Multi-degree of freedom arm and robot
By designing a multi-degree-of-freedom arm and utilizing the combination of the arm and modules, high flexibility of the robotic arm was achieved, solving the problem of insufficient flexibility in existing technologies and improving the biomimetic effect of the robotic arm.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- ZHEJIANG BRAIN ENHANCE TECH CO LTD
- Filing Date
- 2025-06-24
- Publication Date
- 2026-06-12
AI Technical Summary
Existing robotic arms lack the flexibility to handle more challenging tasks.
Design a multi-degree-of-freedom arm, including an arm, a circumferential rotation module, and a bending rotation module, allowing the arm to rotate circumferentially and bend, thus enhancing flexibility.
The flexibility of multi-degree-of-freedom arms approaches or even surpasses that of human arms, improving the biomimetic effect and flexibility of robotic arms.
Smart Images
Figure CN224347835U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotics technology, and in particular to a multi-degree-of-freedom arm and robot. Background Technology
[0002] As robots have evolved, collaborative robots with two arms can now replace humans in performing some basic tasks. More complex tasks require robots with more flexible arms.
[0003] In existing technologies, robot arms mimic the movements of human arms, but their flexibility is still insufficient, making it difficult to handle more challenging tasks.
[0004] Therefore, existing technologies still need to be improved and developed. Utility Model Content
[0005] The technical problem to be solved by this utility model is to provide a multi-degree-of-freedom arm and robot in view of the above-mentioned defects of the prior art, so as to solve the problem that the flexibility of the existing robot arm is still insufficient and it is difficult to cope with more difficult tasks.
[0006] The technical solution adopted by this utility model to solve the technical problem is as follows:
[0007] In a first aspect, the present invention provides a multi-degree-of-freedom arm, comprising: at least one arm, said arm comprising:
[0008] The first half and the second half;
[0009] A circumferential rotation module is disposed in the upper half and connected to the lower half;
[0010] A bending and rotating module is disposed in the lower half and configured to connect adjacent components;
[0011] The circumferential rotation module is configured to drive the lower half to rotate circumferentially around the arm;
[0012] The bending and rotating module is configured to drive the adjacent component to bend and rotate relative to the arm.
[0013] In other embodiments of this utility model, the arm includes a large arm and a small arm, with the small arm serving as an adjacent component of the large arm.
[0014] In other embodiments of this utility model, the bending and rotating module of the large arm drives the upper half of the small arm to bend and rotate back and forth.
[0015] In other embodiments of this utility model, the multi-degree-of-freedom arm further includes a hand, which serves as an adjacent component of the forearm.
[0016] In other embodiments of this utility model, the bending and rotating module of the forearm drives the palm to bend and rotate left and right.
[0017] In other embodiments of this utility model, the multi-degree-of-freedom arm further includes:
[0018] The module rotates left and right to connect with the upper half of the large arm;
[0019] The front-to-back rotating module is connected to the left-to-right rotating module;
[0020] The left and right rotation module is configured to drive the large arm to bend and rotate left and right;
[0021] The forward and backward rotating module is configured to drive the left and right rotating module and cause the large arm to bend and rotate forward and backward.
[0022] In other embodiments of this utility model, the upper half includes:
[0023] U-shaped shell;
[0024] The first bracket and the second bracket are located on both sides inside the U-shaped shell, respectively;
[0025] The two ends of the circumferential rotation module are respectively connected to the first bracket and the second bracket.
[0026] In other embodiments of this utility model, the lower half of the large arm includes:
[0027] Flat-headed shell;
[0028] The U-shaped frame is installed on the flat-head shell and connected to the output shaft of the circumferential rotation module of the large arm;
[0029] The bending and rotating module of the large arm is installed on the U-shaped frame and connected to the first and second supports of the small arm.
[0030] In other embodiments of this utility model, the lower half of the forearm includes:
[0031] Notched shell;
[0032] A turntable is mounted on the notched shell and connected to the output shaft of the circumferential rotation module of the small arm;
[0033] Transmission components;
[0034] The bending and rotating module of the forearm is installed on the turntable and connected to the transmission assembly;
[0035] The transmission assembly is connected to the adjacent component of the forearm.
[0036] Secondly, the present invention provides a robot comprising a multi-degree-of-freedom arm as described in any of the preceding claims.
[0037] Beneficial effects: Each arm of the multi-degree-of-freedom arm can rotate circumferentially and bend, approaching or even exceeding the range of motion of the human arm, thus forming a variety of different rotational degrees of freedom, improving the flexibility and biomimetic effect of the multi-degree-of-freedom arm. Attached Figure Description
[0038] Figure 1 This is a perspective view of the multi-degree-of-freedom arm in an embodiment of this utility model.
[0039] Figure 2 This is a front view of the multi-degree-of-freedom arm in an embodiment of this utility model.
[0040] Figure 3 yes Figure 2 Sectional view along line A.
[0041] Figure 4 This is a schematic diagram of the first internal structure of the multi-degree-of-freedom arm in an embodiment of this utility model.
[0042] Figure 5 This is a schematic diagram of the second internal structure of the multi-degree-of-freedom arm in an embodiment of this utility model.
[0043] Figure 6 This is a schematic diagram of the structure of the large arm in an embodiment of this utility model.
[0044] Figure 7 This is an exploded view of the upper arm in an embodiment of this utility model.
[0045] Figure 8 This is a schematic diagram of the forearm structure in an embodiment of this utility model.
[0046] Figure 9 This is an exploded view of the forearm in an embodiment of this utility model.
[0047] Explanation of reference numerals in the attached figures:
[0048] 10. Arm; 11. Upper section; 111. U-shaped shell; 112. First support; 113. Second support; 12. Lower section; 121. Flat-head shell; 122. U-shaped frame; 123. Notched shell; 124. Turntable; 125. Transmission assembly; 13. Circumferential rotation module; 14. Bending and rotating module; 101. Large arm; 102. Small arm;
[0049] 20. Palm;
[0050] 31. Left and right rotating module; 32. Front and back rotating module. Detailed Implementation
[0051] To make the objectives, technical solutions, and advantages of this utility model clearer and more explicit, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.
[0052] Please also refer to Figures 1-9 This utility model provides some preferred embodiments of a multi-degree-of-freedom arm.
[0053] like Figure 1 and Figure 2 As shown, the multi-degree-of-freedom arm of this invention includes an arm 10. There may be one or more arms 10. The multi-degree-of-freedom arm is a humanoid arm. Figure 1 The multi-degree-of-freedom arm has two arms 10, which are connected to each other. The two arms 10 are designated as the upper arm 101 and the lower arm 102. The multi-degree-of-freedom arm also includes a hand 20, which is connected to the arm 10. Similar to a human arm 10, the upper arm 101 is connected to the torso, and the lower arm 102 is connected to the hand 20. Each arm 10 consists of an upper segment 11 and a lower segment 12. The upper segment 11 is located above the lower segment 12, and both segments can rotate relative to each other. The end face of the upper segment 11 facing the lower segment 12 is circular, and the end face of the lower segment 12 facing the upper segment 11 is also circular. Both circles have the same diameter, and their centers are located on the axis of rotation. Therefore, when the upper segment 11 and the lower segment 12 rotate, they maintain a smooth transition. The upper segment 11 can connect to adjacent components. The multi-degree-of-freedom arm also includes a left-right rotation module 31. The left-right rotation module 31 is connected to the upper half 11 of the upper arm 101. The multi-degree-of-freedom arm also includes a front-back rotation module 32. The front-back rotation module 32 is connected to the left-right rotation module 31. The upper arm 101 is connected to the torso through the left-right rotation module 31 and the front-back rotation module 32. The left-right rotation module 31 can drive the upper arm 101 to bend and rotate in the front-back direction, and the front-back rotation module 32 can drive both the left-right rotation module 31 and the upper arm 101 to bend and rotate in the front-back direction. During bending and rotation, the angle between the upper arm 101 and the torso changes. When bending and rotating in the left-right direction, the angle between the upper arm 101 and the torso changes in the left-right direction. When bending and rotating in the front-back direction, the angle between the upper arm 101 and the torso changes in the front-back direction.
[0054] like Figure 3As shown, arm 10 includes a circumferential rotation module 13. The circumferential rotation module 13 is installed on the upper half 11 and connected to the lower half 12. The circumferential rotation module 13 can rotate the lower half 12 circumferentially around arm 10, allowing the lower half 12 to rotate in a horizontal plane. Arm 10 also includes a bending rotation module 14. The bending rotation module 14 is installed on the lower half 12 and connected to adjacent components. The bending rotation module 14 can bend and rotate adjacent components, causing a change in the angle between the adjacent components and arm 10. The adjacent component of the large arm 101 is the small arm 102. The bending rotation module 14 of the large arm 101 is connected to the upper half 11 of the small arm 102, allowing the small arm 102 to bend and rotate, specifically bending and rotating it in the front-back direction. The adjacent component of the forearm 102 is the palm 20. The bending and rotating module 14 of the forearm 102 is connected to the palm 20, so the bending and rotating module 14 of the forearm 102 can bend and rotate the palm 20, specifically bending and rotating the palm 20 in the left and right direction. The left and right rotating module 31 is also an adjacent component of the upper arm 101. The left and right rotating module 31 is connected to the upper half 11 of the upper arm 101, so the left and right rotating module 31 can bend and rotate the upper arm 101, specifically bending and rotating the upper arm 101 in the left and right direction.
[0055] like Figure 4 and Figure 5 As shown, the upper section 11 includes a first support 112 and a second support 113. The first support 112 and the second support 113 are located on both sides of adjacent components, and are used to connect and support the circumferential rotation module 13. In the large arm 101, the first support 112 and the second support 113 are located on both sides of the left and right rotation modules 31, and are respectively connected to the two ends of the circumferential rotation module 13 of the large arm 101. In the small arm 102, the first support 112 and the second support 113 are located on both sides of the lower section 12 of the large arm 101 (see...). Figure 1 The first bracket 112 and the second bracket 113 are specifically located on both sides of the bending and rotating module 14 of the large arm 101, and are respectively connected to the two ends of the circumferential rotating module 13 of the small arm 102.
[0056] like Figure 4 and Figure 5 As shown, in the large arm 101, the lower half 12 includes a U-shaped frame 122. The U-shaped frame 122 is connected to the output shaft of the circumferential rotation module 13 of the large arm 101. The U-shaped frame 122 is used to install the bending rotation module 14 of the large arm 101. The circumferential rotation module 13 of the large arm 101 can drive the U-shaped frame 122 and the bending rotation module 14 to rotate, thereby realizing the circumferential rotation of the lower half 12 of the large arm 101.
[0057] like Figure 4 and Figure 5 As shown, in the forearm 102, the lower half 12 includes a turntable 124. The turntable 124 is connected to the output shaft of the circumferential rotation module 13 of the forearm 102. The turntable 124 is used to mount the bending rotation module 14 of the forearm 102. A transmission assembly 125 is mounted on the bending rotation module 14 of the forearm 102, and the output shaft of the bending rotation module 14 of the forearm 102 is connected to the transmission assembly 125. The circumferential rotation module 13 can drive the turntable 124 to rotate, thereby causing the bending rotation module 14 of the forearm 102 and the transmission assembly 125 to rotate together.
[0058] like Figure 6 and Figure 7 As shown, the upper half 11 also includes a U-shaped shell 111 (see...) Figure 8 and Figure 9 The U-shaped shell 111 has an opening, and adjacent components are located within the opening. The first support 112 and the second support 113 extend to the opening and connect with the adjacent components. The U-shaped shell 111 encloses the first support 112, the second support 113, and the circumferential rotating module 13.
[0059] like Figure 6 and Figure 7 As shown, in the large arm 101, the left-right rotating module 31 is located within the opening of the U-shaped shell 111 of the large arm 101 and is connected to the first support 112 and the second support 113 of the large arm 101. The lower half 12 of the large arm 101 also includes a flat-head shell 121. The two sides of the flat-head shell 121 are flat, the end face of the flat-head shell 121 facing the upper half 11 is round, and the surface of the flat-head shell 121 facing away from the upper half 11 is curved. The flat-head shell 121 of the large arm 101 encloses the U-shaped frame 122 and the bending and rotating module 14.
[0060] like Figure 8 and Figure 9 As shown, in the forearm 102, the flattened shell 121 of the upper arm 101 is located inside the U-shaped shell 111 of the forearm 102 (see...). Figure 1 ), and connects to the first support 112 and the second support 113 of the forearm 102. The lower half 12 of the forearm 102 also includes a notched shell 123. The lower end of the notched shell 123 has a notch through which the palm 20 connects to the transmission assembly 125 of the forearm 102 (see Figure 1 and Figure 3 The notched shell 123 of the forearm 102 encloses the turntable 124, the bending and rotating module 14, and the transmission assembly 125.
[0061] Based on the multi-degree-of-freedom arm of any of the above embodiments, this utility model also provides a robot, including the multi-degree-of-freedom arm described in any of the above embodiments, as specifically as described above.
[0062] The robot provided by this utility model has all the above-mentioned beneficial effects because it is equipped with a multi-degree-of-freedom arm as described in any of the above technical solutions, which will not be repeated here.
[0063] It should be understood that the application of this utility model is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.
Claims
1. A multi-degree-of-freedom arm, characterized in that, include: At least one arm, said arm comprising: The first half and the second half; A circumferential rotation module is disposed in the upper half and connected to the lower half; A bending and rotating module is disposed in the lower half and configured to connect adjacent components; The circumferential rotation module is configured to drive the lower half to rotate around the arm in a circumferential direction, and the upper half and the lower half transition smoothly during the circumferential rotation. The bending and rotating module is configured to drive the adjacent component to bend and rotate relative to the arm.
2. The multi-degree-of-freedom arm according to claim 1, characterized in that, The arm includes a large arm and a small arm, with the small arm serving as an adjacent component of the large arm.
3. The multi-degree-of-freedom arm according to claim 2, characterized in that, The bending and rotating module of the large arm drives the upper half of the small arm to bend and rotate back and forth.
4. The multi-degree-of-freedom arm according to claim 2, characterized in that, The multi-degree-of-freedom arm also includes a hand, which serves as an adjacent component of the forearm.
5. The multi-degree-of-freedom arm according to claim 4, characterized in that, The bending and rotating module of the forearm drives the palm to bend and rotate left and right.
6. The multi-degree-of-freedom arm according to claim 2, characterized in that, The multi-degree-of-freedom arm also includes: The module rotates left and right to connect with the upper half of the large arm; The front-to-back rotating module is connected to the left-to-right rotating module; The left and right rotation module is configured to drive the large arm to bend and rotate left and right; The forward and backward rotating module is configured to drive the left and right rotating module and cause the large arm to bend and rotate forward and backward.
7. The multi-degree-of-freedom arm according to any one of claims 2 to 6, characterized in that, The upper half includes: U-shaped shell; The first bracket and the second bracket are located on both sides inside the U-shaped shell, respectively; The two ends of the circumferential rotation module are respectively connected to the first bracket and the second bracket.
8. The multi-degree-of-freedom arm according to claim 7, characterized in that, In the large arm, the lower half includes: Flat-headed shell; The U-shaped frame is installed on the flat-head shell and connected to the output shaft of the circumferential rotation module of the large arm; The bending and rotating module of the large arm is installed on the U-shaped frame and connected to the first and second supports of the small arm.
9. The multi-degree-of-freedom arm according to claim 7, characterized in that, In the forearm, the lower half includes: Notched shell; A turntable is mounted on the notched shell and connected to the output shaft of the circumferential rotation module of the small arm; Transmission components; The bending and rotating module of the forearm is installed on the turntable and connected to the transmission assembly; The transmission assembly is connected to the adjacent component of the forearm.
10. A robot, characterized in that, It includes a multi-degree-of-freedom arm as described in any one of claims 1 to 9.