rotational speeds; A plurality of extension arms, wherein at least two of the extension arms are of unequal length. The shaft joint is detachably assembled with the shaft joint or the extension arm to form a robotic arm, and the end of the robotic arm can be equipped with a camera (13). The assembly interface of the shaft joint and the extension arm is the same, and the shaft joint and the extension arm can be assembled at different positions of the robotic arm. The shaft joint includes a flange (43) assembled with the shaft joint or the extension arm, and the flange (43) has a plurality of through holes (431) arranged in a ring.

2. The modular robotic arm for film and television shooting according to claim 1, characterized in that: The robotic arm is a six-axis robotic arm; The robotic arm also includes a gimbal (12), which can be assembled with the camera (13).

3. The modular robotic arm for film and television shooting according to claim 1, characterized in that: The robotic arm is connected to a control module, which integrates a remote controller and a display screen. The control module is used to remotely control the mechanical movements of the robotic arm.

4. The modular robotic arm for film and television shooting according to claim 1, characterized in that: The shaft joints include a first shaft joint (4), a second shaft joint (5), a third shaft joint (7), a fourth shaft joint (8), a fifth shaft joint (10), and a sixth shaft joint (11), and the extension arm includes a first extension arm (6) and a second extension arm (9). From the root to the end of the robotic arm, one way to assemble the robotic arm is to connect the first axis joint (4), the second axis joint (5), the first extension arm (6), the third axis joint (7), the fourth axis joint (8), the second extension arm (9), the fifth axis joint (10), and the sixth axis joint (11) in sequence. The lengths of the first extension arm (6) and the second extension arm (9) are not equal, and their positions can be interchanged.

5. The modular robotic arm for film and television shooting according to claim 4, characterized in that: The first axis joint (4), the second axis joint (5), the third axis joint (7), and the sixth axis joint (11) are movable joints, and each has a rotary motor (50) inside. The fifth axis joint (10) is a movable joint and has two mutually perpendicularly arranged rotary motors (50) inside. The fourth axis joint (8) is a static joint and has no internal rotary motor (50). The fourth axis joint (8) is fixed to the connected extension arm and mutually locks the rotational degrees of freedom.

6. The modular robotic arm for film and television shooting according to claim 1, characterized in that: The shaft joint includes a housing, which includes a barrel-shaped portion (40) and a tubular portion (41) that are perpendicularly connected and communicate with each other. The barrel-shaped portion (40) has only one shaft end opening (42), and both ends of the tubular portion (41) have shaft end openings (42). A rotary motor (50) is located inside the barrel-shaped portion (40) of the moving joint.

7. The modular robotic arm for film and television shooting according to claim 6, characterized in that: The shaft end opening (42) of the shaft joint and both ends of the extension arm are equipped with universal interfaces. The universal interfaces can transmit electrical signals between the shaft joint and the shaft joint or the extension arm. The universal interfaces can be interlocked with each other.

8. The modular robotic arm for film and television shooting according to claim 7, characterized in that: A slip ring (45) is provided at the axis of both the shaft joint and the axis of the extension arm. A contact (44) is provided at the center of the slip ring (45), and the contact (44) is the universal interface.

9. The modular robotic arm for film and television shooting according to claim 1, characterized in that: The shaft joint at the root of the robotic arm is movably fitted with a base (3), and a chassis (2) is fixed to the bottom surface of the base (3). The volume and / or mass of the chassis (2) is greater than the volume and / or mass of the base (3). The bottom of the chassis (2) can roll into contact with the track (1) via rollers.

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