A robotic arm and robot

Abstract

The utility model discloses an embodiment provides a kind of mechanical arm and robot, wherein, mechanical arm includes end pose keeping component, and first arm section, second arm section and end connecting member are sequentially connected and arranged from base end to end;Second arm section, it can rotate around the end of first arm section relative to first arm section;End connecting member, its base end is connected with the end of second arm section and end pose keeping component respectively, its end is used to be connected with end effector;Its end can be around second pivot or third pivot relative to its base end and be rotated with initiative flexibility, so that end connecting member can adjust the pitch angle and roll angle of its end relative to its base end;End pose keeping component is connected with first arm section, second arm section and end connecting member respectively, so that the pitch angle and roll angle of end connecting member remain unchanged when second arm section rotates around first pivot.In the realization of end pose adjustment of mechanical arm, the service life of mechanical arm is prolonged.

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] When a rigid robotic arm adjusts its end effector position, the posture of the end effector connected to the end of the arm changes with the position of the end effector. Therefore, the control and adjustment of the end effector posture needs to be based on the changing reference posture, which makes the control and adjustment of the end effector posture more difficult. At the same time, the end effector directly and rigidly contacts the object being executed with a large force, lacking buffering. This not only easily damages the object being executed, but may also cause permanent damage to the robotic arm structure itself, seriously affecting the service life and accuracy of the robotic arm. Utility Model Content

[0003] The purpose of this utility model embodiment is to provide a robotic arm and robot that enables the end effector of the robotic arm to have a stable reference posture, allowing the control and adjustment of the end effector to be based on the stable base posture. This reduces the difficulty of controlling and adjusting the end effector posture while providing the end effector at the end of the robotic arm with active, flexible posture adjustment with buffering capabilities, thus extending the service life of the robotic arm. The specific technical solution is as follows:

[0004] An embodiment of the first aspect of this application provides a robotic arm, which includes an end effector posture holding assembly and a first arm segment, a second arm segment, and an end effector connecting member sequentially connected from a base end to the end end. The second arm segment is rotatable relative to the end end of the first arm segment about a first pivot axis. The end effector connecting member has its base end connected to the end end of the second arm segment and the end effector posture holding assembly, and its end end is used to connect to an end effector. Its end end is capable of actively flexible rotation relative to its base end about a second pivot axis or a third pivot axis, so that the end effector connecting member can adjust the pitch angle and roll angle of its end end relative to its base end. The first pivot axis is parallel to the second pivot axis and perpendicular to the third pivot axis. The end effector posture holding assembly is connected to the first arm segment, the second arm segment, and the end effector connecting member, so that when the second arm segment rotates about the first pivot axis, the pitch angle and roll angle of the end effector connecting member remain unchanged.

[0005] In some embodiments of this application, the end connection member includes: a transition member and an end dual-degree-of-freedom flexible mechanism;

[0006] The adapter is connected to the end of the second arm segment, the end pose holding assembly, and the end dual-degree-of-freedom flexible mechanism, respectively; the base end of the adapter is the base end of the end connecting member.

[0007] The end-effector dual-degree-of-freedom flexible mechanism includes a first angle adjustment structure and a second angle adjustment structure;

[0008] The base end of the first angle adjustment structure is fixedly connected to the end of the adapter component;

[0009] The second angle adjustment structure has a base end that can rotate flexibly about the second axis relative to the first angle adjustment structure, and its end end is the end of the end connection member, which is used to fix it to the end actuator so that the first angle adjustment structure can adjust the pitch angle of the end of the end dual-degree-of-freedom flexible mechanism relative to its base end.

[0010] The second angle adjustment structure has an end that can rotate flexibly about the third axis relative to its base, so that the second angle adjustment structure can adjust the roll angle of the end of the end dual-degree-of-freedom flexible mechanism relative to its base.

[0011] In some embodiments of this application, the first angle adjustment structure includes: a first flexible member and a first connecting member;

[0012] The second angle adjustment structure includes: a second flexible member and a second connecting member;

[0013] The first connecting member has its base end being the base end of the first angle adjustment structure and is connected to the end of the adapter member; the base ends of the first connecting member and the second connecting member are rotatably connected around the second rotating axis.

[0014] The first flexible member is disposed between the first connecting member and the second connecting member and is fixedly connected to both of them, and is used to drive the second angle adjustment structure to rotate relative to the first angle adjustment structure about the second rotating axis.

[0015] The second connecting member, whose end is the end of the second angle adjustment structure, is capable of rotating about the third axis relative to its base end;

[0016] The second flexible member is fixedly connected to the end of the second connecting member and is used to drive the end of the second angle adjustment structure to rotate relative to the base end of the second angle adjustment structure around the third rotating shaft.

[0017] In some embodiments of this application, the first flexible member includes: two first flexible driving units;

[0018] The two first flexible drive units are arranged side by side; each of the first flexible drive units is connected to the first connecting member and the second connecting member at both ends in its length direction; each of the first flexible drive units is capable of extending and retracting in its length direction.

[0019] When the extension and retraction amounts of the two first flexible drive units are different, the second angle adjustment structure rotates a certain angle relative to the first angle adjustment structure around the second rotating axis.

[0020] In some embodiments of this application, the second flexible member includes: two second flexible drive units;

[0021] The two second flexible drive units are connected end to end; the ends of the two second flexible drive units that are far apart from each other are fixedly connected to the end of the second connecting member; the ends of the two second flexible drive units that are close to each other are fixedly connected to the ends of the two first flexible drive units that are far apart from the adapter member; each second flexible drive unit can extend and retract in its length direction.

[0022] When the extension and retraction of the two second flexible drive units are different, the end of the second angle adjustment structure rotates at a certain angle relative to its base end around the third rotating shaft.

[0023] In some embodiments of this application, the first flexible driving unit and the second flexible driving unit are both cylindrical, including: flexible sidewalls in a stacked structure and two end faces respectively disposed on both sides of the flexible sidewalls, wherein the flexible sidewalls and the two end faces together enclose a cylindrical cavity with a central axis;

[0024] The flexible sidewall can be folded or extended along its central axis to bring the two end faces closer to or further apart from each other.

[0025] The flexible sidewall is formed by stacking at least two strain-uniformly distributed stacked layers along the central axis.

[0026] The strain-distributed stacked layer is formed by two folded surfaces. A crease is formed at the connection between two adjacent folded surfaces. The crease is located in a crease surface perpendicular to the central axis. The creases on the spaced crease surfaces are closed shapes with the same shape. The creases on the spaced crease surfaces are the same size or gradually change along the central axis. In the initial state, the crease surface is planar. When the flexible sidewall is folded or extended, the crease surfaces move closer or further away from each other uniformly along the central axis without deformation, and without relative torsion or deflection.

[0027] In some embodiments of this application, the end effector pose holding assembly includes: a deceleration member, a first connector, a second connector, and a third connector;

[0028] The first connector has its end rotatably connected to the base end of the adapter at a first position point, and its base end rotatably connected to the end of the first arm segment at a second position point.

[0029] The second connector has its base end fixedly connected to the end of the second arm segment, and its end rotatably connected to the adapter at a third position point;

[0030] The third connector has its base end rotatably connected to the end of the first arm section at a fourth position point, and is drivenly connected to the first output shaft of the first arm section through the deceleration component. Its end is fixedly connected to the base end of the second arm section.

[0031] The first pose point, the second pose point, the third pose point, and the fourth pose point form a parallelogram mechanism so that when the second arm segment rotates around the first axis, the pitch angle and roll angle of the end connecting member remain unchanged.

[0032] In some embodiments of this application, the second connector has a first end fixedly connected to the end of the second support component of the second arm segment, and a second end extending obliquely downward away from the base end of the second arm segment, and connected to the adapter component at the third pose point;

[0033] The third connector has its first end fixedly connected to the base end of the second support component of the second arm segment, and its second end extending obliquely downward away from the end of the second arm segment, away from the second end of the second connector, and connected to the end of the first support component of the first arm segment at the fourth pose point.

[0034] The distance between the first pose point and the third pose point of the parallelogram mechanism is greater than 0.9 times the width of the second support component.

[0035] In some embodiments of this application, the end-effector pose retention assembly further includes: a prestressed elastic element;

[0036] One end of the prestressed elastic member is rotatably connected to the first support assembly at the fifth position point, and the other end is rotatably connected to the second support assembly at the sixth position point;

[0037] The distance from the fifth pose point to the line connecting the first pose point and the second pose point is greater than or equal to the distance from the sixth pose point to the line connecting the first pose point and the second pose point.

[0038] In some embodiments of this application, the adapter includes: an end turntable, a crossed roller bearing, a hinge structure, and a fourth connector;

[0039] The fourth connector has a bearing portion and a connecting portion. The bearing portion is spaced apart from the end of the second arm section and is rotatably connected to the end of the second arm section through the connecting portion.

[0040] The crossed roller bearing is embedded in the bearing portion, with its inner ring fixedly connected to the end turntable and its outer ring fixedly connected to the bearing portion.

[0041] The end turntable is located on the side of the bearing portion away from the second arm section, and its center protrudes upward to the inner ring of the crossed roller bearing and is fixedly connected to the inner ring, and is also fixedly connected to one end of the hinge structure; the side of the end turntable away from the second arm section is fixedly connected to the base end of the first angle adjustment structure.

[0042] The other end of the hinge mechanism is fixedly connected to the second output shaft of the second arm section, so that the second output shaft can drive the end turntable to rotate around the fourth shaft.

[0043] An embodiment of the second aspect of this application provides a robot including the robotic arm of any embodiment of the first aspect.

[0044] Beneficial effects:

[0045] The robotic arm of this embodiment includes an end effector posture holding assembly, and a first arm segment, a second arm segment, and an end effector connecting member sequentially connected from the base to the end. The second arm segment can rotate relative to the end of the first arm segment about a first pivot axis, adjusting the included angle between the first and second arm segments, thereby adjusting the position of the end effector connecting member. The end effector connecting member has its base connected to the end of the second arm segment and the end effector posture holding assembly, and its end for connecting to an end effector. Its end can rotate with active flexibility relative to its base about a second or third pivot axis, so that the end effector connecting member can adjust the pitch and roll angles of its end relative to its base. The end effector posture holding component is connected to the first arm segment, the second arm segment, and the end effector connecting member, respectively. This ensures that when the second arm segment rotates around the first axis, the pitch and roll angles of the end effector connecting member remain constant. This decouples the adjustment of the pitch and roll angles of the end effector connecting member relative to its base from the adjustment of the included angle between the first and second arm segments. In other words, adjusting the position of the end effector connecting member through the first and second arm segments does not affect its posture, giving the end effector mechanism (end effector connecting member) a stable reference posture. This allows the control and adjustment of the end effector to be based on a stable base posture. Compared to related technologies where end effector posture control and adjustment require a changing reference posture, the robotic arm of this embodiment allows end effector posture control and adjustment to be based on a stable base posture, thereby reducing the difficulty of end effector posture control.

[0046] The robotic arm in this embodiment achieves end-effector pose adjustment while simultaneously ensuring a stable reference pose for its end-effector mechanism (end-effector connecting member). This allows the control and adjustment of the end-effector's pose to be based on a stable base pose, thereby reducing the difficulty of controlling the end-effector's pose. The end of the end-effector connecting member can rotate flexibly relative to its base end around a second or third axis, enabling the robotic arm to flexibly control the pose adjustment of the end-effector. This allows for both pose adjustment and stiffness / flexibility control, providing a buffered, flexible pose adjustment for the end-effector connected to the robotic arm's end. It also buffers the contact between the end-effector and the object being executed, extending the robotic arm's lifespan, ensuring its accuracy, and enhancing the end-effector's pose adaptability to different objects and tasks.

[0047] The robot of this application includes a robotic arm according to any embodiment of the first aspect. The first segment, second segment, end effector, and end effector pose holding assembly of the robotic arm cooperate with each other to enable the end effector to have a stable reference posture, thereby allowing the control and adjustment of the end effector posture to be based on a stable base posture, thus reducing the difficulty of controlling the end effector posture. The end of the end effector can rotate actively and flexibly relative to its base end about a second or third axis, enabling the robotic arm to actively and flexibly control the pose of the end effector. While adjusting the posture, it can also control the stiffness and flexibility, providing the end effector connected to the end of the robotic arm with active and flexible pose adjustment with buffering capability, providing buffering for the contact between the end effector and the executed object, thereby extending the service life of the robot, ensuring its accuracy, and enhancing the end effector's pose adaptability to different executed objects and tasks.

[0048] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0049] 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 these drawings.

[0050] Figure 1 This is a schematic diagram of the structure of the robotic arm and end effector according to an embodiment of this application;

[0051] Figure 2 This is a schematic diagram of the structure of the robotic arm according to an embodiment of this application;

[0052] Figure 3 for Figure 2 A schematic diagram of the decomposed structure;

[0053] Figure 4 This is a diagram showing the connection relationship between the end connecting member and the second arm section in an embodiment of this application;

[0054] Figure 5 This is a diagram showing the connection relationship between the end-effector and the end effector in the embodiments of this application;

[0055] Figure 6 This is a first-view structural schematic diagram of the end-connecting member in an embodiment of this application;

[0056] Figure 7 This is an exploded structural diagram of the adapter component in the embodiments of this application;

[0057] Figure 8 This is a structural schematic diagram of the end connection member in the embodiments of this application from a second perspective;

[0058] Figure 9 This is a schematic diagram of the end-effector dual-degree-of-freedom flexible mechanism in this embodiment of the application, omitting one side plate;

[0059] Figure 10 This is a schematic diagram of the end-effector dual-degree-of-freedom flexible mechanism in this embodiment, omitting the first rotating connecting plate.

[0060] Figure 11 This is a cross-sectional view of the strain-uniformly distributed stacked layer in the embodiments of this application;

[0061] Figure 12 This is a partially exploded structural diagram of the second angle adjustment structure in an embodiment of this application;

[0062] Figure 13 This diagram illustrates the connection relationship between the end-effector pose retention component and the first arm segment, the second arm segment, and the end-effector connecting member in the embodiments of this application.

[0063] Figure 14 for Figure 13 A structural diagram omitting one connecting part;

[0064] Figure 15 This is a schematic diagram of the first arm segment from a first-view perspective in an embodiment of this application;

[0065] Figure 16 This is a structural schematic diagram of the first arm segment from a second perspective in an embodiment of this application;

[0066] Figure 17 This is a schematic diagram of the second arm segment from a first-view perspective in an embodiment of this application;

[0067] Figure 18 This is a structural schematic diagram of the second arm segment from a second perspective in an embodiment of this application.

[0068] Explanation of reference numerals in the attached figures:

[0069] Robotic arm 10; end effector 20; first rotary axis S1; second rotary axis S2; third rotary axis S3; fourth rotary axis S4; fifth rotary axis S5; first pose point P1; second pose point P2; third pose point P3; fourth pose point P4; fifth pose point P5; sixth pose point P6;

[0070] First boom section 100; First support assembly 110; First support plate 111; Second support plate 112; First connecting plate 113; Connecting seat 114; First intermediate connecting plate 115; Second intermediate connecting plate 116; First connecting shaft 117; Second connecting shaft 118; First output shaft 120; Second boom section 200; Second support assembly 210; Third support plate 211; Fourth support plate 212; Second connecting plate 213; Third intermediate connecting plate 214; Fourth intermediate connecting plate 215; Third connecting shaft 216; Second output shaft 220;

[0071] End connecting component 300; adapter component 310; end turntable 311; crossed roller bearing 312; inner ring 3121; outer ring 3122; hinge structure 313; fourth connector 314; bearing part 3141; connecting part 3142; hinge link 315; end dual-degree-of-freedom flexible mechanism 320; first angle adjustment structure 321; first flexible component 3211; first flexible drive unit 32111; first connecting component 3212; top plate 32121; side plate 32122; second angle adjustment structure 322; second flexible component 3221 Second flexible drive unit 32211; Second connecting member 3222; Upper support plate 32221; Lower support plate 32222; First rotating connecting plate 32223; Second rotating connecting plate 32224; First cover plate 32225; Bearing 32226; Fourth connecting shaft 32227; Second cover plate 32228; Separating fastener 32229; Intermediate fastener 3223; End face 331; Flexible sidewall 332; Strain uniformly distributed stacked layer 3321; Folded surface 33211; Crease 33212; Crease surface M; Air valve 333; Central axis N;

[0072] End-effector posture holding assembly 400; deceleration component 410; driving wheel 411; driven wheel 412; third output shaft 413; first connector 420; second connector 430; third connector 440; prestressed elastic component 450; first encoder 510; first damper 520; second encoder 530; second damper 540. Detailed Implementation

[0073] 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 based on this application are within the protection scope of the present utility model.

[0074] When a rigid robotic arm adjusts its end effector position, the posture of the end effector connected to the end of the arm changes with the position of the end effector. Therefore, the control and adjustment of the end effector posture needs to be based on the changing reference posture, which makes the control and adjustment of the end effector posture more difficult. At the same time, the end effector directly and rigidly contacts the object being executed with a large force, lacking buffering. This not only easily damages the object being executed, but may also cause permanent damage to the robotic arm structure itself, seriously affecting the service life and accuracy of the robotic arm.

[0075] like Figures 1 to 3 As shown, Figure 1 This is a schematic diagram of the structure of the robotic arm 10 and the end effector 20 according to an embodiment of this application. Figure 2 This is a schematic diagram of the structure of the robotic arm 10 according to an embodiment of this application. Figure 3 for Figure 2 The exploded structural diagram shows that an embodiment of the first aspect of this application proposes a robotic arm 10, which includes an end effector posture holding assembly 400, and a first arm segment 100, a second arm segment 200, and an end effector connecting member 300 sequentially connected from the base end to the end end; the second arm segment 200 is rotatable relative to the end end of the first arm segment 100 about a first pivot S1; the end effector connecting member 300 has its base end connected to the end end of the second arm segment 200 and the end effector posture holding assembly 400 respectively, and its end end is used to connect to an end effector 20; its end... The end can rotate with active flexibility relative to its base end around the second pivot S2 or the third pivot S3, so that the end connecting member 300 can adjust the pitch angle and roll angle of its end relative to its base end; the first pivot S1 is parallel to the second pivot S2 and perpendicular to the third pivot S3; the end pose holding component 400 is connected to the first arm segment 100, the second arm segment 200 and the end connecting member 300 respectively, so that when the second arm segment 200 rotates around the first pivot S1, the pitch angle and roll angle of the end connecting member 300 remain unchanged.

[0076] It should be noted that "base end" refers to the end closest to the root of the robotic arm 10 in the connection relationship, that is, the end furthest from the end effector 20; "end point" refers to the end closest to the end of the robotic arm 10 in the connection relationship, that is, the end closest to the end effector 20. "Pitch angle" refers to the angle of rotation about the Y-axis; "roll angle" refers to the angle of rotation about the X-axis; the X-axis, Y-axis, and Z-axis are perpendicular to each other. Active flexible rotational motion refers to the rotation of the end of the end-connecting member 300 relative to the base end about the second rotation axis S2 or the third rotation axis S3, which is a rotational motion performed under the action of a flexible driving force.

[0077] The robotic arm 10 of this embodiment includes an end effector posture holding assembly 400, and a first arm segment 100, a second arm segment 200, and an end effector connecting member 300 sequentially connected from the base to the end. The second arm segment 200 can rotate relative to the end of the first arm segment 100 about a first pivot S1, adjusting the angle between the first arm segment 100 and the second arm segment 200, thereby adjusting the position of the end effector connecting member 300. The end effector connecting member 300 has its base connected to the end of the second arm segment 200 and the end effector posture holding assembly 400, and its end is used to connect to an end effector 20. Its end can rotate with active flexibility relative to its base about a second pivot S2 or a third pivot S3, so that the end effector connecting member 300 can adjust the pitch angle and roll of its end relative to its base. An end effector posture holding component 400 is connected to the first arm segment 100, the second arm segment 200, and the end effector connecting member 300, respectively. This ensures that when the second arm segment 200 rotates around the first pivot S1, the pitch and roll angles of the end effector connecting member 300 remain constant. This decouples the adjustment of the pitch and roll angles of the end effector connecting member 300 relative to its base from the adjustment of the angle between the first arm segment 100 and the second arm segment 200. In other words, adjusting the position of the end effector connecting member 300 through the first arm segment 100 and the second arm segment 200 does not affect the posture of the end effector connecting member 300. This allows the end effector mechanism (end effector connecting member 300) of the robotic arm 10 to have a stable reference posture, thus enabling the control adjustment of the end effector 20 to be based on a stable base posture. Compared to related technologies where the control adjustment of the end effector posture needs to be based on a changing reference posture, the robotic arm 10 of this embodiment allows the control adjustment of the end effector 20 posture to be based on a stable base posture, thereby reducing the difficulty of controlling the end effector 20 posture.

[0078] The robotic arm 10 of this embodiment, while achieving end-effector pose adjustment, also ensures that the end-effector mechanism (end-effector connecting member 300) of the robotic arm 10 has a stable reference pose. This allows the control and adjustment of the end effector 20's pose to be based on a stable base pose, thereby reducing the difficulty of controlling the end effector 20's pose. The end of the end-effector connecting member 300 can rotate actively and flexibly relative to its base end around the second pivot S2 or the third pivot S3. This allows the robotic arm 10 to actively and flexibly control the pose adjustment of the end effector 20, achieving both pose adjustment and stiffness control. This provides the end effector 20 connected to the end of the robotic arm 10 with active and flexible pose adjustment, buffering the contact between the end effector 20 and the object being executed. This extends the service life of the robotic arm 10, ensures its accuracy, and enhances the end effector 20's pose adaptability to different objects and tasks.

[0079] In some embodiments of this application, such as Figures 4 to 6 As shown, Figure 4 This is a diagram showing the connection relationship between the end connecting member 300 and the second arm section 200 in an embodiment of this application. Figure 5 This is a diagram showing the connection relationship between the end-effector 300 and the end effector 20 in an embodiment of this application. Figure 6 This is a first-view structural schematic diagram of the end-connecting member 300 in an embodiment of this application. The end-connecting member 300 includes a transition member 310 and an end-effector dual-degree-of-freedom flexible mechanism 320. The transition member 310 is connected to the end of the second arm segment 200, the end-effector posture holding assembly 400, and the end-effector dual-degree-of-freedom flexible mechanism 320, respectively. The base end of the transition member 310 is the base end of the end-connecting member 300. The end-effector dual-degree-of-freedom flexible mechanism 320 includes a first angle adjustment structure 321 and a second angle adjustment structure 322. The first angle adjustment structure 321 has its base end fixedly connected to the end of the adapter 310; the second angle adjustment structure 322 has its base end capable of actively and flexibly rotating relative to the first angle adjustment structure 321 around the second rotating axis S2, and its end end is the end of the end connecting member 300, used to be fixedly connected to the end actuator 20, so that the first angle adjustment structure 321 can adjust the pitch angle of the end of the end dual-degree-of-freedom flexible mechanism 320 relative to its base end; the second angle adjustment structure 322 has its end end capable of actively and flexibly rotating relative to its base end around the third rotating axis S3, so that the second angle adjustment structure 322 can adjust the roll angle of the end of the end dual-degree-of-freedom flexible mechanism 320 relative to its base end.

[0080] The first angle adjustment structure 321 can adjust the pitch angle of the end effector 320 relative to its base, and the second angle adjustment structure 322 can adjust the roll angle of the end effector 320 relative to its base. The pitch and roll angles can be adjusted separately without affecting each other, facilitating precise adjustment of the position and posture of the end effector 10. By controlling the relative rotation angle of the first angle adjustment structure 321 and the second angle adjustment structure 322 around the second axis S2, the pitch angle of the end effector 320 relative to its base can be adjusted. By controlling the relative rotation angle of the end effector 322 around the third axis S3, the roll angle of the end effector 320 relative to its base can be adjusted. The control method is simple and highly accurate.

[0081] In some embodiments of this application, such as Figures 4 to 7 As shown, Figure 7 This is an exploded view of the adapter component 310 in this embodiment. The adapter component 310 includes an end turntable 311, a crossed roller bearing 312, a hinge structure 313, and a fourth connector 314. The fourth connector 314 has a bearing portion 3141 and a connecting portion 3142. The bearing portion 3141 is spaced apart from the end of the second arm section 200 and is rotatably connected to the end of the second arm section 200 through the connecting portion 3142. The crossed roller bearing 312 is embedded in the bearing portion 3141, with its inner ring 3121 fixedly connected to the end turntable 311 and its outer ring 3122 fixedly connected to the bearing portion 3141. The bearing part 3141 is fixedly connected; the end turntable 311 is located on the side of the bearing part 3141 away from the second arm section 200, and its center protrudes upward to the inner ring 3121 of the crossed roller bearing 312, and is fixedly connected to the inner ring 3121, and is fixedly connected to one end of the hinge structure 313; the side of the end turntable 311 away from the second arm section 200 is fixedly connected to the base end of the first angle adjustment structure 321; the other end of the hinge mechanism is fixedly connected to the second output shaft 220 of the second arm section 200, so that the second output shaft 220 can drive the end turntable 311 to rotate around the fourth rotating shaft S4.

[0082] The inner ring 3121 and outer ring 3122 of the crossed roller bearing 312 can rotate relative to each other. The end turntable 311 is fixedly connected to the inner ring 3121 of the crossed roller bearing 312 and is connected to the second output shaft 220 of the second arm section 200 through the hinge structure 313. The end turntable 311 can rotate around the fourth shaft S4 with the second output shaft 220, so that the end turntable 311 can withstand the end load and rotate precisely to the specified angle.

[0083] like Figure 1 and Figure 4As shown, the second output shaft 220 of the second arm section 200 has an angle between its axial direction (fifth rotating shaft S5) and the rotation axis (fourth rotating shaft S4) of the end turntable 311. The angle changes as the second arm section 200 rotates around the first rotating shaft S1 relative to the first arm section 100. The second output shaft 220 is connected to the end turntable 311 by a hinge structure 313, which can transmit torque even when the axial direction of the second output shaft 220 is at a certain angle to the rotation axis of the end turntable 311. This angle can be changed, thereby ensuring transmission accuracy and preventing mechanical damage caused by direct connection between the second output shaft 220 and the end turntable 311.

[0084] Optionally, such as Figure 7 As shown, the end turntable 311 can be a flange; the hinge structure 313 can be a Hooke hinge, including a universal joint structure, and the hinge structure 313 is connected to the end turntable 311 through the hinge link 315.

[0085] In some embodiments of this application, such as Figures 6 to 8 As shown, Figure 8 This is a schematic diagram of the end connecting member 300 from a second perspective in an embodiment of this application. The first angle adjustment structure 321 includes a first flexible member 3211 and a first connecting member 3212; the second angle adjustment structure 322 includes a second flexible member 3221 and a second connecting member 3222; the base end of the first connecting member 3212 is the base end of the first angle adjustment structure 321 and is connected to the end of the adapter member 310; the base ends of the first connecting member 3212 and the second connecting member 3222 are rotatably connected around the second rotating axis S2; the first flexible member 3211 is disposed on the first... A connecting member 3212 is fixedly connected to and from a second connecting member 3222, and to both of them, for driving the second angle adjustment structure 322 to rotate relative to the first angle adjustment structure 321 about a second rotating shaft S2; the second connecting member 3222, whose end is the end of the second angle adjustment structure 322, is capable of rotating relative to its base end about a third rotating shaft S3; the second flexible member 3221 is fixedly connected to the end of the second connecting member 3222, for driving the end of the second angle adjustment structure 322 to rotate relative to its base end about a third rotating shaft S3.

[0086] The first connecting member 3212 and the second connecting member 3222 serve to support and assist movement; the first flexible member 3211 and the second flexible member 3221 serve as driving members, both of which can provide flexible driving force, so that the second rotating shaft S2 and the third rotating shaft S3 of the end-effector dual-degree-of-freedom flexible mechanism 320 are flexible joints, providing active flexible pose adjustment with buffering capability for the end effector 20 connected to the end of the robotic arm 10, thereby protecting the structure of the executed object and the robotic arm 10 itself.

[0087] In some embodiments of this application, such as Figures 8 to 9 As shown, Figure 9 This is a schematic diagram of the end-effector dual-degree-of-freedom flexible mechanism 320 in this embodiment of the application, omitting one side plate 32122. Figure 10 The diagram below shows the structure of the end-effector dual-degree-of-freedom flexible mechanism 320 in this embodiment, omitting the first rotating connecting plate 32223. The first flexible component 3211 includes two first flexible drive units 32111. The two first flexible drive units 32111 are arranged side by side. Each first flexible drive unit 32111 is connected to the first connecting component 3212 and the second connecting component 3222 at both ends of its length direction. Each first flexible drive unit 32111 can extend and retract in its length direction. When the extension and retraction amounts of the two first flexible drive units 32111 are different, the second angle adjustment structure 322 rotates relative to the first angle adjustment structure 321 around the second rotating axis S2 by a certain angle.

[0088] Since both ends of the two first flexible drive units 32111 are fixed, changing the extension and retraction of the two first flexible drive units 32111 can cause the end faces 331 connecting the two first flexible drive units 32111 and the second connecting member 3222 to tilt, thereby causing the second angle adjustment structure 322 to rotate around the second axis S2 relative to the first angle adjustment structure 321. By changing the extension and retraction of the first flexible drive units 32111, making the extension and retraction of the two first flexible drive units 32111 different, the rotation of the second angle adjustment structure 322 relative to the first angle adjustment structure 321 around the second axis S2 can be achieved, that is, the pitch angle adjustment of the end of the end-effector dual-degree-of-freedom flexible mechanism 320 relative to its base end can be achieved, and the adjustment method is simple; the first flexible drive unit 32111 provides flexible driving force, so that the end of the end-effector dual-degree-of-freedom flexible mechanism 320 can rotate around the second axis S2 with active flexibility relative to its base end.

[0089] In some embodiments of this application, such as Figures 8 to 10 As shown, the second flexible member 3221 includes two second flexible drive units 32211; the two second flexible drive units 32211 are connected end to end; the ends of the two second flexible drive units 32211 that are far apart from each other are fixedly connected to the end of the second connecting member 3222; the ends of the two second flexible drive units 32211 that are close to each other are fixedly connected to the ends of the two first flexible drive units 32111 that are far away from the adapter member 310; each second flexible drive unit 32211 can extend and retract in its length direction; when the extension and retraction amounts of the two second flexible drive units 32211 are different, the end of the second angle adjustment structure 322 rotates relative to its base end around the third rotating axis S3 by a certain angle.

[0090] Since both ends of the two second flexible drive units 32211 are fixed, changing the extension and retraction of the two second flexible drive units 32211 can cause the central axis of the second flexible member 3221 to tilt, thereby causing the base end and the end end of the second angle adjustment structure 322 to rotate relative to each other around the third rotation axis S3 by a certain angle. By changing the extension and retraction of the two second flexible drive units 32211, making the extension and retraction of the two second flexible drive units 32211 different, the rotation of the end end of the second angle adjustment structure 322 relative to its base end around the third rotation axis S3 can be achieved, that is, the roll angle adjustment of the end end of the end dual-degree-of-freedom flexible mechanism 320 relative to its base end can be achieved, and the adjustment method is simple; the second flexible drive unit 32211 provides flexible driving force, so that the end end of the end dual-degree-of-freedom flexible mechanism 320 can rotate with active flexibility relative to its base end around the third rotation axis S3.

[0091] In some embodiments of this application, such as Figures 8 to 10 As shown, the first connecting member 3212 includes a top plate 32121 and two side plates 32122. The top plate 32121 is the base end of the first connecting member 3212. The side of the top plate 32121 away from the second connecting member 3222 is fixedly connected to the bottom of the end turntable 311, and the side of the top plate 32121 close to the second connecting member 3222 is connected to one end of the first flexible member 3211. The two side plates 32122 are respectively arranged on opposite sides of the top plate 32121 and extend from the top plate 32121 towards the direction close to the second angle adjustment structure 322. The side plates 32122 can be located outside the first flexible member 3211. Each side plate 32122 is connected to the base end of the second connecting member 3222, and both connection points are located on the second rotating shaft S2. The connection points can be located at the middle position of the first flexible member 3211 in its own height direction, which helps to improve control accuracy.

[0092] like Figures 6 to 10 As shown, the second connecting member 3222 includes an upper support plate 32221, a lower support plate 32222, a first rotating connecting plate 32223, and a second rotating connecting plate 32224. The upper support plate 32221 is disposed opposite to the top plate 32121 and is fixedly connected to the end of the first flexible member 3211 away from the top plate 32121. The lower support plate 32222 is disposed on the side of the upper support plate 32221 away from the first connecting member 3212. The lower support plate 32222 may be annular and includes four sidewall plates connected in sequence. The lower support plate 32222 is the end of the second connecting member 3222, i.e., the end of the end connecting member 300, and is used to connect to the end effector 20.

[0093] One end of the first rotating connecting plate 32223 is fixedly connected to the upper support plate 32221, and the other end is rotatably connected to the lower support plate 32222, and can rotate relative to the lower support plate 32222 around the third rotating axis S3; the second rotating connecting plate 32224 is arranged opposite to the first rotating connecting plate 32223, and its end near the first connecting member 3212 extends toward the first connecting member 3212 to form two connecting ends that exceed the upper support plate 32221. The connecting ends form the base end of the second angle adjustment structure 322. Each connecting end is rotatably connected to one side plate 32122 of the first connecting member 3212. The second rotating connecting plate 32224 can rotate relative to the side plate 32122 around the second rotating axis S2. The other end of the second rotating connecting plate 32224 is rotatably connected to the lower support plate 32222, and can rotate relative to the lower support plate 32222 around the third rotating axis S3.

[0094] like Figures 6 to 10 As shown, the upper support plate 32221, the lower support plate 32222, the first rotating connecting plate 32223, and the second rotating connecting plate 32224 together enclose the receiving space of the second flexible member 3221. Two second flexible drive units 32211 are connected end-to-end in sequence. In the initial state, the extension direction of the two second flexible drive units 32211 is parallel to the second rotating shaft S2. The ends of the two second flexible drive units 32211 that are far apart from each other are fixedly connected to a side wall plate of the lower support plate 32222, and the ends of the two flexible drive units that are close to each other are fixedly connected to the first rotating connecting plate 32223 and the upper support plate 32221, respectively.

[0095] Optionally, an intermediate fixing member 3223 may be provided at the connection point of the two second flexible drive units 32211. The intermediate fixing member 3223 is fixedly connected to the first rotating connecting plate 32223 and the upper support plate 32221 respectively. The end faces 331 of the two second flexible drive units 32211 that are close to each other can be shared to form the intermediate fixing member 3223.

[0096] In some embodiments of this application, such as Figures 6 to 11 As shown, Figure 11This is a cross-sectional view of the strain-uniformly distributed stacked layer 3321 in the embodiments of this application. The first flexible driving unit 32111 and the second flexible driving unit 32211 are both cylindrical, including flexible sidewalls 332 in a stacked structure and two end faces 331 respectively disposed on both sides of the flexible sidewalls 332. The flexible sidewalls 332 and the two end faces 331 together enclose a cylindrical cavity with a central axis N. The flexible sidewalls 332 can be folded or extended along their central axis N, so that the two end faces 331 move closer or further apart. The flexible sidewalls 332 are formed by stacking at least two strain-uniformly distributed stacked layers 3321 along the central axis N; strain The uniformly distributed stacked layer 3321 is formed by two folded surfaces 33211. A crease 33212 is formed at the connection between two adjacent folded surfaces 33211. The crease 33212 is located in the crease surface M perpendicular to the central axis N. The creases 33212 on the spaced crease surface M are closed shapes with the same shape. The creases 33212 on the spaced crease surface M are the same size or gradually change along the central axis N. In the initial state, the crease surface M is a plane. When the flexible sidewall 332 is folded or extended, the crease surfaces M move closer or further away from each other uniformly along the central axis N without deformation, and without relative torsion or deflection.

[0097] Changing the pressure difference between the inside and outside of the cylindrical cavity can drive the flexible sidewall 332, which has a stacked structure, to fold or extend, while causing the two end faces 331 to move relative to each other. The flexible sidewall 332 is formed by stacking at least two strain-uniformly distributed stacked layers 3321 along the central axis N, so that the strain of the entire flexible sidewall 332 is evenly distributed in each strain-uniformly distributed stacked layer 3321, making the force on each strain-uniformly distributed stacked layer 3321 more uniform, and the output torque of the flexible drive unit more stable. The creases 33212 on the spaced crease surfaces M are closed shapes with the same shape, and the creases 33212 on the spaced crease surfaces M are the same size or gradually change along the central axis N, so that the change in volume of the cylindrical cavity during its expansion and contraction is linearly related to the expansion and contraction length.

[0098] In some embodiments of this application, both the first flexible drive unit 32111 and the second flexible drive unit 32211 can be pneumatically driven and equipped with an air valve 333. The amount of gas inside the first flexible drive unit 32111 or the second flexible drive unit 32211 is changed by the air valve 333, thereby altering its extension and contraction. The control method is simple. Optionally, both the first flexible drive unit 32111 and the second flexible drive unit 32211 can be pneumatic muscles or airbags, etc.

[0099] In some embodiments of this application, such as Figure 10 and Figure 12 As shown, Figure 12This is a partially exploded view of the second angle adjustment structure 322 in this embodiment. A first damper 520 and a first encoder 510 are located at the second rotating shaft S2; a second damper 540 and a second encoder 530 are located at the third rotating shaft S3. The first damper 520 allows the first flexible drive unit 32111 to reach the preset value faster, reducing the oscillation period; the second damper 540 allows the second flexible drive unit 32211 to reach the preset value faster, reducing the oscillation period; the first encoder 510 and the second encoder 530 are installed at the very end of the output, effectively improving control accuracy.

[0100] Optionally, the two connecting ends of the second rotating connecting plate 32224 are respectively connected to the side plate 32122 of the first connecting member 3212 via a fourth connecting shaft 32227 and a bearing 32226; the first damper 520 and the first encoder 510 are respectively sleeved on a fourth connecting shaft 32227, and the end of the fourth connecting shaft 32227 with the first damper 520 is provided with a first cover plate 32225, which covers the first damper 520. The first rotating connecting plate 32223 and the lower support plate 32222 are connected by a fourth connecting shaft 32227. The second damper 540 and the second encoder 530 are connected to the fourth connecting shaft 32227. The second damper 540 is located outside the second encoder 530. A separating fixing member 32229 is provided between the two. The end of the fourth connecting shaft 32227 is provided with a second cover plate 32228, which covers the second damper 540.

[0101] In some embodiments of this application, such as Figure 3 , Figure 13 and Figure 14 As shown, Figure 13 This diagram illustrates the connection relationship between the end effector pose retention assembly 400, the first arm segment 100, the second arm segment 200, and the end effector connecting member 300 in this embodiment of the application. Figure 14 for Figure 13The structural diagram of a connecting part 3142 is omitted. The end effector pose holding assembly 400 includes a deceleration member 410, a first connector 420, a second connector 430, and a third connector 440. The first connector 420 has its end rotatably connected to the base end of the adapter member 310 at a first pose point P1, and its base end rotatably connected to the end of the first arm segment 100 at a second pose point P2. The second connector 430 has its base end fixedly connected to the end of the second arm segment 200, and its end rotatably connected to the adapter member 310 at the third pose point P2. P3 is the pose point; the third connecting member 440 has its base end rotatably connected to the end of the first arm segment 100 at the fourth pose point P4, and is drivenly connected to the first output shaft 120 of the first arm segment 100 through the deceleration member 410, and its end is fixedly connected to the base end of the second arm segment 200; the first pose point P1, the second pose point P2, the third pose point P3 and the fourth pose point P4 form a parallelogram mechanism so that when the second arm segment 200 rotates around the first rotating shaft S1, the pitch angle and roll angle of the end connecting member 300 remain unchanged.

[0102] The first pose point P1, the second pose point P2, the third pose point P3, and the fourth pose point P4 form a parallelogram mechanism, such as... Figure 13 The parallelogram shown by the dashed line ensures that the posture of the transition member 310 is not affected by the angle of the second arm section 200 relative to the first arm section 100, maintaining a stable tilt angle. This allows the end-effector 300 of the robotic arm 10 to have a stable reference posture, facilitating the control and adjustment of the posture of the end effector 20.

[0103] A reduction gear 410 is installed at the first output shaft 120 of the first boom section 100, which can improve the load capacity of the first boom section 100 and increase torque output. The parallelogram mechanism can maintain the angle of the end face of the adapter 310 without increasing the power for angle control, which is beneficial for cost control. Optionally, the first connecting member 420 can be a tie rod. The parallel four-bar linkage structure (parallelogram mechanism) composed of tie rods can keep the end face of the adapter 310 at a certain angle. The linkage characteristic can eliminate the need for a joint motor to adjust the angle of the end face (end turntable 311) of the adapter 310, saving costs.

[0104] like Figure 3 and Figure 13 As shown, the deceleration component 410 can be located outside the first support component 110, including a driving wheel 411 and a driven wheel 412 that are meshed together; the driving wheel 411 is connected to the first output shaft 120, and the driven wheel 412 is connected to the third connector 440 through the third output shaft 413.

[0105] Optionally, the first output shaft 120 and the second output shaft 220 can each be driven by a motor (not shown in the figure). The first output shaft 120 and the second output shaft 220 are connected to the motor output shaft and rotate with the motor output shaft.

[0106] In some embodiments of this application, such as Figure 3 , Figure 13 and Figure 14 As shown, the second connector 430 has its first end fixedly connected to the end of the second support component 210 of the second arm segment 200, and its second end extends obliquely downward away from the base end of the second arm segment 200, and is connected to the adapter component 310 at the third pose point P3; the third connector 440 has its first end fixedly connected to the base end of the second support component 210 of the second arm segment 200, and its second end extends obliquely downward away from the end of the second arm segment 200, away from the second end of the second connector 430, and is connected to the end of the first support component 110 of the first arm segment 100 at the fourth pose point P4; the distance L2 from the first pose point P1 to the third pose point P3 of the parallelogram mechanism is greater than 0.9 times the width L1 of the second support component 210, thereby providing sufficient support torque for the end connecting component 300, while avoiding interference during the rotation of the arm segment itself.

[0107] In some embodiments of this application, such as Figure 13 and Figure 14 As shown, the end effector posture holding assembly 400 also includes a prestressed elastic element 450; one end of the prestressed elastic element 450 is rotatably connected to the first support assembly 110 at the fifth posture point P5, and the other end is rotatably connected to the second support assembly 210 at the sixth posture point P6; the distance L3 from the fifth posture point P5 to the line connecting the first posture point P1 and the second posture point P2 is greater than or equal to the distance L4 from the sixth posture point P6 to the line connecting the first posture point P1 and the second posture point P2. The prestressed elastic element 450 can effectively counteract the gravitational load of the boom segment and end effector, reduce the torque requirement of the drive component of the first boom segment 100, and prestress supports the second boom segment 200 to maintain its preset posture. The prestressed elastic element 450 can be a linear elastic element such as a gas spring or a hydraulic spring; specifically, a nitrogen spring can be selected. Nitrogen springs have the advantages of large and constant elastic force, which can generate a large elastic force in a small volume, and the elastic force remains basically constant throughout the entire stroke.

[0108] The number of the first connector 420, the second connector 430, the third connector 440 and the prestressed elastic element 450 of the end-effector pose holding assembly 400 can all be two, arranged symmetrically, to provide more stable control for the end-effector adjustment of the robotic arm 10.

[0109] like Figures 15 to 18 As shown, Figure 15This is a structural schematic diagram of the first arm segment 100 from a first-view perspective in an embodiment of this application. Figure 16 This is a structural schematic diagram of the first arm segment 100 from a second perspective in an embodiment of this application. Figure 17 This is a structural schematic diagram of the second arm segment 200 from a first-view perspective in an embodiment of this application. Figure 18 This is a structural schematic diagram of the second arm section 200 from a second perspective in an embodiment of this application. The first arm section 100 includes a first support component 110, and the second arm section 200 includes a second support component 210. The first support component 110 and the second support component 210 play a supporting role and provide an installation foundation for the installation of other components.

[0110] In some embodiments of this application, such as Figure 1 , Figure 15 and Figure 16 As shown, the first support assembly 110 includes a first support plate 111, a second support plate 112, a first connecting plate 113, a connecting seat 114, a first intermediate connecting plate 115, and a second intermediate connecting plate 116. There are two first support plates 111, which are arranged opposite each other in the thickness direction of the first arm segment 100, located at the end of the first support assembly 110. The ends of the two first support plates 111 away from the second arm segment 200 are fixedly connected to the first intermediate connecting plate 115; the ends of the two first support plates 111 near the second arm segment 200 are connected to the end-effector posture holding assembly 400, and are connected to the second arm segment 200 through the end-effector posture holding assembly 400. Specifically, the first output shaft 120 can pass through the two first support plates 111 and is rotatably connected to the two first support plates 111. The driving wheel 411 of the deceleration component 410 is connected to the first output shaft 120. The driving wheel 411 and the driven wheel 412 mesh with each other and are arranged on the outside of a first support plate 111. The driven wheel 412 is connected to the two first support plates 111 through a third output shaft 413 that passes through the two first support plates 111. On the side of the two first support plates 111 that are far apart from each other, a first connecting shaft 117 and a second connecting shaft 118 can be respectively provided. The first connecting shaft 117 is rotatably connected to one end of the prestressed elastic member 450, and the second connecting shaft 118 is rotatably connected to the base end of the first connecting member 420.

[0111] There are two second support plates 112. The two second support plates 112 are arranged opposite each other in the thickness direction of the first arm section 100 and are located at the base end of the first support assembly 110. One end of the two second support plates 112 near the second arm section 200 is fixedly connected to the second intermediate connecting plate 116, and the other end is fixedly connected to the connecting seat 114.

[0112] The first intermediate connecting plate 115 and the second intermediate connecting plate 116 are arranged opposite to each other and spaced apart along the length of the first arm section 100, and are fixedly connected by a plurality of first connecting plates 113. The number of first connecting plates 113 can be four, wherein two first connecting plates 113 are arranged opposite to each other along the width of the second arm section 200, and the remaining two first connecting plates 113 are arranged opposite to each other along the thickness of the second arm section 200. The first connecting plates 113 can have a hollow structure, thereby helping to reduce the weight of the second arm section 200. Specifically, the first connecting plates 113 can be mesh plates.

[0113] In some embodiments of this application, such as Figure 1 , Figure 17 and Figure 18 As shown, the second support assembly 210 includes a third support plate 211, a fourth support plate 212, a second connecting plate 213, a third intermediate connecting plate 214, and a fourth intermediate connecting plate 215. There are two third support plates 211, which are arranged opposite each other in the thickness direction of the second arm segment 200 and located at the end of the second support assembly 210. The ends of the two second support plates 112 near the first arm segment 100 are fixedly connected to the third intermediate connecting plate 214, and the ends away from the first arm segment 100 are connected to the end connecting member 300 and the end pose holding assembly 400. Specifically, the second support plate 112 near the end connecting member 300 can be fixedly connected to the two second connecting members 430 of the end pose holding assembly 400, and connected to the adapter member 310 of the end connecting member 300 through the second connecting members 430. The second output shaft 220 can pass through the two third support plates 211 and is rotatably connected to the two third support plates 211, and is connected to the adapter member 310.

[0114] There are two fourth support plates 212. The two fourth support plates 212 are arranged opposite each other in the thickness direction of the second arm section 200 and are located at the base end of the second support assembly 210. The ends of the two fourth support plates 212 away from the first arm section 100 are fixedly connected to the fourth intermediate connecting plate 215, and the ends of the two fourth support plates 212 close to the first arm section 100 are fixedly connected to the ends of the two third connecting members 440 respectively. The base ends of the two third connecting members 440 are respectively connected to the first arm section 100 through the third output shaft 413.

[0115] The third intermediate connecting plate 214 and the fourth intermediate connecting plate 215 are arranged opposite to each other and spaced apart along the length of the second arm section 200. They are fixedly connected by multiple second connecting plates 213. The number of second connecting plates 213 can be four, of which two second connecting plates 213 are arranged opposite to each other along the width of the second arm section 200, and the remaining two second connecting plates 213 are arranged opposite to each other along the thickness of the second arm section 200. On the side of the two second connecting plates 213 arranged opposite to each other along the thickness of the second arm section 200, a third connecting shaft 216 can be provided. The third connecting shaft 216 is connected to the end of the prestressed elastic member 450. The second connecting plate 213 can have a hollow structure, which helps to reduce the weight of the second arm section 200. Specifically, the first connecting plate 113 can be a grid plate.

[0116] In some embodiments of this application, the first arm segment 100 and the second arm segment 200 may further include a housing (not shown in the figure), which covers the outside of the first support assembly 110 or the second support assembly 210 and serves a protective function.

[0117] An embodiment of the second aspect of this application provides a robot including a robotic arm 10 according to any embodiment of the first aspect.

[0118] The robot of this application includes a robotic arm 10 according to any embodiment of the first aspect. The first arm segment 100, the second arm segment 200, the end effector 300, and the end effector pose holding component 400 of the robotic arm 10 cooperate with each other, so that the end effector 300 of the robotic arm 10 has a stable reference posture, thereby making the posture control and adjustment of the end effector 20 based on the stable base posture, thus reducing the difficulty of controlling the posture of the end effector 20. The end of the end effector 300 can rotate with active flexibility relative to its base end around the second rotation axis S2 or the third rotation axis S3, so that the posture control and adjustment of the end effector 20 by the robotic arm 10 has active flexibility. While realizing posture adjustment, it can also realize stiffness and flexibility control, providing active flexible posture adjustment with buffering capability for the end effector 20 connected to the end of the robotic arm 10, providing buffering for the contact between the end effector 20 and the executed object, thereby extending the service life of the robot, ensuring its accuracy, and enhancing the posture adaptability of the end effector 20 to different executed objects and work tasks.

[0119] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model are included within the scope of protection of this utility model.

Claims

1. A robotic arm, characterized in that, include: The end-effector pose retention assembly (400) and the first arm segment (100), the second arm segment (200) and the end-effector connection member (300) are sequentially connected from the base end to the end end; The second arm segment (200) can rotate about the first pivot (S1) relative to the end of the first arm segment (100); The end connection member (300) has its base end connected to the end of the second arm segment (200) and the end pose holding assembly (400) respectively, and its end is used to connect to the end actuator (20); Its end can rotate with active flexibility relative to its base end about a second rotating shaft (S2) or a third rotating shaft (S3) so that the end connecting member (300) can adjust the pitch angle and roll angle of its end relative to its base end; the first rotating shaft (S1) is parallel to the second rotating shaft (S2) and perpendicular to the third rotating shaft (S3); The end effector pose holding assembly (400) is connected to the first arm segment (100), the second arm segment (200) and the end effector connecting member (300) respectively, so that when the second arm segment (200) rotates around the first pivot (S1), the pitch angle and roll angle of the end effector connecting member (300) remain unchanged.

2. The robotic arm according to claim 1, characterized in that, The end connection member (300) includes: a transition member (310) and an end dual-degree-of-freedom flexible mechanism (320); The adapter (310) is connected to the end of the second arm segment (200), the end pose holding component (400), and the end dual-degree-of-freedom flexible mechanism (320), respectively; the base end of the adapter (310) is the base end of the end connecting component (300); The end-effector dual-degree-of-freedom flexible mechanism (320) includes a first angle adjustment structure (321) and a second angle adjustment structure (322); The base end of the first angle adjustment structure (321) is fixedly connected to the end of the adapter (310); The second angle adjustment structure (322) has a base end that can rotate with active flexibility around the second rotating axis (S2) relative to the first angle adjustment structure (321), and its end end is the end end of the end connecting member (300) for fixed connection with the end actuator (20) so that the first angle adjustment structure (321) can adjust the pitch angle of the end of the end dual-degree-of-freedom flexible mechanism (320) relative to its base end; The second angle adjustment structure (322) is capable of actively and flexibly rotating at its end relative to its base end around the third rotating shaft (S3), so that the second angle adjustment structure (322) can adjust the roll angle of the end of the end dual-degree-of-freedom flexible mechanism (320) relative to its base end.

3. The robotic arm according to claim 2, characterized in that, The first angle adjustment structure (321) includes: a first flexible member (3211) and a first connecting member (3212); The second angle adjustment structure (322) includes: a second flexible member (3221) and a second connecting member (3222); The first connecting member (3212) has its base end being the base end of the first angle adjustment structure (321) and connected to the end of the adapter member (310); the base ends of the first connecting member (3212) and the second connecting member (3222) are rotatably connected around the second rotating shaft (S2); The first flexible member (3211) is disposed between the first connecting member (3212) and the second connecting member (3222) and is fixedly connected to both of them, for driving the second angle adjustment structure (322) to rotate relative to the first angle adjustment structure (321) around the second rotating axis (S2); The second connecting member (3222) has its end end being the end end of the second angle adjustment structure (322), and is capable of rotating relative to its base end around the third rotating axis (S3); The second flexible member (3221) is fixedly connected to the end of the second connecting member (3222) and is used to drive the end of the second angle adjustment structure (322) to rotate relative to the base end of the second angle adjustment structure (322) around the third rotating shaft (S3).

4. The robotic arm according to claim 3, characterized in that, The first flexible component (3211) includes: two first flexible drive units (32111); The two first flexible drive units (32111) are arranged side by side; each of the first flexible drive units (32111) is connected to the first connecting member (3212) and the second connecting member (3222) at both ends of its length direction; each of the first flexible drive units (32111) is capable of extending and retracting in its length direction. When the extension and retraction amounts of the two first flexible drive units (32111) are different, the second angle adjustment structure (322) rotates at a certain angle relative to the first angle adjustment structure (321) around the second rotating axis (S2).

5. The robotic arm according to claim 4, characterized in that, The second flexible member (3221) includes: two second flexible drive units (32211); The two second flexible drive units (32211) are connected end to end; the ends of the two second flexible drive units (32211) that are far apart from each other are fixedly connected to the end of the second connecting member (3222); the ends of the two second flexible drive units (32211) that are close to each other are fixedly connected to the ends of the two first flexible drive units (32111) that are far away from the adapter member (310); each second flexible drive unit (32211) can extend and retract in its length direction; When the extension and retraction of the two second flexible drive units (32211) are different, the end of the second angle adjustment structure (322) rotates at a certain angle relative to its base end around the third rotating shaft (S3).

6. The robotic arm according to claim 5, characterized in that, The first flexible drive unit (32111) and the second flexible drive unit (32211) are both cylindrical and include: a flexible sidewall (332) in a stacked structure and two end faces (331) respectively disposed on both sides of the flexible sidewall (332). The flexible sidewall (332) and the two end faces (331) together enclose a cylindrical cavity with a central axis (N). The flexible sidewall (332) can be folded or extended along its central axis (N) so that the two end faces (331) are close to or far apart from each other; The flexible sidewall (332) is formed by stacking at least two strain-uniformly distributed stacked layers (3321) along the central axis (N); The strain-distributed stacked layer (3321) is formed by two folded surfaces (33211). A crease (33212) is formed at the connection between two adjacent folded surfaces (33211). The crease (33212) is located in a crease surface (M) perpendicular to the central axis (N). The creases (33212) on the spaced crease surfaces (M) are closed shapes with the same shape. The creases (33212) on the spaced crease surfaces (M) are the same size or gradually change along the central axis (N). In the initial state, the crease surface (M) is a plane. When the flexible sidewall (332) is folded or extended, the crease surfaces (M) move closer or further away from each other uniformly along the central axis (N) without deformation, and without relative torsion or deflection.

7. The robotic arm according to any one of claims 2-6, characterized in that, The end effector pose holding assembly (400) includes: a deceleration member (410), a first connector (420), a second connector (430), and a third connector (440); The first connector (420) is rotatably connected at the base end of the adapter (310) to the first position point (P1), and its base end is rotatably connected at the end of the first arm segment (100) to the second position point (P2). The second connector (430) has its base end fixedly connected to the end of the second arm segment (200), and its end is rotatably connected to the adapter (310) at the third pose point (P3). The third connector (440) has its base end rotatably connected to the end of the first arm segment (100) at the fourth position point (P4), and is drivenly connected to the first output shaft (120) of the first arm segment (100) through the deceleration member (410), and its end is fixedly connected to the base end of the second arm segment (200). The first pose point (P1), the second pose point (P2), the third pose point (P3) and the fourth pose point (P4) form a parallelogram mechanism so that when the second arm segment (200) rotates around the first pivot (S1), the pitch angle and roll angle of the end connecting member (300) remain unchanged.

8. The robotic arm according to claim 7, characterized in that, The second connector (430) has its first end fixedly connected to the end of the second support component (210) of the second arm segment (200), and its second end extends obliquely downward away from the base end of the second arm segment (200) and is connected to the adapter (310) at the third pose point (P3). The third connector (440) has its first end fixedly connected to the base end of the second support component (210) of the second arm segment (200), and its second end extends obliquely downward away from the end of the second arm segment (200), away from the second end of the second connector (430), and is connected to the end of the first support component (110) of the first arm segment (100) at the fourth pose point (P4). The distance between the first pose point (P1) and the third pose point (P3) of the parallelogram mechanism is greater than 0.9 times the width of the second support component (210).

9. The robotic arm according to claim 8, characterized in that, The end-effector pose retention assembly (400) further includes: a prestressed elastic element (450); One end of the prestressed elastic member (450) is rotatably connected to the first support assembly (110) at the fifth pose point (P5), and the other end is rotatably connected to the second support assembly (210) at the sixth pose point (P6); The distance from the fifth pose point (P5) to the line connecting the first pose point (P1) and the second pose point (P2) is greater than or equal to the distance from the sixth pose point (P6) to the line connecting the first pose point (P1) and the second pose point (P2).

10. The robotic arm according to any one of claims 2-6, characterized in that, The adapter (310) includes: an end turntable (311), a crossed roller bearing (312), a hinge structure (313), and a fourth connector (314); The fourth connector (314) has a supporting part (3141) and a connecting part (3142). The supporting part (3141) is spaced apart from the end of the second arm section (200) and is rotatably connected to the end of the second arm section (200) through the connecting part (3142). The crossed roller bearing (312) is embedded in the bearing portion (3141), with its inner ring (3121) fixedly connected to the end turntable (311) and its outer ring (3122) fixedly connected to the bearing portion (3141). The end turntable (311) is located on the side of the bearing portion (3141) away from the second arm section (200), and its center protrudes upward to the inner ring (3121) of the crossed roller bearing (312), and is fixedly connected to the inner ring (3121), and is also fixedly connected to one end of the hinge structure (313); the side of the end turntable (311) away from the second arm section (200) is fixedly connected to the base end of the first angle adjustment structure (321); The other end of the hinge mechanism is fixedly connected to the second output shaft (220) of the second arm section (200), so that the second output shaft (220) can drive the end turntable (311) to rotate around the fourth rotating shaft (S4).

11. A robot, characterized in that, Includes the robotic arm as described in any one of claims 1-10.

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