Telescopic arm mechanism and robot

Abstract

This disclosure provides a telescopic arm mechanism and a robot. The telescopic arm mechanism includes a fixed base, a telescopic arm assembly, and a trapezoidal lead screw assembly. The telescopic arm assembly has a fixed end and a movable end. The fixed end is disposed on the fixed base, and the movable end is movably disposed on the fixed end and is circumferentially fixed relative to the fixed base. The trapezoidal lead screw assembly includes a drive mechanism and several coaxially arranged trapezoidal lead screws arranged in an inner and outer sleeve configuration. The first trapezoidal lead screw is rotatably disposed on the fixed base, and the end of the last trapezoidal lead screw is disposed on the movable end. In two adjacent trapezoidal lead screws, the latter trapezoidal lead screw is engaged with the former trapezoidal lead screw via internal and external thread transmission. The drive mechanism is disposed on the fixed base and is drively connected to the first trapezoidal lead screw. When the first trapezoidal lead screw rotates, it drives the remaining trapezoidal lead screws to move axially, so that the movable end of the last trapezoidal lead screw moves closer to or away from the fixed base.

Description

Technical Field

[0001] This application relates to the fields of machinery and automation, and in particular to a telescopic arm mechanism and a robot. Background Technology

[0002] With the continuous development of robotics technology, miniaturized wheeled robots for the service industry are receiving increasing attention. As a key part of the robot system, the performance and design of the robotic arm are of paramount importance.

[0003] Traditional robotic arms typically consist of multiple rotary joints. In applications requiring a large reach and a certain load-bearing capacity at the end effector, the joints are large, placing high demands on the chassis load-bearing capacity and resulting in an overall large size that fails to meet miniaturization requirements. In this context, linear telescopic arms become a more promising solution.

[0004] Currently, linear telescopic arms used in the robotics field mainly include rack and pinion mechanisms, pulley telescopic arm mechanisms, and ball screw mechanisms. However, when these mechanisms achieve long-range extension and retraction, the required components are either too long or too large, failing to meet miniaturization requirements.

[0005] Furthermore, existing patents have already improved upon linear telescopic arms. For example, US Patent No. US11820013B2 discloses a linear telescopic arm and robot driven by a rigid chain, but this solution has drawbacks: the large gap between the rigid chain and the sprocket leads to unstable transmission and low transmission accuracy; a large spiraling space is required when the rigid chain retracts. Based on this, Chinese Patent No. CN119283010A proposes an improved solution, achieving the telescopic arm's extension and retraction by bonding thin steel sheets to the back of the synchronous belt, resulting in a relatively smaller overall size when the synchronous belt retracts. However, as the transmission mechanism of the telescopic arm, issues such as the reliability of the steel sheet bonding during repeated rotation and retraction still need further confirmation in practical applications.

[0006] It should be noted that the information disclosed in the background section is used to enhance the understanding of the background of this disclosure and may include information that does not constitute prior art known to those skilled in the art. Utility Model Content

[0007] This disclosure provides a telescopic arm mechanism.

[0008] According to one aspect of this disclosure, a telescopic boom mechanism is provided, comprising: Fixed base; The telescopic arm assembly has a fixed end and a movable end. The fixed end is disposed on the fixed base, and the movable end is movably disposed on the fixed end and is fixed relative to the fixed base in the circumferential direction. A trapezoidal lead screw assembly includes a drive mechanism and several trapezoidal lead screws arranged coaxially and sequentially arranged inside and outside each other. The first trapezoidal lead screw is rotatably mounted on the fixed base, and the end of the last trapezoidal lead screw is located at the movable end. In two adjacent trapezoidal lead screws, the first trapezoidal lead screw is provided with internal threads, and the second trapezoidal lead screw is provided with external threads adapted to the internal threads, and is driven to engage with the first trapezoidal lead screw through the internal and external threads. The drive mechanism is mounted on the fixed base and is driven to the first trapezoidal lead screw, and is used to drive the first trapezoidal lead screw to rotate. When the first trapezoidal lead screw rotates, it drives the remaining trapezoidal lead screws to move axially, so that the last trapezoidal lead screw drives the movable end to move closer to or away from the fixed base.

[0009] According to one aspect of the technical solution disclosed herein, when the drive mechanism is activated, it drives the first trapezoidal lead screw to rotate. Due to the transmission engagement between adjacent trapezoidal lead screws via internal and external threads, the rotation of the first trapezoidal lead screw drives the adjacent second trapezoidal lead screw to rotate. Simultaneously, based on the transmission characteristics of the threads, the second trapezoidal lead screw moves axially. Similarly, the rotation and axial movement of the second trapezoidal lead screw are transmitted to the third trapezoidal lead screw, and so on, with this transmission and movement sequentially reaching the last trapezoidal lead screw. Ultimately, the last trapezoidal lead screw drives the movable end of the telescopic arm assembly to move closer to or away from the fixed base, thereby realizing the telescopic function of the entire telescopic arm mechanism. This telescopic arm mechanism uses a trapezoidal lead screw assembly to achieve the telescopic function, eliminating the need for multiple large rotary joints, significantly reducing the overall size, lowering the load requirements on the chassis, and effectively solving the problem of miniaturization difficulties in traditional robotic arms. Meanwhile, the telescopic boom mechanism utilizes a multi-stage transmission structure of trapezoidal screw assemblies. Multiple trapezoidal screws are sequentially coaxially arranged and driven together, enabling long-range extension and retraction within a limited space, thus meeting the need for miniaturization of the telescopic boom. Furthermore, this telescopic boom mechanism employs trapezoidal screw transmission, with tight internal and external thread engagement between the trapezoidal screws and small clearances, ensuring smooth transmission and high transmission accuracy. Simultaneously, the retraction of the telescopic boom is achieved through the axial movement of the trapezoidal screws, eliminating the need for coiling like a rigid chain, thus significantly reducing the space required for retraction. Equally important, this telescopic boom mechanism relies on the mechanical transmission between the trapezoidal screws for extension and retraction, eliminating the need for adhesive components such as steel plates. This avoids potential failures due to adhesion reliability issues and improves the stability and reliability of the mechanism during repeated use.

[0010] According to at least one embodiment of the telescopic boom mechanism of this disclosure, the drive mechanism includes a motor, a driving synchronous pulley, a driven synchronous pulley, a synchronous belt, and a synchronous belt adapter plate; the motor is disposed on the fixed base; the driving synchronous pulley is drivenly connected to the output shaft of the motor; the driven synchronous pulley is fixedly connected to the synchronous belt adapter plate, the synchronous belt adapter plate is fixedly connected to the first section of the trapezoidal lead screw, and the synchronous belt is connected between the driving synchronous pulley and the driven synchronous pulley.

[0011] According to the technical solution of this embodiment, after the motor starts, its output shaft drives the active synchronous pulley to rotate. Since the synchronous belt connects the active and driven synchronous pulleys, the rotation of the active synchronous pulley will drive the driven synchronous pulley to rotate through the synchronous belt. The driven synchronous pulley is fixedly connected to the synchronous belt adapter plate, which is in turn fixedly connected to the first trapezoidal lead screw. Therefore, the rotation of the driven synchronous pulley will drive the first trapezoidal lead screw to rotate, thereby realizing the telescopic movement of the entire telescopic boom mechanism.

[0012] According to at least one embodiment of the telescopic boom mechanism of the present disclosure, the motor is movably disposed on the fixed base, the fixed base is provided with screws, the screws being connected to the motor for adjusting the position of the motor to tension the synchronous belt.

[0013] According to the technical solution of this embodiment, the timing belt may become loose after a period of use. At this time, by adjusting the screw, which is connected to the motor, the motor can be pushed or pulled to move on the fixed base. After the motor position changes, the tension of the timing belt is adjusted, thereby ensuring that the timing belt is always in a suitable tension state.

[0014] According to at least one embodiment of the telescopic boom mechanism of this disclosure, the first trapezoidal screw is provided with a synchronous belt adapter flange at its first end to limit the maximum displacement of the second trapezoidal screw in the first direction; the second trapezoidal screw is provided with a screw end cap at its first end to limit the maximum displacement of the third trapezoidal screw in the first direction; the fourth screw is provided with a screw flange at its end to limit its maximum displacement in the first direction; the end of the trapezoidal screw is provided with a screw stop or a shoulder and has a hole shoulder structure inside; in two adjacent trapezoidal screws, the screw stop or shoulder of the first trapezoidal screw contacts the hole shoulder structure of the second trapezoidal screw to limit the maximum movement distance of the second trapezoidal screw in the second direction, the first direction being opposite to the second direction.

[0015] According to the technical solution of this embodiment, during the extension and retraction of the telescopic arm, when the trapezoidal lead screw moves in the first direction, the synchronous belt adapter, lead screw flange, and lead screw end cap will restrict the remaining trapezoidal lead screws from continuing to move in that direction, preventing them from exceeding the maximum travel distance. When the trapezoidal lead screw moves in the second direction, the lead screw stop or shoulder of the preceding trapezoidal lead screw will contact the shoulder structure of the following trapezoidal lead screw, preventing the following trapezoidal lead screw from continuing to move in the second direction, thereby limiting its maximum travel distance.

[0016] According to at least one embodiment of the telescopic boom mechanism of the present disclosure, the trapezoidal screw assembly further includes a bearing, a bearing spacer, and a retaining ring. There are two bearings, which are coaxially and spaced apart on the outside of the first section of the trapezoidal screw. The bearing spacer is disposed between the two bearings, and the retaining ring is fixedly disposed on the side of one bearing away from the other bearing to restrict the axial movement of the bearing.

[0017] According to the technical solution of this embodiment, two bearings are coaxially and spaced apart and sleeved on the outside of the first trapezoidal lead screw, providing support for the trapezoidal lead screw and enabling it to rotate smoothly. A bearing spacer is disposed between the two bearings, serving to isolate and position them. A retaining ring is fixed to the side of one bearing away from the other, restricting the axial movement of the bearing and preventing it from shifting in the axial direction.

[0018] According to at least one embodiment of the telescopic arm mechanism of the present disclosure, the telescopic arm assembly includes a sleeve assembly, the sleeve assembly includes a plurality of sleeves nested in sequence, the sleeves are telescopically movable along the length direction, the first-stage sleeve is fixedly installed on the fixed base, and the last-stage sleeve is configured as the movable end.

[0019] According to the technical solution of this embodiment, when the first trapezoidal lead screw rotates, it drives the entire trapezoidal lead screw assembly to move, thereby driving the sleeve assembly to extend and retract. Since the sleeves of each stage of the sleeve assembly are nested inside and outside in sequence and can extend and retract along the length direction, the first stage sleeve is fixed on the fixed base, and the last stage sleeve, as the movable end, moves closer to or away from the fixed base under the action of the trapezoidal lead screw assembly, thereby realizing the extension and retraction of the telescopic arm.

[0020] According to at least one embodiment of the telescopic boom mechanism of this disclosure, any of the following connection structures are satisfied: Structure 1: A screw flange is fixedly provided at the end of the trapezoidal screw of the last section, and the screw flange is fixedly connected to the sleeve of the last stage; Structure 2: A screw adapter is fixedly provided at the end of the trapezoidal screw of the last section, the screw adapter is provided with a flat shaft, a pin is provided on the flat shaft, a sleeve flange is fixedly provided on the sleeve of the last stage, the sleeve flange is provided with a first U-shaped hole and a second U-shaped hole, the flat shaft is slidably disposed in the first U-shaped hole, and the pin is disposed in the second U-shaped hole and can move up and down in the second U-shaped hole.

[0021] According to the technical solution of this embodiment, when the last trapezoidal screw rotates or moves, power is transmitted to the movable end through the screw flange, causing the movable end to move closer to or further away from the fixed base as the last trapezoidal screw moves, thus realizing the telescopic function of the telescopic arm. During the extension of the telescopic arm assembly, due to the gap between the sleeves and the action of external forces, the end of the sleeve will move downward. However, by adopting the above-described structure two, the end of the trapezoidal screw can remain relatively stationary when the telescopic sleeve moves downward, thereby reducing the bending moment borne by the trapezoidal screw.

[0022] According to at least one embodiment of the telescopic arm mechanism of the present disclosure, an IMU is provided at the end of the final stage sleeve, the IMU being used to detect the end position and motion state of the sleeve assembly.

[0023] According to the technical solution of this embodiment, the IMU (Inertial Measurement Unit) is installed at the end of the final stage sleeve. During the movement of the telescopic arm, the IMU uses internal sensors such as accelerometers and gyroscopes to detect information such as acceleration and angular velocity at the end of the sleeve assembly in real time, and calculates the position and motion state of the end based on this information.

[0024] According to at least one embodiment of the telescopic arm mechanism of the present disclosure, a limiting member is provided between the sleeves, and the limiting members of two adjacent sleeves block each other when the sleeves are extended, so as to limit the maximum distance of the sleeve extension.

[0025] According to the technical solution of this embodiment, during the extension process of the sleeve, when the limiting members of two adjacent sleeves come into contact with each other and block each other, the sleeve cannot continue to extend, thereby limiting the maximum distance of the sleeve extension.

[0026] According to at least one embodiment of the telescopic arm mechanism of the present disclosure, the telescopic arm mechanism further includes a wrist assembly disposed at the movable end, the wrist assembly including a first rotary servo, a second rotary servo and an end effector rotary servo connected in sequence, the first rotary servo being mounted on the movable end, the end effector rotary servo being used to mount an end effector, and the rotation planes of the first rotary servo, the second rotary servo and the end effector rotary servo being perpendicular to each other to form a three-degree-of-freedom system.

[0027] According to the technical solution of this embodiment, a first rotary servo is installed at the movable end, and its rotation drives a second rotary servo to rotate around a first rotation axis; the rotation of the second rotary servo drives an end effector to rotate around a second rotation axis; the end effector is used to install an end effector, and its rotation drives the end effector to rotate around a third rotation axis. Since the rotation planes of the first rotary servo, the second rotary servo, and the end effector are perpendicular to each other, a three-degree-of-freedom system is formed, enabling the end effector to achieve flexible movement and positioning in three-dimensional space.

[0028] According to another aspect of this disclosure, a robot is provided, including the telescopic arm mechanism described above.

[0029] According to another aspect of the technical solution disclosed herein, the robot, by being equipped with the aforementioned telescopic arm mechanism, utilizes the telescopic function of the telescopic arm mechanism, the multi-degree-of-freedom movement of the wrist assembly, and the position detection function of the IMU to achieve perception and manipulation of the surrounding environment. The telescopic arm mechanism can adjust its length and position according to task requirements, the wrist assembly drives the end effector for precise operation, and the IMU provides position and motion status feedback, enabling the robot to complete various complex tasks. Attached Figure Description

[0030] The accompanying drawings illustrate exemplary embodiments of the present disclosure and, together with the description thereof, serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0031] Figure 1 This is a perspective view of a telescopic arm mechanism in an extended state according to one embodiment of the present disclosure.

[0032] Figure 2 This is a cross-sectional view of a telescopic arm mechanism in an extended state according to one embodiment of the present disclosure.

[0033] Figure 3 This is a perspective view of the retracted state of a telescopic arm mechanism according to one embodiment of the present disclosure.

[0034] Figure 4 This is a cross-sectional view of the telescopic boom mechanism in its retracted state according to one embodiment of the present disclosure.

[0035] Figure 5 This is a structural schematic diagram of a telescopic arm assembly according to one embodiment of the present disclosure.

[0036] Figure 6 This is a cross-sectional view of a trapezoidal lead screw assembly according to one embodiment of the present disclosure.

[0037] Figure 7 This is a perspective view of a wrist assembly according to one embodiment of the present disclosure.

[0038] Figure 8 This is a schematic diagram of the structure of a horizontal rotation servo assembly according to one embodiment of the present disclosure.

[0039] Figure 9 This is a schematic diagram of the connection between the final trapezoidal lead screw and the final stage sleeve according to one embodiment of the present disclosure.

[0040] Figure 10 This is a perspective view of a sleeve flange according to one embodiment of the present disclosure.

[0041] Figure 11 This is a perspective view of a lead screw adapter according to one embodiment of the present disclosure.

[0042] The specific labels in the attached figures are as follows: 100 Fixed base 200 telescopic boom assembly 210 Sleeve Assembly 211 First-stage sleeve 212 Final stage sleeve 213 Sliding groove 214 Sliding guide rail 215 Limiting and fixing sleeve 216 IMU sensor 300 Trapezoidal Screw Assembly 301 First Trapezoidal Lead Screw 302 Last section trapezoidal lead screw 303 Screw Flange 304 Screw Adapter 305 flat shaft 306 pin 307 sleeve flange 307A First U-shaped hole 307B Second U-shaped hole 307C flange 307D Connector 310 Drive Mechanism 311 motor 312 Active Synchronous Belt Pulley 313 Driven Synchronous Belt Pulley 314 Synchronous Belt 315 Synchronous Belt Adapter 316 Motor Pressure Plate 317 Motor Adapter 320 lead screw stop 330 Screw End Cap 340 ball screw bearing 350 bearing spacer 360° bezel 400 Wrist Components 410 Horizontal Rotation Servo Assembly 411 Servo Box Housing 412 Horizontal Rotation Servo 413 Servo Box Cover 414 bearing housing 415 Adapter Shaft 416 Servo Bearing 417 Connecting support 418 Adapter Mounting Plate 420 pitch and rotation servo 430 End Rotation Servo 440 Servo Connector Plate 1 450 Servo Connector Plate 2 460 Servo Connector Plate Three 500 Cable Chain Assembly 510 Cable Chain 520 Cable Carrier Mount 530 Grandiose 540 Gland head bracket Detailed Implementation The present disclosure will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the disclosure. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present disclosure are shown in the accompanying drawings.

[0043] It should be noted that, where there is no conflict, the embodiments and features described in this disclosure can be combined with each other. The technical solutions of this disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0044] Unless otherwise stated, the exemplary implementations / embodiments shown are to be understood as providing exemplary features of various details that provide ways in which the technical concepts of this disclosure can be implemented in practice. Therefore, unless otherwise stated, the features of various implementations / embodiments may be additionally combined, separated, interchanged and / or rearranged without departing from the technical concepts of this disclosure.

[0045] For descriptive purposes, this disclosure may use spatial relative terms such as “below,” “under,” “below,” “down,” “above,” “above,” “higher,” and “side (e.g., in a “sidewall”)” to describe the relationship between one component and another component as shown in the accompanying drawings. In addition to the orientations depicted in the drawings, the spatial relative terms are also intended to encompass different orientations of the device during use, operation, and / or manufacture. For example, if the device in the drawings is flipped, a component described as “below” or “under” another component or feature would subsequently be positioned “above” said other component or feature. Thus, the exemplary term “below” can encompass both “above” and “below” orientations. Furthermore, the device may be otherwise positioned (e.g., rotated 90 degrees or in other orientations), thus interpreting the spatial relative descriptive terms used herein accordingly.

[0046] The terminology used herein is for the purpose of describing particular embodiments and is not intended to be limiting. As used herein, unless the context clearly indicates otherwise, the singular forms “a” and “the” are intended to include the plural forms as well. Furthermore, when the terms “comprising” and / or “including” and variations thereof are used in this specification, it indicates the presence of the stated features, integrals, steps, operations, parts, components, and / or groups thereof, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, parts, components, and / or groups thereof. It should also be noted that, as used herein, the terms “substantially,” “about,” and other similar terms are used as approximate terms rather than as terms of degree, thus explaining the inherent biases in measurements, calculated values, and / or provided values ​​that would be recognized by one of ordinary skill in the art.

[0047] While existing telescopic boom solutions each have their own characteristics and can achieve basic telescopic functions, they have varying degrees of shortcomings in terms of space occupation, system complexity, cost, transmission efficiency, and weight. They are difficult to meet the requirements of some application scenarios with high requirements for space compactness, cost-effectiveness, and lightweighting. Therefore, it is necessary to explore new telescopic boom mechanism solutions.

[0048] To address the aforementioned technical problems, this embodiment provides a telescopic arm mechanism.

[0049] Figure 1 This is a perspective view of the telescopic boom mechanism in its extended state according to one embodiment of the present disclosure. Figure 2 This is a cross-sectional view of a telescopic boom mechanism in its extended state according to one embodiment of the present disclosure. Figure 3 This is a perspective view of the telescopic boom mechanism in its retracted state according to one embodiment of the present disclosure. Figure 4 This is a cross-sectional view of the telescopic boom mechanism in its retracted state according to one embodiment of the present disclosure.

[0050] See Figures 1 to 4 As shown, the telescopic arm mechanism of this embodiment includes: a fixed base 100, a telescopic arm assembly 200, a trapezoidal lead screw assembly 300, a wrist assembly 400, and a drag chain assembly 500.

[0051] The fixed base 100 serves as the mounting base for the telescopic arm assembly 200 and the trapezoidal lead screw assembly 300. Multiple mounting holes are provided on the fixed base 100 for securely mounting the entire telescopic arm mechanism onto the robot body or other equipment.

[0052] The telescopic arm assembly 200 is provided with a fixed end and a movable end. The fixed end is provided on the fixed base 100, and the movable end is movably provided on the fixed end and is fixed relative to the fixed base 100 in the circumferential direction. That is to say, the movable end can move relative to the fixed end, but does not have rotational freedom.

[0053] Figure 5 This is a structural schematic diagram of a telescopic arm assembly according to one embodiment of the present disclosure.

[0054] like Figure 1 and Figure 5 As shown, the limitation on the relative relationship between the fixed end and the movable end mentioned above can be achieved through the following implementation: The telescopic arm assembly 200 includes a sleeve assembly 210, which includes several sleeves nested sequentially inside and outside. The sleeves can move telescopically along the length direction. The first-stage sleeve 211 is fixedly installed on the fixed base 100 by bolts, and the last-stage sleeve 212 is configured as the movable end, capable of telescopically moving relative to the first-stage sleeve 211. Several more stages of sleeves can also be provided between the first-stage sleeve 211 and the last-stage sleeve 212 as needed. When the first trapezoidal screw 301 rotates, it drives the entire trapezoidal screw assembly 300 to move, thereby driving the sleeve assembly 210 to telescopically extend and retract. Since the sleeves of the sleeve assembly 210 are nested sequentially inside and outside and can move telescopically along the length direction, the first-stage sleeve 211 is fixed on the fixed base 100, and the last-stage sleeve 212, as the movable end, moves closer to or away from the fixed base 100 under the action of the trapezoidal screw assembly 300, realizing the telescopic extension and retraction of the telescopic arm.

[0055] like Figure 5 As shown, to make the movement of the sleeves more stable and smooth, each stage of the sleeve is provided with a sliding groove 213 on its inner side, and all other sleeves except the first stage sleeve 211 are provided with sliding guide rails 214 on their outer sides. With the cooperation of the sliding grooves 213 and the sliding guide rails 214, each stage of the sleeve can slide and extend relatively stably.

[0056] During extension movement, the telescopic boom reaches its maximum extension range when the sliding guides 214 of each stage abut against the limiting and fixing sleeves 215. During retraction movement, the next-stage sleeve can retract into the interior of the previous-stage sleeve, and when the limiting and fixing sleeves 215 of each stage abut against each other, the telescopic boom retracts to its minimum boom extension. This achieves the effect of a large boom extension in the working state and a small footprint in the non-working state.

[0057] like Figure 2 and Figure 4 As shown, for example, limiting members are provided between the sleeves. The limiting members of two adjacent sleeves block each other when the sleeves extend, so as to limit the maximum distance of the sleeve extension. For example, the limiting member is a limiting fixing sleeve 215 installed at the end of each sleeve. Each limiting fixing sleeve 215 is used to limit the telescopic movement range of the nested next-level sleeve to prevent the sleeve from disengaging.

[0058] like Figure 1As shown, an IMU sensor 216 is installed at the end of the final stage sleeve 212. The IMU sensor 216 is used to detect the end position and motion state of the sleeve assembly 210. The IMU sensor 216 can be installed on the limiting and fixing sleeve 215 at the end of the final stage sleeve 212. During the movement of the telescopic arm, the IMU uses internal sensors such as accelerometers and gyroscopes to detect the acceleration, angular velocity, and other information of the end of the sleeve assembly 210 in real time, and calculates the position and motion state of the end based on this information.

[0059] Figure 6 This is a cross-sectional view of a trapezoidal lead screw assembly according to one embodiment of the present disclosure.

[0060] See Figure 2 and Figure 6 As shown, the trapezoidal lead screw assembly 300 includes a drive mechanism 310 and several trapezoidal lead screws arranged coaxially and sequentially arranged inside and outside each other. The first trapezoidal lead screw 301 is rotatably mounted on the fixed base 100, and the end of the last trapezoidal lead screw 302 is fixedly mounted on the movable end. In two adjacent trapezoidal lead screws, the first trapezoidal lead screw is provided with internal threads, and the second trapezoidal lead screw is provided with external threads that are adapted to the internal threads. The second trapezoidal lead screw is driven to engage with the first trapezoidal lead screw through the internal and external threads. The drive mechanism 310 is mounted on the fixed base 100 and is connected to the first trapezoidal lead screw 301 for driving the first trapezoidal lead screw 301 to rotate. When the first trapezoidal lead screw 301 rotates, it drives the remaining trapezoidal lead screws to move axially, so that the movable end of the last trapezoidal lead screw moves closer to or away from the fixed base 100.

[0061] See Figure 4 and Figure 6 As shown, in a telescopic boom mechanism according to at least one embodiment of this disclosure, a screw flange 303 is fixedly provided at the end of the final trapezoidal screw 302, and the screw flange 303 is fixedly connected to the movable end. Exemplarily, the screw flange 303 is fixed to the limiting fixing sleeve 215 at the end of the final stage sleeve 212 by bolts. When the final trapezoidal screw 302 rotates or moves, power is transmitted to the movable end through the screw flange 303, realizing the telescopic boom's telescopic function.

[0062] Figure 9 This is a schematic diagram of the connection between the final trapezoidal lead screw and the final stage sleeve according to one embodiment of the present disclosure. Figure 10 This is a perspective view of a sleeve flange according to one embodiment of the present disclosure. Figure 11 This is a perspective view of a lead screw adapter according to one embodiment of the present disclosure.

[0063] like Figures 8 to 10As shown, the end of the final trapezoidal lead screw 302 can also be set in the final stage sleeve 212 in the following way: a lead screw adapter 304 is fixedly set at the end of the final trapezoidal lead screw 302 by clamping, bolting, or welding. The lead screw adapter 304 is provided with a flat shaft 305, and a pin hole is provided on the flat shaft 305. A pin 306 passes through the pin hole. A sleeve flange 307 is fixedly set in the final stage sleeve 212. The sleeve flange 307 includes a flange 307C and a connecting part 307D fixedly connected to the flange 307C. The flange 307C and the final stage sleeve 212 are connected by bolts. The connecting part 307D is provided with a first U-shaped hole 307A and a second U-shaped hole 307B with mutually perpendicular extension directions. The flat shaft 305 is slidably set in the first U-shaped hole 307A, and the pin 306 is set in the second U-shaped hole 307B and can move up and down in the second U-shaped hole 307B. With this configuration, during the extension of the telescopic arm assembly 200, due to the gap between the sleeves and the action of external force, the final sleeve 212 will move downward. With the above-mentioned structure two, when the final sleeve 212 moves downward, the pin 306 can move within the second U-shaped hole 307B, so that the end of the trapezoidal screw remains relatively stationary, thereby reducing the bending moment borne by the trapezoidal screw and maintaining better straightness of the trapezoidal screw.

[0064] Overall, when the drive mechanism 310 is activated, it drives the first trapezoidal lead screw 301 to rotate. Due to the transmission engagement between adjacent trapezoidal lead screws via internal and external threads, the rotation of the first trapezoidal lead screw 301 drives the adjacent second trapezoidal lead screw to rotate. Simultaneously, based on the transmission characteristics of the threads, the second trapezoidal lead screw moves axially. Similarly, the rotation and axial movement of the second trapezoidal lead screw are transmitted to the third trapezoidal lead screw, and so on, until this transmission and movement are sequentially transmitted to the last trapezoidal lead screw 302. Ultimately, the last trapezoidal lead screw 302 drives the movable end of the telescopic arm assembly 200 to move closer to or further away from the fixed base 100, thereby realizing the telescopic function of the entire telescopic arm mechanism.

[0065] For example, such as Figure 4As shown, the drive mechanism 310 includes a motor 311, a driving synchronous pulley 312, a driven synchronous pulley 313, a synchronous belt 314, and a synchronous belt adapter 315. The motor 311 is mounted on a fixed base 100. The driving synchronous pulley 312 is connected to the output shaft of the motor 311. The driven synchronous pulley 313 is fixedly connected to the synchronous belt adapter 315, which is fixedly connected to the first trapezoidal lead screw 301. The synchronous belt 314 connects the driving synchronous pulley 312 and the driven synchronous pulley 313. After the motor 311 starts, its output shaft drives the driving synchronous pulley 312 to rotate. Since the synchronous belt 314 connects the driving synchronous pulley 312 and the driven synchronous pulley 313, the rotation of the driving synchronous pulley 312 will drive the driven synchronous pulley 313 to rotate through the synchronous belt 314. The driven synchronous pulley 313 is fixedly connected to the synchronous belt adapter 315, which in turn is fixedly connected to the first trapezoidal screw 301. Therefore, the rotation of the driven synchronous pulley 313 will drive the first trapezoidal screw 301 to rotate, thereby realizing the telescopic action of the entire telescopic boom mechanism.

[0066] To facilitate adjustment of the tension of the synchronous belt 314, the motor 311 is movably mounted on the fixed base 100. For example, a motor pressure plate 316 and a motor adapter plate 317 are slidably mounted on the fixed base 100. The motor 311 is mounted on a motor bracket formed by the motor pressure plate 316 and the motor adapter plate 317. Screws are screwed onto the fixed base 100, connecting to the motor 311, to adjust the position of the motor 311 and thus tension the synchronous belt 314. After a period of use, the synchronous belt 314 may become loose. In this case, the screws can be adjusted. Since the screws are connected to the motor 311, they can be pushed or pulled to move the motor 311 on the fixed base 100. After the position of the motor 311 changes, the tension of the synchronous belt 314 is adjusted, thereby ensuring that the synchronous belt 314 is always at a suitable tension.

[0067] See Figure 6As shown, to ensure reliable stopping of each stage of the lead screw in its maximum extension and retraction states without disengaging, the trapezoidal lead screw assembly 300 also includes a lead screw stop 320 and a lead screw end cap 330. The first section of the trapezoidal lead screw 301 has a timing belt adapter, such as a timing belt adapter flange or timing belt adapter plate 315, at its first end to limit the maximum displacement of the second section of the trapezoidal lead screw in the first direction. The second section of the trapezoidal lead screw has a lead screw end cap 330 at its first end to limit the maximum displacement of the third section of the trapezoidal lead screw in the first direction. The fourth section of the lead screw has a lead screw flange 303 at its end to limit its maximum displacement in the first direction. Simultaneously, the ends of the trapezoidal lead screws are equipped with lead screw stops 320 and have internal shoulder structures. In two adjacent trapezoidal lead screws, the lead screw stop 320 of the preceding trapezoidal lead screw contacts the shoulder structure of the following trapezoidal lead screw to limit the maximum movement distance of the following trapezoidal lead screw in the second direction, which is opposite to the first direction. During the extension and retraction of the telescopic boom, when the trapezoidal lead screw moves in the second direction, the lead screw stop 320 of the previous trapezoidal lead screw will contact the shoulder structure of the subsequent trapezoidal lead screw, preventing the subsequent trapezoidal lead screw from continuing to move in the second direction, thereby limiting its maximum movement distance.

[0068] like Figure 6 As shown, the first trapezoidal lead screw 301 can be rotatably mounted on the fixed base 100 through the following implementation: The trapezoidal lead screw assembly 300 is further provided with a lead screw bearing 340, a bearing spacer 350, and a retaining ring 360. There are two lead screw bearings 340, which are coaxially and spaced apart on the outer side of the first trapezoidal lead screw 301. The bearing spacer 350 is disposed between the two lead screw bearings 340. The retaining ring 360 is fixedly disposed on the side of one lead screw bearing 340 away from the other lead screw bearing 340 to restrict the axial movement of the lead screw bearings 340. The two lead screw bearings 340 are coaxially and spaced apart on the outer side of the first trapezoidal lead screw 301, providing support for the trapezoidal lead screw and enabling it to rotate smoothly. The bearing spacer 350 is disposed between the two lead screw bearings 340, serving to isolate and position the lead screw bearings 340, preventing axial movement of the bearings.

[0069] Figure 7 This is a perspective view of a wrist assembly according to one embodiment of the present disclosure. Figure 8 This is a schematic diagram of the structure of a horizontal rotation servo assembly according to one embodiment of the present disclosure.

[0070] See Figure 1 , Figure 7 and Figure 8As shown, according to at least one embodiment of the telescopic arm mechanism of this disclosure, the telescopic arm mechanism further includes a wrist assembly 400 disposed at the movable end. The wrist assembly 400 includes a first rotary servo, a second rotary servo, and an end effector rotary servo 430 connected in sequence. The first rotary servo is mounted on the movable end, and the end effector rotary servo 430 is used to mount an end effector. The rotation planes of the first rotary servo, the second rotary servo, and the end effector rotary servo 430 are perpendicular to each other to form a three-degree-of-freedom system. The first rotary servo is mounted on the movable end, and its rotation drives the second rotary servo to rotate around a first rotation axis; the rotation of the second rotary servo drives the end effector rotary servo 430 to rotate around a second rotation axis; the end effector rotary servo 430 is used to mount the end effector, and its rotation can drive the end effector to rotate around a third rotation axis. Since the rotation planes of the first rotary servo, the second rotary servo, and the end effector rotary servo 430 are perpendicular to each other, a three-degree-of-freedom system is formed, enabling the end effector to achieve flexible movement and positioning in three-dimensional space.

[0071] like Figure 7 As shown, exemplarily, the wrist assembly 400 is mounted on the limiting and fixing sleeve 215 of the final stage sleeve 212. The wrist assembly 400 includes a horizontal rotation servo assembly 410, a pitch rotation servo 420, an end effector rotation servo 430, a servo connecting plate 440 connecting the horizontal rotation servo assembly 410 and the pitch rotation servo 420, a servo connecting plate 450 connecting the pitch rotation servo 420 and the end effector rotation servo 430, and a servo connecting plate 460 connected to the end effector rotation servo 430. The entire wrist forms a three-degree-of-freedom system through the interconnection of the three servos. The end effector rotation servo 430 is provided with an end effector interface for connecting end effectors such as grippers (not shown in the figure), enabling the end effector to have more flexible movements. The wrist assembly 400 is also provided with several housing parts that serve as protection and support.

[0072] See Figure 8 As shown, the aforementioned horizontal rotation servo assembly 410 may include a servo housing 411, a horizontal rotation servo 412, a servo housing cover 413, a bearing housing 414, an adapter shaft 415, a servo bearing 416, a connecting support 417, and an adapter mounting plate 418. The horizontal rotation servo 412 is installed inside the servo housing 411 and has an output flange connected to the adapter shaft 415 for outputting rotational torque. The rotation shaft is supported on the bearing housing 414 via the servo bearing 416 to ensure stable support of the adapter shaft 415. The connecting support 417 clamps the outer surface of the adapter shaft 415 for secure fixing. The connecting support 417 is fixed to the adapter mounting plate 418 with screws. Thus, the rotation of the horizontal rotation servo 412 is converted into the rotation of the bottom adapter mounting plate 418 around its rotation axis via the adapter shaft 415, providing rotational freedom in the horizontal plane.

[0073] The pitch rotation servo 420 and the end rotation servo 430 can use the existing or the above-mentioned horizontal rotation servo 412 working principle, which will not be repeated here.

[0074] See Figure 1 As shown, the wiring harnesses of the wrist assembly 400 and the end effector can be secured using cable fixing heads. Once secured, the wiring harnesses can be routed via the cable chain assembly 500 to one side of the telescopic arm mounting base 100.

[0075] The cable chain assembly 500 includes a cable chain 510, a cable chain mounting bracket 520, a gland head 530, and a gland head mounting bracket 540. One end of the cable chain 510 is fixed to the cable chain mounting bracket 520, and the other end is fixed to the gland head mounting bracket 540. The cable chain mounting bracket 520 is mounted on the first-stage sleeve 211 of the telescopic boom sleeve assembly 210, and the gland head mounting bracket 540 is mounted on the limiting and fixing sleeve 215 of the telescopic boom sleeve assembly 210. Cables run inside the cable chain 510, passing through a conduit from the telescopic boom base, then through the cable chain 510, and finally exiting from the gland head 530, thereby providing power and transmitting signals to remote components. During telescopic boom extension and retraction, the cable chain mounting plate supports the cable chain 510 to prevent sagging.

[0076] This embodiment provides a robot, including the telescopic arm mechanism of the previous embodiment.

[0077] By incorporating the aforementioned telescopic arm mechanism, the robot utilizes the telescopic arm's extension and retraction capabilities, the multi-degree-of-freedom motion of the wrist assembly 400, and the position detection function of the IMU to perceive and manipulate its surroundings. The telescopic arm mechanism can adjust its length and position according to task requirements, the wrist assembly 400 drives the end effector for precise operation, and the IMU provides position and motion status feedback, enabling the robot to complete various complex tasks.

[0078] In the description of this specification, the references to terms such as "one embodiment / mode," "some embodiments / modes," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment / mode or example is included in at least one embodiment / mode or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment / mode or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments / modes or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments / modes or examples described in this specification, as well as the features of different embodiments / modes or examples.

[0079] Furthermore, the terms "first" and "second" are used 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 as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0080] Those skilled in the art should understand that the above embodiments are merely for illustrating the present disclosure and are not intended to limit the scope of the disclosure. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of the present disclosure.

Claims

1. A telescopic arm mechanism, characterized in that, include: Fixed base; The telescopic arm assembly has a fixed end and a movable end. The fixed end is disposed on the fixed base, and the movable end is movably disposed on the fixed end and is fixed relative to the fixed base in the circumferential direction. A trapezoidal lead screw assembly includes a drive mechanism and several trapezoidal lead screws arranged coaxially and sequentially arranged inside and outside each other. The first trapezoidal lead screw is rotatably mounted on the fixed base, and the end of the last trapezoidal lead screw is located at the movable end. In two adjacent trapezoidal lead screws, the first trapezoidal lead screw is provided with internal threads, and the second trapezoidal lead screw is provided with external threads adapted to the internal threads, and is driven to engage with the first trapezoidal lead screw through the internal and external threads. The drive mechanism is mounted on the fixed base and is driven to the first trapezoidal lead screw, and is used to drive the first trapezoidal lead screw to rotate. When the first trapezoidal lead screw rotates, it drives the remaining trapezoidal lead screws to move axially, so that the last trapezoidal lead screw drives the movable end to move closer to or away from the fixed base.

2. A reach arm mechanism according to claim 1, characterised in that, The drive mechanism includes a motor, a driving synchronous pulley, a driven synchronous pulley, a synchronous belt, and a synchronous belt adapter plate; the motor is mounted on the fixed base; the driving synchronous pulley is connected to the output shaft of the motor; the driven synchronous pulley is fixedly connected to the synchronous belt adapter plate, the synchronous belt adapter plate is fixedly connected to the first section of the trapezoidal lead screw, and the synchronous belt is connected between the driving synchronous pulley and the driven synchronous pulley.

3. The telescopic arm mechanism according to claim 2, characterized in that, The motor is movably mounted on the fixed base, which is provided with screws. The screws are connected to the motor and are used to adjust the position of the motor to tension the synchronous belt.

4. A reach arm mechanism according to claim 3, wherein, The first trapezoidal lead screw is equipped with a synchronous belt adapter at its first end to limit the maximum displacement of the second trapezoidal lead screw in the first direction; the second trapezoidal lead screw is equipped with a lead screw end cap at its first end to limit the maximum displacement of the third trapezoidal lead screw in the first direction; the fourth lead screw is equipped with a lead screw flange at its end to limit its maximum displacement in the first direction; the ends of the trapezoidal lead screws are equipped with lead screw blocks or shoulders and have internal shoulder structures. In two adjacent trapezoidal lead screws, the lead screw block or shoulder of the first trapezoidal lead screw contacts the shoulder structure of the second trapezoidal lead screw to limit the maximum movement distance of the second trapezoidal lead screw in the second direction, which is opposite to the first direction.

5. The reach arm mechanism of claim 1, wherein, The trapezoidal lead screw assembly also includes a bearing, a bearing spacer, and a retaining ring. There are two bearings, which are coaxially and spaced apart on the outside of the first section of the trapezoidal lead screw. The bearing spacer is disposed between the two bearings, and the retaining ring is fixedly disposed on the side of one bearing away from the other bearing to restrict the axial movement of the bearing.

6. The reach arm mechanism of claim 1, wherein, The telescopic arm assembly includes a sleeve assembly, which comprises a plurality of sleeves nested sequentially inside and outside the main body. The sleeves are telescopically movable along the length direction. The first-stage sleeve is fixedly installed on the fixed base, and the last-stage sleeve is configured as the movable end.

7. A reach arm mechanism according to claim 6, wherein The end of the trapezoidal lead screw in the final section is fixedly provided with a lead screw flange, which is fixedly connected to the sleeve in the final stage; or The end of the trapezoidal lead screw in the final section is fixedly provided with a lead screw adapter. The lead screw adapter is provided with a flat shaft, and a pin is provided on the flat shaft. The sleeve in the final stage is fixedly provided with a sleeve flange, and the sleeve flange is provided with a first U-shaped hole and a second U-shaped hole. The flat shaft is slidably disposed in the first U-shaped hole, and the pin is disposed in the second U-shaped hole and can move up and down in the second U-shaped hole.

8. A reach arm mechanism according to claim 7, wherein, Limiting elements are provided between the sleeves, and the limiting elements of two adjacent sleeves block each other when the sleeves are extended, so as to limit the maximum distance of the sleeve extension.

9. The reach arm mechanism of claim 1, wherein, The telescopic arm mechanism also includes a wrist assembly disposed at the movable end. The wrist assembly includes a first rotary servo, a second rotary servo, and an end effector rotary servo connected in sequence. The first rotary servo is mounted on the movable end, and the end effector rotary servo is used to mount an end effector. The rotation planes of the first rotary servo, the second rotary servo, and the end effector rotary servo are perpendicular to each other to form a three-degree-of-freedom system.

10. A robot, characterized in that Includes the telescopic arm mechanism as described in any one of claims 1 to 9.

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