Robotic arm and robot

Abstract

The application relates to a mechanical arm and a robot. The mechanical arm comprises a base, a bearing mechanism rotatably arranged on the base, the bearing mechanism comprising a first connecting rod, a second connecting rod and a third connecting rod, a first end of the first connecting rod being rotatably connected to the base at a first rotation point, a third end of the second connecting rod being rotatably connected to the base at a second rotation point, the third connecting rod being rotatably connected to a second end of the first connecting rod and a fourth end of the second connecting rod, and the third connecting rod being used for bearing a load, and a gravity compensation mechanism rotatably arranged on the base, the gravity compensation mechanism being rotatably connected to the first end, the gravity compensation mechanism comprising an elastic piece, and the elastic piece being stretched or contracted to compensate for the gravity of the load on the bearing mechanism when the bearing mechanism rotates relative to the base. The gravity moment on the balanced mechanical arm can be effectively compensated, and the safety of the robot is improved.

Description

Technical Field

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

[0002] With the development of robotics technology, some robotic arms that are at a certain angle to the ground or base will generate additional torque at their joints due to the load connected to the robotic arm. This additional torque is usually compensated for by gravity compensation devices.

[0003] In related technologies, by mounting a linear bearing and a spring on a spring guide rod, with the linear bearing connected to a bearing sleeve and the outer wall of the bearing sleeve forming a raised shaft, the raised shaft being rotatably connected to the base of the robotic arm; a spring end cap is provided at the other end of the spring guide rod, and the spring is placed between the bearing sleeve and the spring end cap, so that the additional torque generated at the joint can be compensated by the compression of the spring.

[0004] However, in related technologies, the gravitational torque exerted on the robotic arm by the load connected to it changes during movement, causing the gravitational compensation of the spring to be unable to completely balance the gravitational torque on the robotic arm. Utility Model Content

[0005] Based on this, embodiments of this application provide a robotic arm and robot that can effectively compensate for and balance the gravitational torque on the robotic arm, thereby improving the safety of the robot.

[0006] On one hand, embodiments of this application provide a robotic arm, including:

[0007] Base;

[0008] The load-bearing mechanism is rotatably mounted on the base. The load-bearing mechanism includes a first link, a second link, and a third link. The first end of the first link is rotatably connected to the base at a first rotation point. The third end of the second link is rotatably connected to the base at a second rotation point. The third link is rotatably connected to the second end of the first link and the fourth end of the second link. The third link is used to bear the load.

[0009] A gravity compensation mechanism is rotatably mounted on a base and rotatably connected to a first end. The gravity compensation mechanism includes an elastic element that extends and retracts when the load-bearing mechanism rotates relative to the base to compensate for the gravity of the load on the load-bearing mechanism.

[0010] In one implementation, there is a first distance between the first end and the second end, and a second distance between the third end and the fourth end, wherein the first distance is equal to the second distance;

[0011] There is a third distance between the first and second rotation points, and the length of the third link is equal to the third distance.

[0012] In one implementation, the first link and the second link are arranged longitudinally, and the second rotation point is located on the side of the first rotation point away from the third link;

[0013] The third link consists of two links. One of the two third links is located on one side of the first link and the second link, and the other of the two third links is located on the other side of the first link and the second link.

[0014] In one implementation, the gravity compensation mechanism also includes:

[0015] A guide sleeve is rotatably connected to a base. The guide sleeve has a first axis of rotation relative to the base, and a first connecting rod has a second axis of rotation relative to the base. The first axis and the second axis are aligned in the same direction.

[0016] A guide rod is inserted into a guide sleeve, and one end of the guide rod is rotatably connected to the first end. An elastic element is sleeved on the guide rod, and one end of the elastic element abuts against the guide sleeve, while the other end of the elastic element is fixed relative to the guide rod along the axial direction of the guide rod.

[0017] In one implementation, the elastic element is located on the side of the guide sleeve away from the first end; the end of the guide rod away from the first end is provided with an abutment block, which abuts against the elastic element.

[0018] In one implementation, the blocking block includes:

[0019] The flange has a radial dimension larger than that of the elastic element, and the flange abuts against the elastic element.

[0020] The connecting rod is threadedly connected to the guide rod. When the abutment block is installed on the guide rod, and the thread at the end of the connecting rod is threadedly connected to the thread at the end of the guide rod, the distance between the flange and the guide sleeve is greater than or equal to the axial free length of the elastic element.

[0021] In one implementation, the gravity compensation mechanism also includes:

[0022] A rotating component is located between the abutment block and the elastic component, and the elastic component rotates relative to the abutment block via the rotating component.

[0023] In one implementation, the rotating component includes a bearing, which is sleeved on the guide rod and abuts against the abutment block and the elastic component.

[0024] In one implementation, the guide sleeve is provided with a sliding sleeve, which is fitted onto the guide rod, and at least a portion of the sliding sleeve is located between the peripheral wall of the guide rod and the inner wall of the guide sleeve.

[0025] On the other hand, embodiments of this application provide a robot, including:

[0026] Walking mechanism;

[0027] The robotic arm provided in the foregoing embodiments of this application has a base connected to a walking mechanism; and

[0028] The load is located on the load-bearing mechanism of the robotic arm.

[0029] The robotic arm and robot provided in this application embodiment rotatably mount a support mechanism, which includes a first link, a second link, and a third link. One end of the first link is rotatably connected to the base at a first rotation point, and the third end of the second link is rotatably connected to the base at a second rotation point. The third link rotatably connects the second end of the first link and the fourth end of the second link, and is used to bear the load. Thus, the first link, second link, third link, and base form a four-bar linkage. When a load is placed on the third link, the gravity of the load acts on the third link, providing equal and opposite component forces at the connection point between the third link and the first and second links. Along the length of the first and second links, the force on the load-bearing mechanism is zero. A rotatable gravity compensation mechanism is installed on the base, which is rotatably connected to the first end. The gravity compensation mechanism includes an elastic element. When the load-bearing mechanism rotates relative to the base, the elastic element extends and retracts, thereby compensating for the gravity of the load on the load-bearing mechanism. Since the resultant force along the length of the first and second links on the load-bearing mechanism is zero, the amount of gravity compensation required by the elastic mechanism changes linearly only with the rotation of the load-bearing mechanism. It will not cause a situation where the gravity cannot be fully compensated and balanced due to the component of gravity along the length of the load-bearing mechanism. It can effectively compensate for and balance the gravitational torque on the robotic arm, improving the safety of the robot. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of a robotic arm provided in some embodiments of this application.

[0031] Figure 2 This is a front view of a robotic arm provided in some embodiments of this application.

[0032] Figure 3 This is an exploded structural diagram of a robotic arm provided in some embodiments of this application.

[0033] Figure 4 yes Figure 3 A magnified view of a portion of point A in the middle.

[0034] Figure 5 This is a schematic diagram of another structure of the robotic arm provided in some embodiments of this application.

[0035] Explanation of reference numerals in the attached figures:

[0036] 10-Base; 20-Bearing mechanism; 30-Gravity compensation mechanism; 40-Drive motor;

[0037] 21-First link; 22-Second link; 23-Third link; 31-Elastic element; 32-Guide sleeve; 33-Guide rod; 34-Abutting block; 35-Rotating element; 36-Sliding sleeve;

[0038] 101-First limiting protrusion; 211-First end; 212-Second end; 221-Third end; 222-Fourth end; 223-Second limiting protrusion; 321-Limiting groove; 341-Flange; 342-Connecting rod; 351-Bearing. Detailed Implementation

[0039] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0040] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0041] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0042] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0043] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0044] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0045] Figure 1 This is a schematic diagram of a robotic arm provided in some embodiments of this application. Figure 2 This is a front view of a robotic arm provided in some embodiments of this application.

[0046] In some examples, technical problems existing in the relevant technologies are addressed by referring to... Figure 1 and Figure 2 As shown, this application embodiment provides a robotic arm. The robotic arm includes a base 10. The base 10 can be a load-bearing and supporting component of the robotic arm. The base 10 can be made of materials such as stainless steel, aluminum alloy, or cast iron.

[0047] In some examples, the robotic arm may include a support mechanism 20. The support mechanism 20 may be rotatably mounted on the base 10.

[0048] In some examples, refer to Figure 1As shown, a drive motor 40 can be provided on the base 10. The drive motor 40 can be connected to the support mechanism 20, thereby driving the support mechanism 20 to rotate relative to the base 10.

[0049] In some examples, drive motor 40 may include a joint motor.

[0050] In some examples, drive motor 40 may include a motor capable of both forward and reverse rotation. For example, drive motor 40 may include any one of a servo motor, a stepper motor, or a synchronous motor.

[0051] In some examples, refer to Figure 1 and Figure 2 As shown, the supporting mechanism 20 may include a first connecting rod 21. The first end 211 of the first connecting rod 21 may be rotatably connected to the base 10 at a first rotation point. It should be noted that the first rotation point may refer to the point through which the rotation axis of the first end 211 and the base 10 passes. A drive motor 40 may be connected to the first connecting rod 21. The drive motor 40 may be fixedly connected to the base 10. The output shaft of the drive motor 40 may be connected to the first end 211, thereby driving the first connecting rod 21 to rotate relative to the base 10.

[0052] In some examples, refer to Figure 1 and Figure 2 As shown, the first link 21 may have a second end 212. The second end 212 and the first end 211 may be the two ends of the first link 21 that are opposite each other along the length direction. That is, along the length direction of the first link 21, the first end 211 and the second end 212 may be disposed opposite each other at the two ends of the first link 21.

[0053] In some examples, refer to Figure 1 and Figure 2 As shown, the supporting mechanism 20 may include a second link 22. The second link 22 may have a third end 221 and a fourth end 222. The third end 221 and the fourth end 222 may be two opposite ends of the second link 22 along its length direction. That is, along the length direction of the second link 22, the third end 221 and the fourth end 222 may be disposed opposite to each other at both ends of the second link 22.

[0054] In some examples, the third end 221 may be rotatably connected to the base 10 at a second rotation point. It can be understood that the second rotation point may refer to the point through which the axis of rotation of the third end 221 and the base 10 passes.

[0055] In some examples, refer to Figure 1 and Figure 2 As shown, the second link 22 can be located above the first link 21. That is, the second rotation point can be located above the first rotation point.

[0056] In some examples, drive motor 40 may be connected to the second link 22. Drive motor 40 may be fixedly connected to base 10. The output shaft of drive motor 40 may be connected to a third end 221, thereby driving the second link 22 to rotate relative to base 10.

[0057] In some examples, the second rotation point may be located on the side of the first rotation point away from the second end 212.

[0058] In some examples, refer to Figure 1 and Figure 2 As shown, the supporting mechanism 20 may include a third link 23. The third link 23 is rotatably connected to the second end 212 and the fourth end 222. That is, the third link 23 is rotatably connected to the second end 212 of the first link 21, and the third link 23 is rotatably connected to the fourth end 222 of the second link 22.

[0059] In some examples, one end of the third link 23 can be rotatably connected to the second end 212, and the other end of the third link 23 can be rotatably connected to the fourth end 222.

[0060] In some examples, the third link 23 can be used to carry a load. The load can be other joints of the robot, as well as parts such as the torso.

[0061] In some examples, refer to Figure 1 and Figure 2 As shown, the robotic arm may include a gravity compensation mechanism 30. The gravity compensation mechanism 30 may be rotatably mounted on the base 10. The base 10 may be provided with a rotation point for the gravity compensation mechanism 30 to rotate.

[0062] In some examples, refer to Figure 1 and Figure 2 As shown, one end of the gravity compensation mechanism 30 can be rotatably connected to the first end 211. The rotation point where one end of the gravity compensation mechanism 30 is rotatably connected to the first end 211 can be located on the side of the first rotation point away from the second end 212.

[0063] In some examples, the gravity compensation mechanism 30 may include an elastic element 31. The elastic element 31 may include a spring. The spring may be a compression spring.

[0064] In some examples, the spring constant is determined by taking the rotation point where the gravity compensation mechanism 30 is rotatably connected to the base 10 as coincident with the rotation point where the gravity compensation mechanism 30 is rotatably connected to the first end 211. (Refer to...) Figure 2 As shown, the spring constant can satisfy the following formula (1):

[0065] (1)

[0066] In the formula: k is the spring constant; Δx is the spring compression; h is the vertical distance between the first rotation point and the central axis of the elastic element 31; L is the length of the first link 21; m is the weight of the load; g is the gravitational acceleration; and θ is the angle between the first link 21 and the vertical direction.

[0067] In some examples, when the load-bearing mechanism 20 rotates relative to the base 10, the elastic element 31 extends or retracts to compensate for the weight of the load on the load-bearing mechanism 20. For example, with Figure 2 As an example, refer to Figure 2 As shown, along the first link 21 Figure 2 When rotating in the direction indicated by the middle arrow a, the rotation point where the first end 211 is rotatably connected to the gravity compensation mechanism 30 rotates with the first rotation point as the rotation fulcrum. Figure 2 The first link 21 rotates in the direction indicated by the y-axis, thereby compressing the elastic element 31. The compressed force of the elastic element 31 compensates for the gravity of the second end 212. Figure 2 When rotating in the opposite direction as indicated by the middle arrow a, the rotation point where the first end 211 is rotatably connected to the gravity compensation mechanism 30 rotates with the first rotation point as the rotation fulcrum. Figure 2 The middle y rotates in the negative direction and releases the compressed elastic element 31, which can be used to compensate for the gravity of the second end 212.

[0068] The robotic arm provided in this embodiment rotatably mounts a support mechanism 20. The support mechanism 20 includes a first link 21, a second link 22, and a third link 23. One end of the first link 21 is rotatably connected to the base 10 at a first rotation point. The third end 221 of the second link 22 is rotatably connected to the base 10 at a second rotation point. The third link 23 rotatably connects the second end 212 of the first link 21 and the fourth end 222 of the second link 22. The third link 23 is used to bear the load. Thus, a four-bar linkage is formed between the first link 21, the second link 22, the third link 23, and the base 10. After a load is placed on the third link 23, the gravity of the load acts on the third link 23, providing equal and opposite component forces at the connection points between the third link 23 and the first link 21 and the second link 22. Along the length of the first link 21 and the second link 22, the force on the bearing mechanism 20 is zero. A rotatable gravity compensation mechanism 30 is provided on the base 10. One end of the gravity compensation mechanism 30 is rotatably connected to the first end 211. The gravity compensation mechanism 30 includes an elastic element 31. When the bearing mechanism 20 rotates relative to the base 10, the elastic element 31 extends and retracts, thereby compensating for the gravity of the load on the bearing mechanism 20. Since the resultant force along the length of the first link 21 and the second link 22 on the bearing mechanism 20 is zero, the amount of gravity that the elastic mechanism needs to compensate for changes only linearly with the rotation of the bearing mechanism 20. It will not cause the failure to fully compensate for the balanced gravity due to the component of gravity in the length direction of the bearing mechanism 20. It can effectively compensate for the gravitational torque on the robotic arm and improve the safety of the robot.

[0069] In some examples, there is a first distance between the first end 211 and the second segment. That is, the length of the first link 21 can be a first distance L1.

[0070] In some examples, there may be a second distance L2 between the third end 221 and the fourth end 222. That is, the length of the second link 22 can be the second distance L2.

[0071] In some examples, the first distance LI can be equal to the second distance L2. That is, the length of the first link 21 can be equal to the length of the second link 22.

[0072] In some examples, refer to Figure 2 As shown, there can be a third distance L3 between the first rotation point and the second rotation point. The third distance L3 can be equal to the length of the third link 23.

[0073] In other words, in some examples of the embodiments of this application, the first link 21, the second link 22, the third link 23, and the base 10 between the first rotation point and the second rotation point are constructed to form a parallelogram link structure.

[0074] In some examples of embodiments of this application, the distance between the first end 211 and the second end 212 is set as the first distance, and the distance between the third end 221 and the fourth end 222 is set as the second distance; the first distance is set to be equal to the second distance, and the distance between the first rotation point and the second rotation point is set as the third distance, and the length of the third link 23 is equal to the third distance; thereby, a parallelogram link structure is constructed between the bearing mechanism 20 and the base 10, so that the force of the load acting on the third link 23 is at both ends of the third link 23, and at the second end 212 and the fourth end 222 of the first link 21. The fourth end 222 of the two links 22 forms forces of equal magnitude and opposite direction, making the resultant force along the length of the bearing mechanism 20 zero. When the bearing mechanism 20 rotates to any angle relative to the base 10, the resultant force along the length of the bearing mechanism 20 is zero. This causes the torque caused by the change of the load center of mass on the bearing mechanism 20 to be converted into forces of equal magnitude and opposite direction on the first link 21 and the second link 22. This does not affect the magnitude of the gravitational torque of the gravity compensation component, ensuring that the gravity compensation component can effectively compensate for and balance the gravitational torque on the robotic arm, thereby improving the safety and stability of the robot.

[0075] In some examples, to ensure that the elastic element 31 can effectively compensate for the gravitational torque on the balancing robotic arm, refer to Figure 2 As shown, the distance between the first rotation point and the rotation point of the gravity compensation mechanism 30 relative to the base 10 is x1, and the distance between the first rotation point and the rotation point of the gravity compensation mechanism 30 relative to the first end 211 is x2; the spring constant can satisfy the following formula (2):

[0076] (2)

[0077] In the formula: k is the spring constant; m is the mass of the load; g is the gravitational acceleration; L is the length of either the first link 21 or the second link 22; x1 is the distance between the first rotation point and the rotation point of the gravity compensation mechanism 30 relative to the base 10; x2 is the distance between the first rotation point and the rotation point of the gravity compensation mechanism 30 relative to the first end 211.

[0078] The spring constant is determined using the above method. The selection of the spring constant is related to the load weight, the length of the bearing mechanism 20, and the installation positions of the bearing mechanism 20 and the gravity compensation mechanism 30. When the bearing mechanism 20 rotates relative to the base 10, the spring compression can completely compensate for the gravitational torque of the load on the bearing mechanism 20, ensuring the stability and safety of the robot.

[0079] In some examples, refer to Figure 2As shown, the first link 21 and the second link 22 can be arranged longitudinally, and the second rotation point can be located on the side of the first rotation point away from the third link 23.

[0080] In some examples, there may be two third links 23, one of which may be located on one side of the first link 21 and the second link 22; the other of the two third links 23 may be located on the other side of the first link 21 and the second link 22.

[0081] In some examples, the two third links 23 can be set relative to each other.

[0082] In some examples of embodiments of this application, the first link 21 and the second link 22 are arranged longitudinally, and the second rotation point is set on the side of the first rotation point away from the third link 23; in this way, the side of the third link 23 away from the first link 21 and the second link 22 can form an upward inclined surface, which facilitates the installation and fixation of the load on the third link 23.

[0083] In addition, in some examples of embodiments of this application, two third links 23 are provided, with one of the two third links 23 located on one side of the first link 21 and the second link 22, and the other third link 23 located on the other side of the first link 21 and the second link 22. In this way, the mounting area of ​​the load can be increased by using two third links 23, improving the stability of the load mounted on the third links 23 and enhancing the safety of the robot.

[0084] Figure 3 This is an exploded structural diagram of a robotic arm provided in some embodiments of this application.

[0085] In some examples, refer to Figure 1 and Figure 3 As shown, the gravity compensation mechanism 30 may include a guide sleeve 32. The guide sleeve 32 may be rotatably connected to the base 10.

[0086] In some examples, the guide sleeve 32 may have a first axis of rotation relative to the base 10. The first link 21 may have a second axis of rotation relative to the base 10. The first axis and the second axis are aligned. The first axis and the second axis may be parallel or approximately parallel.

[0087] In some examples, refer to Figure 1 and Figure 3 As shown, the gravity compensation mechanism 30 may include a guide rod 33. The guide rod 33 may pass through the guide sleeve 32. One end of the guide rod 33 is rotatably connected to the first end 211. That is, the gravity compensation mechanism 30 can be rotatably connected to the first end 211 through the guide rod 33.

[0088] In some examples, the elastic element 31 can be sleeved on the guide rod 33. The elastic element 31 can be sleeved on the outer periphery of the guide rod 33. One end of the elastic element 31 can abut against the guide sleeve 32, and the other end of the elastic element 31 can be fixed relative to the guide rod 33 along the axial direction of the guide rod 33.

[0089] In some examples, refer to Figure 2 As shown, along the bearing mechanism 20 Figure 2 When rotating in the direction indicated by arrow a, the first end 211 can pull the guide rod 33 through the rotation point rotatably connected to the guide rod 33. Since the other end of the elastic member 31 is fixed relative to the guide rod 33 along the axial direction of the guide rod 33, the guide rod 33 pulls the other end of the elastic member 31 closer to the end abutting against the guide sleeve 32, and the elastic member 31 is compressed. In the bearing mechanism 20 along... Figure 2 When the rotation is in the opposite direction as indicated by the middle arrow a, the first end 211 of the first link 21 pushes the guide rod 33 toward the guide sleeve 32, the distance between the other end of the guide rod 33 and the guide sleeve 32 increases, and the compression of the elastic element 31 is released.

[0090] In some examples of embodiments of this application, a guide sleeve 32 is rotatably connected to the base 10, and the first axis of rotation of the guide sleeve 32 relative to the base 10 is aligned with the second axis of rotation of the first connecting rod 21 relative to the base 10; a guide rod 33 is inserted inside the guide sleeve 32, one end of the guide rod 33 is rotatably connected to the first end 211, an elastic member 31 is sleeved on the guide rod 33, and one end of the elastic member 31 abuts against the guide sleeve 32, while the other end of the elastic member 31 is fixed relative to the guide rod 33 along the axial direction of the guide rod 33. Thus, when the first link 21 rotates relative to the base 10, it can drive the guide rod 33 to move through the first end 211. The movement of the guide rod 33 causes the elastic element 31 to extend and retract. Furthermore, through the guide sleeve 32, which is rotatably connected to the base 10, the guide sleeve 32 can rotate relative to the base 10 during the process of the first link 21 driving the guide rod 33 to move. This ensures that the elastic force of the elastic element 31 is always kept in the axial direction of the elastic element 31, thus ensuring the stability of the gravity compensation force provided by the elastic element 31. The guide sleeve 32 guides the guide rod 33, ensuring the certainty of the movement of the guide rod 33 and improving the safety of the robot.

[0091] In some examples, refer to Figure 3 As shown, the elastic element 31 can be located on the side of the guide sleeve 32 opposite to the first end 211. The end of the guide rod 33 away from the first end 211 can be provided with an abutment block 34. The abutment block 34 can abut against the elastic element 31. The abutment block 34 can be fixedly connected to the end of the guide rod 33 away from the first end 211.

[0092] In some examples, refer to Figure 3As shown, the guide sleeve 32 may be provided with a limiting groove 321 on the side opposite to the first end 211, and one end of the elastic member 31 may be located in the limiting groove 321.

[0093] In some examples of embodiments of this application, the elastic element 31 is disposed on the side of the guide sleeve 32 away from the first end 211, and an abutment block 34 is provided at the end of the guide rod 33 away from the first end 211, with the abutment block 34 abutting against the other end of the spring. Thus, during the rotation of the support mechanism 20 relative to the base 10, since the relative position of the guide sleeve 32 and the base 10 remains unchanged, the guide rod 33 moves relative to the guide sleeve 32 under the drive of the support mechanism 20, thereby changing the distance between the abutment block 34 and the guide sleeve 32, causing the elastic element 31 to compress, thereby compensating for the gravitational torque on the support mechanism 20. This effectively compensates for the gravitational torque on the support mechanism 20, improving the stability and safety of the robot.

[0094] In some examples, refer to Figure 3 As shown, the abutment block 34 may include a flange 341. The radial dimension of the flange 341 may be larger than the radial dimension of the elastic member 31. The flange 341 may abut against the elastic member 31.

[0095] In some examples, refer to Figure 3 The abutment block 34 may include a connecting rod 342. The connecting rod 342 may be threadedly connected to the guide rod 33. For example, see reference... Figure 3 As shown, the end of the guide rod 33 may be provided with a threaded hole along the axial direction, and the connecting rod 342 may be provided with an external thread. The connecting rod 342 may be inserted into the threaded hole and connected to the guide rod 33.

[0096] In some examples, when the abutment block 34 is installed on the guide rod 33, and the threaded connection between the end thread of the connecting rod 342 and the end thread of the guide rod 33 is made, the distance between the flange 341 and the guide sleeve 32 can be greater than or equal to the axial free length of the elastic element 31.

[0097] It is understood that, in the embodiments of this application, the axial free length of the elastic member 31 may refer to the length of the elastic member 31 when it is not subjected to external force. In some examples, it may also be referred to as the original length of the elastic member 31.

[0098] In some examples of embodiments of this application, by providing a connecting rod 342 on the flange 341 and setting the radial dimension of the flange 341 to be greater than the radial dimension of the elastic member 31, the flange 341 abuts against the elastic member 31; and the connecting rod 342 is threadedly connected to the guide rod 33. When the abutment block 34 is installed on the guide rod 33, and the thread at the end of the connecting rod 342 is threadedly connected to the thread at the end of the guide rod 33, the distance between the flange 341 and the guide sleeve 32 is greater than or equal to the axial free length of the elastic member 31. Thus, when installing the gravity compensation mechanism 30, the guide rod 33 can be first inserted onto the guide sleeve 32. After rotatably connecting one end of the guide rod 33 to the first end 211, the elastic element 31 is fitted onto the guide rod 33. Then, the abutment block 34 is screwed onto the other end of the guide rod 33. Since the distance between the flange 341 and the guide sleeve 32 is greater than or equal to the axial free length of the elastic element 31 when the abutment block 34 is installed, the elastic element 31 will not be compressed. When installing the abutment block 34, the abutment block 34 will not be subjected to the force of the elastic element 31, which facilitates the connection between the abutment block 34 and the connecting rod 342. Furthermore, as the connecting rod 342 is tightened, the elastic element 31 will be gradually compressed, facilitating the installation of the abutment block 34.

[0099] In some examples, refer to Figure 3 As shown, the gravity compensation mechanism 30 may include a rotating member 35. The rotating member 35 may be disposed between the abutment block 34 and the elastic member 31. The elastic member 31 may rotate relative to the abutment block 34 via the rotating member 35.

[0100] In some examples, the rotating element 35 may include a ball bearing that is fitted onto the guide rod 33 and is located between the elastic element 31 and the abutment block 34.

[0101] In some examples of embodiments of this application, a rotating member 35 is provided between the elastic member 31 and the abutment block 34. This reduces the friction between the elastic member 31 and the abutment block 34. When the bearing mechanism 20 rotates relative to the base 10, the first connecting rod 21 pulls the guide rod 33, causing the guide rod 33 to move and potentially exerting a certain circumferential rotational force on the elastic member 31. By providing the rotating member 35, the elastic member 31 can rotate circumferentially, reducing the torsional force on the elastic member 31 and extending its service life.

[0102] In some examples, refer to Figure 3 As shown, the rotating component 35 may include a bearing 351. The bearing 351 may be sleeved on the guide rod 33. The bearing 351 abuts against the abutment block 34 and the elastic component 31.

[0103] In some examples, the outer ring of bearing 351 can abut against elastic element 31.

[0104] In some examples of embodiments of this application, the bearing 351 is used as a rotating member 35, the bearing 351 is sleeved on the guide rod 33, and the bearing 351 abuts against the abutment block 34 and the elastic member 31. In this way, the installation of the rotating member 35 is facilitated, and the installation efficiency of the gravity compensation mechanism 30 is improved.

[0105] Figure 4 yes Figure 3 A magnified view of a portion of point A in the middle.

[0106] In some examples, refer to Figure 3 and Figure 4 As shown, the guide sleeve 32 may be provided with a sliding sleeve 36, which may be fitted onto the guide rod 33. At least a portion of the sliding sleeve 36 may be located between the peripheral wall of the guide rod 33 and the inner wall of the guide sleeve 32.

[0107] In some examples, the slide 36 may include a graphite slide 36.

[0108] In some examples, the sleeve 36 may include a plastic silicone grease sleeve 36.

[0109] In some examples of embodiments of this application, a sliding sleeve 36 is provided on the guide sleeve 32. The sliding sleeve 36 is fitted onto the guide rod 33, and at least a portion of the sliding sleeve 36 is located between the peripheral wall of the guide rod 33 and the inner wall of the guide sleeve 32. In this way, the friction between the guide sleeve 32 and the guide rod 33 can be reduced by the sliding sleeve 36, which facilitates the smooth movement of the guide rod 33 within the guide sleeve 32, improves the stability of the movement of the guide rod 33, and thus improves the stability and safety of the robot.

[0110] Figure 5 This is a schematic diagram of another structure of the robotic arm provided in some embodiments of this application.

[0111] In some examples, refer to Figure 1 , Figure 2 and Figure 5 As shown, a first limiting protrusion 101 may be provided on the base 10. The first limiting protrusion 101 may protrude from the base 10 along the axial direction of the second rotation point.

[0112] In some examples, the third end 221 may be provided with a second limiting protrusion 223. The second limiting protrusion 223 may extend along the length of the second link 22 in a direction away from the fourth end 222.

[0113] In some examples, the first limiting protrusion 101 may abut against the second limiting protrusion 223 to limit the rotation angle of the bearing mechanism 20 relative to the base 10.

[0114] In some examples, refer to Figure 2As shown, there may be two first limiting protrusions 101, and the two first limiting protrusions 101 may be located on both sides of the second rotation point.

[0115] In other embodiments of this application, a robot is provided, comprising:

[0116] Walking mechanism;

[0117] The robotic arm provided in the foregoing embodiments of this application has a base 10 connected to a walking mechanism; and

[0118] The load is located on the load-bearing mechanism 20 of the robotic arm.

[0119] It is understood that the robot provided in this application embodiment has the same or corresponding technical features as the robotic arm provided in the foregoing embodiments of this application. Therefore, the robot provided in this application embodiment and the robotic arm provided in the foregoing embodiments of this application may have the same or similar technical effects. For details, please refer to the detailed description of the foregoing embodiments of this application. This application embodiment will not repeat the details.

[0120] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0121] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A robotic arm, characterized in that, include: Base (10); A bearing mechanism (20) is rotatably mounted on the base (10). The bearing mechanism (20) includes a first connecting rod (21), a second connecting rod (22), and a third connecting rod (23). The first end (211) of the first connecting rod (21) is rotatably connected to the base (10) at a first rotation point. The third end (221) of the second connecting rod (22) is rotatably connected to the base (10) at a second rotation point. The third connecting rod (23) is rotatably connected to the second end (212) of the first connecting rod (21) and the fourth end (222) of the second connecting rod (22). The third connecting rod (23) is used to bear the load. A gravity compensation mechanism (30) is rotatably disposed on the base (10) and rotatably connected to the first end (211). The gravity compensation mechanism (30) includes an elastic element (31) which extends and retracts when the bearing mechanism (20) rotates relative to the base (10) to compensate for the gravity of the load on the bearing mechanism (20).

2. The robotic arm according to claim 1, characterized in that, There is a first distance between the first end (211) and the second end (212), and there is a second distance between the third end (221) and the fourth end (222), wherein the first distance is equal to the second distance; There is a third distance between the first rotation point and the second rotation point, and the length of the third link (23) is equal to the third distance.

3. The robotic arm according to claim 1, characterized in that, The first link (21) and the second link (22) are arranged longitudinally, and the second rotation point is located on the side of the first rotation point away from the third link (23); The third link (23) comprises two, one of which is located on one side of the first link (21) and the second link (22), and the other of which is located on the other side of the first link (21) and the second link (22).

4. The robotic arm according to any one of claims 1-3, characterized in that, The gravity compensation mechanism (30) also includes: Guide sleeve (32), the guide sleeve (32) is rotatably connected to the base (10), the guide sleeve (32) has a first axis of rotation relative to the base (10), the first connecting rod (21) has a second axis of rotation relative to the base (10), the first axis and the second axis are in the same direction; A guide rod (33) is inserted into the guide sleeve (32), and one end of the guide rod (33) is rotatably connected to the first end (211); an elastic element (31) is sleeved on the guide rod (33), and one end of the elastic element (31) abuts against the guide sleeve (32), and the other end of the elastic element (31) is fixed relative to the guide rod (33) along the axial direction of the guide rod (33).

5. The robotic arm according to claim 4, characterized in that, The elastic element (31) is located on the side of the guide sleeve (32) away from the first end (211); the guide rod (33) has an abutment block (34) at the end away from the first end (211), and the abutment block (34) abuts against the elastic element (31).

6. The robotic arm according to claim 5, characterized in that, The abutment block (34) includes: A flange (341) having a radial dimension greater than that of the elastic element (31), and the flange (341) abutting against the elastic element (31); The connecting rod (342) is threadedly connected to the guide rod (33). When the abutment block (34) is installed on the guide rod (33), the distance between the flange (341) and the guide sleeve (32) is greater than or equal to the axial free length of the elastic element (31) when the threaded connection between the end thread of the connecting rod (342) and the end thread of the guide rod (33) is made ... sleeve (33) is made when the threaded connection between the end thread of the connecting rod (342 7. The robotic arm according to claim 5, characterized in that, The gravity compensation mechanism (30) also includes: A rotating member (35) is disposed between the abutting block (34) and the elastic member (31), and the elastic member (31) rotates relative to the abutting block (34) via the rotating member (35).

8. The robotic arm according to claim 7, characterized in that, The rotating component (35) includes a bearing (351), which is sleeved on the guide rod (33) and abuts against the abutting block (34) and the elastic component (31).

9. The robotic arm according to claim 4, characterized in that, The guide sleeve (32) is provided with a sliding sleeve (36), which is sleeved on the guide rod (33). At least a portion of the sliding sleeve (36) is located between the peripheral wall of the guide rod (33) and the inner wall of the guide sleeve (32).

10. A robot, characterized in that, include: Walking mechanism; The robotic arm according to any one of claims 1-9, wherein the base (10) of the robotic arm is connected to the walking mechanism; as well as The load is located on the support mechanism (20) of the robotic arm.

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