Mechanical arm and robot

Abstract

The utility model discloses a mechanical arm and a robot, and relates to the technical field of robots, the mechanical arm comprises a joint actuator, the joint actuator comprises a shell, a transmission assembly and a driving assembly, the transmission assembly comprises a first output piece, a second output piece and a third output piece, the rotating axis of the first output piece and the rotating axis of the second output piece are arranged in a coincident mode, and the rotating axis of the third output piece and the rotating axis of the first output piece intersect. The connecting arm assembly comprises a first driving connecting rod, a second driving connecting rod and a driven connecting rod assembly, and the first driving connecting rod and the second driving connecting rod are rotationally connected with the driven connecting rod assembly; the technical scheme provided by the utility model has the technical effects that the rotating axis of the first output piece and the rotating axis of the second output piece are overlapped, so that the connecting arm assembly can rotate in a whole circle under the driving of the first output piece and the second output piece.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a robotic arm and a robot. Background Technology

[0002] In the current field of robotics, multi-legged robots are typically configured with a body connected to a robotic arm via actuators. The actuators' drive components move the robotic arm, which in turn moves the body, enabling the multi-legged robot to perform multiple tasks. However, in existing actuator structures, the internal circuitry of the connecting arm assembly is complex, making it difficult to install and disassemble the connecting arm assembly and the drive assembly, thus increasing maintenance costs. Furthermore, the complex connection method between the drive assembly and the connecting arm assembly in existing actuators hinders the robotic arm from achieving full rotation during operation, limiting its workspace and consequently impacting the robot's flexibility and efficiency. Utility Model Content

[0003] The main purpose of this invention is to propose a robotic arm and robot, which aims to improve the robot's flexibility and work efficiency.

[0004] To achieve the above objectives, the present invention proposes a robotic arm comprising a joint actuator, which includes a housing, a transmission assembly, and a drive assembly. The housing has a mounting cavity and a first opening and a second opening communicating with the mounting cavity. The transmission assembly and the drive assembly are respectively disposed in the mounting cavity. The transmission assembly includes a first output component, a second output component, and a third output component, which are respectively drivenly connected to the drive assembly. The first output component and the second output component are disposed at the first opening, and the rotation axes of the first output component and the second output component are coincidentally arranged. The third output component is disposed at the second opening, and the rotation axis of the third output component intersects with the rotation axis of the first output component. A connecting arm assembly is also provided, comprising a first drive link, a second drive link, and a driven link assembly. The first drive link and the second drive link are rotatably connected to the driven link assembly. The first output component is drivenly connected to the first drive link, and the second output component is drivenly connected to the second drive link. The driven link assembly has an output end. The drive assembly is used to drive the first output component and the second output component to rotate, thereby moving the output end.

[0005] In one embodiment, the first drive link is rotatably connected to the first output component, and the second drive link is rotatably connected to the second output component; the driven link assembly includes a first driven link and a second driven link.

[0006] The first drive link and the second drive link are rotatably connected and form the first rotation fulcrum;

[0007] The second driving link and the first driven link are rotatably connected and form a second rotation fulcrum;

[0008] The first driven link and the second driven link are rotatably connected and form a third rotation fulcrum;

[0009] The first driving link and the second driven link are rotatably connected and form a fourth rotation fulcrum;

[0010] The line connecting the first rotation fulcrum, the second rotation fulcrum, the third rotation fulcrum, and the fourth rotation fulcrum is projected as a quadrilateral along the normal of the connecting arm assembly.

[0011] In one embodiment, the driven link assembly further includes a third driven link and a fourth driven link, the fourth driven link having the output end, the third driven link being rotatably connected to the first driving link and forming a fifth rotation fulcrum; the third driven link and the fourth driven link being rotatably connected and forming a sixth rotation fulcrum; and the fourth driven link and the second driven link being rotatably connected and forming a seventh rotation fulcrum.

[0012] The line connecting the fourth, fifth, sixth, and seventh rotational pivots is projected as a quadrilateral along the normal of the connecting arm assembly.

[0013] In one embodiment, the line connecting the first rotation fulcrum, the second rotation fulcrum, the third rotation fulcrum, and the fourth rotation fulcrum is projected as a parallelogram along the normal of the connecting arm assembly.

[0014] And / or, the line connecting the fourth rotation fulcrum, the fifth rotation fulcrum, the sixth rotation fulcrum, and the seventh rotation fulcrum, when projected along the normal of the connecting arm assembly, forms a parallelogram.

[0015] In one embodiment, the first output component includes a rotating shaft, and the second output component includes a flange. The rotating shaft extends along the rotation axis of the first output component, and the flange is rotatably fitted onto the rotating shaft. The driving assembly is used to drive the rotating shaft and the flange to rotate independently, respectively.

[0016] In one embodiment, the housing is spherical in shape, and / or the intersection of the rotation axis of the first output member and the rotation axis of the third output member coincides with the center of the sphere of the housing.

[0017] In one embodiment, the rotation axis of the first output member and the rotation axis of the third output member are arranged perpendicular to each other.

[0018] In one embodiment, the drive assembly includes a first motor, the transmission assembly further includes a first gear set, the first output component further includes a first output gear, and the first motor is drivenly connected to the first output gear through the first gear set;

[0019] And / or, the drive assembly further includes a second motor, the transmission assembly further includes a second gear set, the second output component further includes a second output gear, and the second motor is drivenly connected to the second output gear through the second gear set;

[0020] And / or, the drive assembly includes a third motor, the transmission assembly further includes a third gear set, the third output component further includes a third output gear, and the third motor is drivenly connected to the third output gear through the third gear set.

[0021] In one embodiment, the joint actuator further includes a control component and a feedback component. The control component is electrically connected to the feedback component and the drive component, respectively. The feedback component is used to detect the rotation angles of the first output component, the second output component, and the third output component and feed the detection signals back to the control component. The control component is used to control the operation of the drive component based on the detection information.

[0022] This invention also proposes a robot, including a robotic arm as described in any of the above embodiments.

[0023] The technical solution of this utility model adopts a configuration where the rotation axes of the first output component and the second output component are aligned, and the rotation axis of the third output component intersects with the rotation axis of the first output component. By setting the first output component and the first driving link for driving connection, and by setting the second output component and the second driving link for driving connection, the third output component is used for driving connection with an external device. This enables the connecting arm assembly to achieve full rotation under the drive of the first and second output components, thereby increasing the working space of the robotic arm and improving the flexibility and work efficiency of the robot. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0025] Figure 1 A schematic diagram of a structural embodiment of the robotic arm provided by this utility model;

[0026] Figure 2 A side view of the structure of an embodiment of the robotic arm provided by this utility model;

[0027] Figure 3 for Figure 2 A magnified view of a section at point AA;

[0028] Figure 4 A schematic diagram of the structure of the first output component, the second output component, and the third output component in one embodiment of the robotic arm provided by this utility model;

[0029] Figure 5 A schematic diagram of the structure of the first output component and the second output component and the connecting arm assembly in one embodiment of the robotic arm provided by this utility model;

[0030] Figure 6 A schematic diagram of the structure of the first output component and the first motor in one embodiment of the robotic arm provided by this utility model;

[0031] Figure 7 A schematic diagram of the structure of the second output component and the second motor in one embodiment of the robotic arm provided by this utility model.

[0032] Explanation of icon numbers:

[0033] 1. Joint actuator; 11. Housing; 111. Mounting cavity; 12. Transmission assembly; 121. First output component; 1211. Rotating shaft; 1212. First output gear; 122. Second output component; 1221. Flange; 1222. Second output gear; 123. Third output component; 1231. Third output gear; 124. First gear set; 125. Second gear set; 126. Third gear set; 13. Drive assembly; 131. First motor; 132. Second motor; 133. Third motor; 4. Feedback component; 2. Connecting arm assembly; 21. First drive link; 211. Fifth rotation fulcrum; 22. Second drive link; 221. First rotation fulcrum; 23. Driven link assembly; 231. Output end; 232. First driven link; 2321. Second rotation fulcrum; 233. Second driven link; 2331. Third rotation fulcrum; 2332. Fourth rotation fulcrum; 2333. Seventh rotation fulcrum; 234. Third driven link; 235. Fourth driven link; 2351. Sixth rotation fulcrum.

[0034] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0035] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0036] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0037] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0038] This utility model proposes a robotic arm.

[0039] Please see Figures 1 to 4In one embodiment of this utility model, the robotic arm includes a joint actuator 1 and a connecting arm assembly 2. The joint actuator 1 includes a housing 11, a transmission assembly 12, and a drive assembly 13. The housing 11 has a mounting cavity 111 and a first opening and a second opening communicating with the mounting cavity 111. The transmission assembly 12 and the drive assembly 13 are respectively disposed in the mounting cavity 111. The transmission assembly 12 includes a first output component 121, a second output component 122, and a third output component 123, which are respectively drivenly connected to the drive assembly 13. The first output component 121 and the second output component 122 are disposed at the first opening, and the rotation axis of the first output component 121 and the rotation axis of the second output component 122 are coincident. The third output component 123 is disposed at the second opening, and the rotation axis of the third output component 123 intersects the rotation axis of the first output component 121. The connecting arm assembly 2 includes a first driving link 21, a second driving link 22, and a driven link assembly 23. The first driving link 21 and the second driving link 22 are respectively rotatably connected to the driven link assembly 23. The first output component 121 is drivenly connected to the first driving link 21, and the second output component 122 is drivenly connected to the second driving link 22. The driven link assembly 23 has an output end 231. The driving assembly 13 is used to drive the first output component 121 and the second output component 122 to rotate, so as to drive the output end 231 to move.

[0040] The technical solution of this utility model adopts the rotation axis of the first output component 121 and the rotation axis of the second output component 122 to be coincident, and the rotation axis of the third output component 123 to intersect with the rotation axis of the first output component 121. The first output component 121 and the first drive link 21 are driven to be connected, and the second output component 122 and the second drive link 22 are driven to be connected. The third output component 123 is used to drive to be connected to an external device, so that the connecting arm assembly 2 can achieve full rotation under the drive of the first output component 121 and the second output component 122, thereby increasing the working space of the robotic arm and improving the flexibility and work efficiency of the robot.

[0041] In this embodiment, the center lines of the first opening (unmarked) and the second opening (unmarked) intersect. The first output component 121 and the second output component 122 are both located at the first opening, and the third output component 123 is located at the second opening, so that the rotation axis of the third output component 123 intersects with the rotation axis of the first output component 121. This facilitates the assembly of the joint actuator 1 onto the robot's body. By aligning the rotation axes of the first output component 121 and the second output component 122, the mathematical model of the joint actuator 1 is simplified, making structural analysis and design easier, thus significantly reducing the computational difficulty of kinematic simulation and motion control. A simpler mathematical model reduces the load on the joint actuator 1, thereby reducing the energy consumption of the robotic arm. This application also incorporates a connecting arm assembly 2 on the joint actuator 1, enabling modular assembly of the robot, thus simplifying its structure and making assembly more convenient. To ensure more stable operation of the robotic arm, a driven link assembly 23 is rotatably connected to the first drive link 21 and the second drive link 22, respectively. The first output component 121 is driven by the first drive link 21, and the second output component 122 is driven by the second drive link 22. Driven by the rotation of the first and second output components 121 and 122, the first and second drive links 21 and 22 respectively drive the driven link assembly 23 to rotate, thereby moving the output end 231. This facilitates full-circumference rotation of the robotic arm to achieve different actions. The entire robotic arm is controlled by two independent drive assemblies 13. Through the combination of the independent movements of the first and second drive links 21 and 22, the robotic arm can output any desired motion and trajectory within its limits, enabling the connecting arm assembly 2 to achieve full-circumference rotation, thus improving the robot's flexibility and work efficiency. The drive assembly 13 is driven to connect the first drive link 21 and the second drive link 22 through the first output component 121 and the second output component 122 respectively. The drive assembly 13 is not directly connected to the first drive link 21 and the second drive link 22, so that there are no circuits or electronic components between the drive link and the driven link assembly 23 of the entire robotic arm. As a result, the connecting arm assembly 2 is made of pure mechanical components, which has high reliability and is easy to maintain.

[0042] like Figure 2 As shown, the first drive link 21 is rotatably connected to the first output component 121, the second drive link 22 is rotatably connected to the second output component 122, and the driven link assembly 23 includes a first driven link 232 and a second driven link 233.

[0043] The first drive link 21 and the second drive link 22 are rotatably connected and form the first rotation fulcrum 221;

[0044] The second driving link 22 and the first driven link 232 are rotatably connected and form the second rotation fulcrum 2321;

[0045] The first driven link 232 and the second driven link 233 are rotatably connected and form a third rotation fulcrum 2331;

[0046] The first driving link 21 and the second driven link 233 are rotatably connected and form a fourth rotation fulcrum 2332;

[0047] The line connecting the first rotation fulcrum 221, the second rotation fulcrum 2321, the third rotation fulcrum 2331, and the fourth rotation fulcrum 2332 is projected as a quadrilateral along the normal of the connecting arm assembly 2.

[0048] In this embodiment, in order to improve the stability of the movement of the connecting arm assembly 2, the line connecting the first rotation fulcrum 221, the second rotation fulcrum 2321, the third rotation fulcrum 2331, and the fourth rotation fulcrum 2332 is projected as a quadrilateral along the normal projection of the connecting arm assembly 2, so that the first driving link 21, the second driving link 22, the first driven link 232, and the second driven link 233 are all located on the same horizontal plane; or, the first driving link 21, the second driving link 22, the first driven link 232, and the second driven link 233 are spaced apart along the direction of the normal projection of the connecting arm assembly 2.

[0049] In this embodiment, the first drive link 21 has a first drive end, and the second drive link 22 has a second drive end. The first drive end on the first drive link 21 and the second drive end on the second drive link 22 are rotatably connected to form a first rotation fulcrum 221. When the second drive end of the second drive link 22 is driven by the second output component 122 and the drive assembly 13, the second drive link 22 rotates about the rotation center line of the first rotation fulcrum 221, thereby driving the first driven link 232 to rotate about the rotation center line of the second rotation fulcrum 2321, thereby driving the second driven link 233 to rotate about the rotation center line of the third rotation fulcrum 2331, thereby driving the first drive link 21 to rotate about the rotation center line of the fourth rotation fulcrum 2332, thereby driving the output end 231 to move. The first drive end of the first drive link 21 is driven by the first output component 121 and the drive assembly 13. The first drive link 21 rotates about the rotation center line of the first rotation fulcrum 221, thereby driving the second driven link 233 to rotate about the rotation center line of the fourth rotation fulcrum 2332, which in turn drives the first driven link 232 to rotate about the rotation center line of the third rotation fulcrum 2331, which in turn drives the second drive link 22 to rotate about the rotation center line of the second rotation fulcrum 2321. When one of the drive ends is driven, the entire connecting arm assembly 2 can be driven, thus eliminating the need to add a motor or electronic components to the connecting arm assembly 2. This makes the entire robotic arm purely mechanical, highly reliable, and easy to maintain.

[0050] like Figure 2 As shown, the driven link assembly 23 further includes a third driven link 234 and a fourth driven link 235. The fourth driven link 235 has the output end 231. The third driven link 234 is rotatably connected to the first driving link 21 and forms a fifth rotation fulcrum 211. The third driven link 234 and the fourth driven link 235 are rotatably connected and form a sixth rotation fulcrum 2351. The fourth driven link 235 and the second driven link 233 are rotatably connected and form a seventh rotation fulcrum 2333.

[0051] The line connecting the fourth rotation fulcrum 2332, the fifth rotation fulcrum 211, the sixth rotation fulcrum 2351, and the seventh rotation fulcrum 2333 is projected as a quadrilateral along the normal of the connecting arm assembly 2.

[0052] In this embodiment, to further improve the stability of the movement of the connecting arm assembly 2, the line connecting the fourth rotation fulcrum 2332, the fifth rotation fulcrum 211, the sixth rotation fulcrum 2351, and the seventh rotation fulcrum 2333 is projected as a quadrilateral along the normal projection of the connecting arm assembly 2, so that the first driving link 21, the second driven link 233, the third driven link 234, and the fourth driven link 235 are all located on the same horizontal plane; or, the first driving link 21, the second driven link 233, the third driven link 234, and the fourth driven link 235 are spaced apart along the direction of the normal projection of the connecting arm assembly 2.

[0053] In this embodiment, the output end 231 on the fourth driven link 235 can be connected to a wheel, so that the robotic arm of this application can be applied to wheeled robots, thereby improving the applicability of the robotic arm.

[0054] In this embodiment, when the second driving end of the second driving link 22 is driven by the second output component 122 and the driving assembly 13, the second driving link 22 rotates about the rotation center line of the first rotation fulcrum 221 as the axis, thereby driving the first driven link 232 to rotate about the rotation center line of the second rotation fulcrum 2321 as the axis; thereby driving the second driven link 233 to rotate about the rotation center line of the third rotation fulcrum 2331 as the axis, thereby driving the first driving link 21 to rotate about the rotation center line of the fourth rotation fulcrum 2332 as the axis; thereby driving the third driven link 234 to rotate about the rotation center line of the fifth rotation fulcrum 211 as the axis, thereby driving the fourth driven link 235 to rotate about the rotation center lines of the sixth rotation fulcrum 2351 and the seventh rotation fulcrum 2333 as the axis. The first drive end of the first drive link 21 is driven by the first output component 121 and the drive assembly 13. The first drive link 21 rotates about the rotation center line of the first rotation fulcrum 221, thereby driving the second driven link 233 to rotate about the rotation center line of the fourth rotation fulcrum 2332, which in turn drives the third driven link 234 to rotate about the rotation center line of the fifth rotation fulcrum 211, which in turn drives the fourth driven link 235 to rotate about the rotation center lines of the sixth rotation fulcrum 2351 and the seventh rotation fulcrum 2333, respectively; this in turn drives the first driven link 232 to rotate about the rotation center line of the third rotation fulcrum 2331, which in turn drives the second drive link 22 to rotate about the rotation center line of the second rotation fulcrum 2321. When one of the drive ends is driven, the entire connecting arm assembly 2 can be driven, thus eliminating the need to add a motor or electronic components to the connecting arm assembly 2. This makes the entire robotic arm purely mechanical, highly reliable, and easy to maintain.

[0055] like Figure 2As shown, the line connecting the first rotation fulcrum 221, the second rotation fulcrum 2321, the third rotation fulcrum 2331, and the fourth rotation fulcrum 2332 is projected as a parallelogram along the normal of the connecting arm assembly 2.

[0056] And / or, the line connecting the fourth rotation fulcrum 2332, the fifth rotation fulcrum 211, the sixth rotation fulcrum 2351, and the seventh rotation fulcrum 2333 is projected as a parallelogram along the normal of the connecting arm assembly 2.

[0057] In this embodiment, to further improve the structural stability of the connecting arm assembly 2 during movement, the line connecting the first rotation fulcrum 221, the second rotation fulcrum 2321, the third rotation fulcrum 2331, and the fourth rotation fulcrum 2332 is projected as a parallelogram along the normal direction of the connecting arm assembly 2. The first driving link 21, the second driving link 22, the first driven link 232, and the second driven link 233 are all located on the same horizontal plane; or, the first driving link 21, the second driving link 22, the first driven link 232, and the second driven link 233 are spaced apart along the direction of the normal projection of the connecting arm assembly 2, thereby facilitating the cooperation between the first driving link 21, the second driving link 22, and the driven link assembly 23, and thus improving the robot's flexibility and working efficiency.

[0058] In this embodiment, to further improve the structural stability of the connecting arm assembly 2 during movement, the line connecting the fourth rotation fulcrum 2332, the fifth rotation fulcrum 211, the sixth rotation fulcrum 2351, and the seventh rotation fulcrum 2333 is projected as a parallelogram along the normal direction of the connecting arm assembly 2. The first driving link 21, the second driven link 233, the third driven link 234, and the fourth driven link 235 are all located on the same horizontal plane; or, the first driving link 21, the second driven link 233, the third driven link 234, and the fourth driven link 235 are spaced apart along the direction of the normal projection of the connecting arm assembly 2, which facilitates the cooperation between the first driving link 21, the second driving link 22, and the driven link assembly 23, thereby improving the robot's flexibility and working efficiency.

[0059] like Figure 3 As shown, the first output component 121 includes a rotating shaft 1211, and the second output component 122 includes a flange 1221. The rotating shaft 1211 extends along the rotation axis of the first output component 121, and the flange 1221 is rotatably sleeved on the rotating shaft 1211. The driving assembly 13 is used to drive the rotating shaft 1211 and the flange 1221 to rotate independently, respectively.

[0060] In this embodiment, conventional joint motors typically use two spaced-apart output shafts connected to two drive links of the robotic arm, which limits the rotation angle of the robotic arm and consequently restricts the robot's movement. Specifically, a through hole is provided at the center of the flange 1221, the diameter of which is larger than the diameter of the rotating shaft 1211. The rotating shaft 1211 passes through the flange 1221 so that the rotation axes of the flange 1221 and the rotating shaft 1211 coincide.

[0061] In this embodiment, the drive assembly 13 drives the rotating shaft 1211 and the flange 1221 to rotate independently around their respective axes of rotation, allowing the rotational speed and direction of rotation of the rotating shaft 1211 and the flange 1221 to be set to be the same or different. The first drive link 21 and the second drive link 22 of the robotic arm are respectively connected to the rotating shaft 1211 and the flange 1221, so that both the first drive link 21 and the second drive link 22 can achieve 360° rotation in both directions. This makes the rotation angle of the robotic arm unrestricted, and the robot's movement more flexible and adaptable to more complex application scenarios.

[0062] In one embodiment of the present invention, the outer shape of the housing 11 is spherical, and / or the intersection of the rotation axis of the first output member 121 and the rotation axis of the third output member 123 coincides with the center of the sphere of the housing 11.

[0063] In this embodiment, the housing 11 is generally spherical in shape. The spherical joint actuator 1 allows the joints of the robotic arm to rotate in multiple directions, providing greater flexibility than traditional single-degree-of-freedom or multi-degree-of-freedom motors. This enables the robotic arm to perform complex movements that more closely resemble the natural movements of humans or animals. The spherical structure of the joint actuator 1 allows for modular design of the connecting arm assembly 2 and the joint actuator 1, enabling them to be combined in a more compact and efficient manner, saving space. For applications requiring high-precision operation, the joint actuator 1 can more flexibly control angle changes, thereby providing precise motion trajectories. Of course, in some other embodiments of this invention, the housing 11 can also adopt a polyhedral structure such as a regular cube, or an irregular shape, depending on actual needs.

[0064] In one embodiment of this invention, the housing 11 adopts a spherical structure, and the rotation axis of the first output member 121 and the rotation axis of the third output member 123 intersect perpendicularly, with the intersection point coinciding with the center of the sphere of the housing 11. This gives the entire system a high degree of symmetry, and this structure optimizes mechanical performance, ensuring balanced and uniform force transmission, resulting in good stability for the joint actuator 1. Furthermore, it simplifies the relevant mechanical model during modeling, reducing unnecessary complexity and simplifying calculations. Combined with the spherical shell structure, the robot arm structure is also simpler and possesses high compatibility, enabling it to adapt to a wider range of application scenarios.

[0065] In one embodiment of the present invention, the rotation axis of the first output member 121 and the rotation axis of the third output member 123 are arranged perpendicular to each other.

[0066] In this embodiment, the rotation axes of the first output component 121 and the third output component 123 are perpendicular to each other. Specifically, the angle between the rotation axis of the first output component 121 and the rotation axis of the third output component 123 is α, and ideally, the value of α is 90°. Considering factors such as actual processing and assembly errors, in one embodiment, α satisfies: 89°≤α≤91°, that is, the value of α can be 89°, 90°, or 91°, or any value within the aforementioned range. When the value of the angle α is within this range, the rotation axes of the first output component 121 and the third output component 123 are considered to be perpendicular. In some other embodiments of this utility model, α can also be less than 89° or greater than 91°, depending on the actual product. No specific limitation is made here. The perpendicularity of the axes further simplifies the physical model of the joint actuator 100 and makes the structure more reasonable.

[0067] like Figure 5 , Figure 6 and Figure 7 As shown, the drive assembly 13 includes a first motor 131, the transmission assembly 12 includes a first gear set 124, the first output component 121 includes a first output gear 1212, and the first motor 131 is driven to be connected to the first output gear 1212 through the first gear set 124.

[0068] And / or, the drive assembly 13 further includes a second motor 132, the transmission assembly 12 further includes a second gear set 125, the second output component 122 further includes a second output gear 1222, and the second motor 132 is drivenly connected to the second output gear 1222 through the second gear set 125;

[0069] And / or, the drive assembly 13 includes a third motor 133, the transmission assembly 12 includes a third gear set 126, the third output component 123 includes a third output gear 1231, and the third motor 133 is drivenly connected to the third output gear 1231 through the third gear set 126.

[0070] In this embodiment, the present application uses three sets of motors and three sets of transmission gears to drive three output components to rotate independently without interference between them, thereby improving the stability of the three output components driving the first drive link 21, the second drive link 22, and the robot body respectively. It should be noted that the three gear sets each constitute an independent reducer mechanism to reduce the rotational speed of the three motors to the required rotational speed, so as to meet the specific speed and torque requirements of different applications.

[0071] In this embodiment, the drive end of the first motor 131 can be driven by a drive gear. The drive gear on the first motor 131 can be driven by the first gear set 124 to connect to the first output gear 1212, thereby improving the rotational stability of the first output gear 1212. The drive end of the second motor 132 can be driven by a drive gear. The drive gear on the second motor 132 can be driven by the second gear set 125 to connect to the second output gear 1222, thereby improving the rotational stability of the second output gear 1222. The drive end of the third motor 133 can be driven by a drive gear. The drive gear on the third motor 133 can be driven by the third gear set 126 to connect to the third output gear 1231, thereby improving the rotational stability of the third output gear 1231.

[0072] like Figure 4 and Figure 5 As shown, the joint actuator 1 further includes a control component and a feedback component 14. The control component is electrically connected to the feedback component 14 and the drive component 13, respectively. The feedback component 14 is used to detect the rotation angles of the first output component 121, the second output component 122 and the third output component 123, respectively, and feed the detection signals back to the control component. The control component is used to control the operation of the drive component 13 according to the detection information.

[0073] In this embodiment, the control component receives external signals and generates control commands, and controls the drive component 13 and transmission component 12 to rotate according to the commands to complete the specified action. The feedback component 14 is disposed in the housing 11 and is used to detect the actual position and speed of the rotation of the first output component 121, the second output component 122, and the third output component 123, respectively. The feedback component 14 sends this information to the control component. In addition to receiving external signals, the control component also receives the detection information from the feedback component 14. Based on this information, the control component obtains the rotation angle, rotation speed, rotation time, and other parameters of the first output component 121, the second output component 122, and the third output component 123, and controls and adjusts the rotation speed of the drive component 13 in real time according to these parameters and external signals to achieve closed-loop control.

[0074] In this embodiment, the feedback component 14 includes a plurality of encoders spaced apart within the housing 11. The plurality of encoders are used to detect the rotational state parameters of the first output component 121, the second output component 122, and the third output component 123 respectively, and send the rotational state parameters of the first output component 121, the second output component 122, and the third output component 123 to the control component.

[0075] In this embodiment, the feedback component 14 can use one or more encoders such as a magnetic encoder, photoelectric encoder, eddy current encoder, and rotary encoder for detection. Of course, in addition to the aforementioned encoders, in some other embodiments of this invention, sensors such as speed sensors and Hall effect sensors can also be used, as long as they can detect parameters such as the rotation angle and rotation speed of the first output component 121, the second output component 122, and the third output component 123. No specific limitation is made here; selection can be made according to actual needs. Furthermore, in addition to detecting the rotation of the output components, the feedback component 14 also includes conventional auxiliary detection devices within the motor, such as temperature sensors and force sensors, which will not be elaborated upon here. In this embodiment, a magnetic encoder is used for detection, which will be described in detail below.

[0076] In this embodiment, the feedback component 14 includes a first magnetic encoder, which includes a first magnetic induction element and a first magnetic element disposed within the housing 11. The first magnetic element is disposed on the first output component 121 and spaced apart from the first magnetic induction element. Alternatively, the joint actuator 1 further includes a transmission component disposed within the housing 11. The feedback component 14 includes a second magnetic encoder, which includes a second magnetic induction element and a second magnetic element disposed within the housing 11. The second magnetic element is disposed on the transmission component and spaced apart from the second magnetic induction element. The second output component 122 is drivenly connected to the transmission component to drive the transmission component to rotate. Alternatively, the feedback component 14 includes a third magnetic encoder, which includes a third magnetic induction element and a third magnetic element disposed within the housing 11. The third magnetic element is disposed on the third output component 123 and spaced apart from the third magnetic induction element. The first, second, and third magnetic induction elements are all configured as magnetic field sensors, and the first, second, and third magnetic elements are all circular magnetic sheets.

[0077] In this embodiment, the first magnetic element is disposed at the end of the first output member 121 facing into the housing 11. A mounting groove is formed at the end of the first output member 121 away from the connecting arm assembly 2. The first magnetic element is embedded in this mounting groove and coaxially disposed with the first output member 121. The first output member 121 can drive the first magnetic element to rotate at the same speed around its rotation axis. Information such as the rotation angle of the first output member 121 can be detected by detecting the change in the magnetic field of the first magnetic element through the first magnetic induction element.

[0078] In this embodiment, since the rotation axes of the second output component 122 and the first output component 121 coincide, and the first magnetic element has already been provided on the first output component 121, the second magnetic element is installed in the housing 11 by providing a transmission component. The transmission component includes a first transmission gear, a connecting shaft arranged along the axial direction of the first transmission gear, and a mounting component provided on the connecting shaft. The mounting component also has a mounting groove. The second magnetic element is embedded in the mounting groove and is coaxially arranged with the connecting shaft. The second output component 122 is provided with a second transmission gear that meshes with the first transmission gear. When the second output component 122 rotates around its own axis, it can drive the transmission component to rotate around the connecting shaft at the same speed. The rotation angle and other parameters of the second output component 122 can be detected by the second magnetic induction element.

[0079] In this embodiment, the third output component 123 also has a mounting groove at one end facing the housing 11. The third magnetic element is embedded in the mounting groove and coaxially arranged with the third output component 123. The third output component 123 can drive the third magnetic element to rotate at the same speed around its rotation axis. The third magnetic induction element and the third magnetic element are arranged opposite to each other and at intervals. It should be noted that the magnetic encoder has strong anti-interference ability, is suitable for complex industrial environments, and its contactless structure is robust, durable, and low in cost.

[0080] In this embodiment, the control component includes a control circuit board disposed within the housing 11. Specifically, the control circuit board can be electrically connected to the feedback component 14 and the drive component 13 respectively. In this embodiment, a flexible circuit board (not shown) is used to connect to the control circuit board, and the first magnetic induction element, the second magnetic induction element, and the third magnetic induction element are disposed at intervals on the flexible circuit board. The bendable characteristics of the flexible circuit board are beneficial for component assembly.

[0081] This utility model also proposes a robot, which includes a robotic arm. The specific structure of the robotic arm is as described in the above embodiments. Since this robot adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0082] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A robotic arm, characterized in that, include: A joint actuator includes a housing, a transmission assembly, and a drive assembly. The housing has a mounting cavity and a first opening and a second opening communicating with the mounting cavity. The transmission assembly and the drive assembly are respectively disposed in the mounting cavity. The transmission assembly includes a first output member, a second output member, and a third output member, which are respectively drivenly connected to the drive assembly. The first output member and the second output member are disposed at the first opening, and the rotation axes of the first output member and the second output member are coincident. The third output member is disposed at the second opening, and the rotation axis of the third output member intersects with the rotation axis of the first output member. A connecting arm assembly includes a first driving link, a second driving link, and a driven link assembly. The first driving link and the second driving link are rotatably connected to the driven link assembly. A first output member is driven connected to the first driving link, and a second output member is driven connected to the second driving link. The driven link assembly has an output end. The driving assembly is used to drive the first output member and the second output member to rotate, thereby moving the output end.

2. The robotic arm as described in claim 1, characterized in that, The first drive link is rotatably connected to the first output component, and the second drive link is rotatably connected to the second output component. The driven link assembly includes a first driven link and a second driven link. The first drive link and the second drive link are rotatably connected and form the first rotation fulcrum; The second driving link and the first driven link are rotatably connected and form a second rotation fulcrum; The first driven link and the second driven link are rotatably connected and form a third rotation fulcrum; The first driving link and the second driven link are rotatably connected and form a fourth rotation fulcrum; The line connecting the first rotation fulcrum, the second rotation fulcrum, the third rotation fulcrum, and the fourth rotation fulcrum is projected as a quadrilateral along the normal of the connecting arm assembly.

3. The robotic arm as described in claim 2, characterized in that, The driven link assembly further includes a third driven link and a fourth driven link. The fourth driven link has the output end. The third driven link and the first driving link are rotatably connected and form a fifth rotation fulcrum. The third driven link and the fourth driven link are rotatably connected and form a sixth rotation fulcrum. The fourth driven link and the second driven link are rotatably connected and form a seventh rotation fulcrum. The line connecting the fourth, fifth, sixth, and seventh rotational pivots is projected as a quadrilateral along the normal of the connecting arm assembly.

4. The robotic arm as described in claim 3, characterized in that, The line connecting the first rotation fulcrum, the second rotation fulcrum, the third rotation fulcrum, and the fourth rotation fulcrum is projected as a parallelogram along the normal of the connecting arm assembly. And / or, the line connecting the fourth rotation fulcrum, the fifth rotation fulcrum, the sixth rotation fulcrum, and the seventh rotation fulcrum, when projected along the normal of the connecting arm assembly, forms a parallelogram.

5. The robotic arm as described in claim 3, characterized in that, The first output component includes a rotating shaft, and the second output component includes a flange. The rotating shaft extends along the rotation axis of the first output component, and the flange is rotatably sleeved on the rotating shaft. The driving assembly is used to drive the rotating shaft and the flange to rotate independently, respectively.

6. The robotic arm as described in claim 1, characterized in that, The housing is spherical in shape, and / or the intersection of the rotation axis of the first output member and the rotation axis of the third output member coincides with the center of the sphere of the housing.

7. The robotic arm as described in claim 1, characterized in that, The rotation axis of the first output component and the rotation axis of the third output component are set perpendicular to each other.

8. The robotic arm as described in claim 1, characterized in that, The drive assembly includes a first motor, the transmission assembly further includes a first gear set, the first output component further includes a first output gear, and the first motor is driven to be connected to the first output gear through the first gear set; And / or, the drive assembly further includes a second motor, the transmission assembly further includes a second gear set, the second output component further includes a second output gear, and the second motor is drivenly connected to the second output gear through the second gear set; And / or, the drive assembly includes a third motor, the transmission assembly further includes a third gear set, the third output component further includes a third output gear, and the third motor is drivenly connected to the third output gear through the third gear set.

9. The robotic arm as described in claim 1, characterized in that, The joint actuator further includes a control component and a feedback component. The control component is electrically connected to the feedback component and the drive component, respectively. The feedback component is used to detect the rotation angles of the first output component, the second output component, and the third output component and feed the detection signals back to the control component. The control component is used to control the operation of the drive component based on the detection information.

10. A robot, characterized in that, Including the robotic arm as described in any one of claims 1 to 9.

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