A robotic arm and vehicle

Abstract

The utility model relates to a kind of mechanical arm and vehicle, including pedestal arm group, sixth joint, fourth joint and fifth joint, sixth joint can be driven movement by fourth joint, the end of sixth joint is equipped with fixed claw and movable claw, movable claw can rotate and cooperate fixed claw to realize clamping, fixed claw back is equipped with avoid location groove, lighting assembly is equipped in avoid location groove, the lighting direction of lighting assembly is towards the target area of the fixed claw;Depth camera is equipped on fourth joint, the working direction of depth camera is towards the area where the sixth joint is located, realizes the function that vision and lighting are cooperatively controllable and dynamically adapt different working conditions.

Description

Technical Field

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

[0002] Current robotic arms are generally equipped with visual sensing units to identify and locate target objects. However, the installation position of the camera on the robotic arm often faces a dilemma: if it is installed near the end effector of the robotic arm, although it can reduce field of view obstruction, it will increase the load on the end effector, affect motion accuracy and dynamic performance, and is prone to collision damage; if it is installed in a fixed position such as the base or upper arm of the robotic arm, it is easy for the movement of the robotic arm itself to create blind spots, reducing the reliability of recognition.

[0003] Furthermore, existing robotic arm vision systems generally lack the ability to actively compensate for lighting conditions. Fixed light sources cannot coordinate with the camera's field of view and the robotic arm's pose in real time, leading to frequent problems such as uneven lighting and shadow occlusion in the work area, which affects image processing and positioning accuracy.

[0004] Therefore, a robotic arm structure with coordinated and controllable vision and lighting, capable of dynamically adapting to different working conditions, is needed to improve its perception stability and operational accuracy. Utility Model Content

[0005] To address the lack of dynamic adjustment capability in existing vibration reduction solutions for robotic arms, this invention provides a robotic arm and vehicle.

[0006] The present invention provides a robotic arm that solves the technical problem by including a base arm assembly, a sixth joint, a fourth joint, and a fifth joint. The sixth joint is movable by the fourth joint. The end of the sixth joint is provided with a fixed claw and a movable claw. The movable claw is used to rotate and cooperate with the fixed claw to achieve clamping. The back of the fixed claw is provided with a clearance groove, and an illumination component is provided in the clearance groove. The illumination direction of the illumination component is towards the target area of ​​the fixed claw. A depth camera is provided on the fourth joint, and the working direction of the depth camera is towards the area where the sixth joint is located.

[0007] Preferably, the fourth joint is provided with a fixing member, and the fifth joint is provided with a fifth servo, a fifth servo disk, a fixing plate and a mounting base. The fifth servo and the fixing member are fixed by a threaded connection, and the fifth servo, the fifth servo disk and the mounting base are fixed by a threaded connection. The fifth servo disk is located between the fifth servo and the mounting base. The fixing plate and the mounting base are fixed by a threaded connection. The mounting base is used for vertical 360° movement and drives the sixth joint to move.

[0008] Preferably, the fourth joint is provided with a fourth steering gear and a fourth steering wheel, the fourth steering gear, the fourth steering wheel and the fixing member are fixedly connected by threads, the fourth steering wheel is located between the fourth steering gear and the fixing member, and the fourth steering gear transmits power to the depth camera through the fixing member and the fourth steering wheel. The depth camera is driven by the fourth joint and is configured to perform 180° pitching motion while driving the fifth joint to move.

[0009] Preferably, the base arm group is provided with a third joint, the third joint is provided with a small arm, a pipe fixing seat, a baffle, a mounting plate, a third steering gear and a third steering wheel, the small arm is a pipe material and is provided with a through cable channel inside the arm, both ends of the small arm are fixed with the pipe fixing seat through a detachable pipe clamp structure, the pipe fixing seat and the baffle are fixedly connected by threads, the baffle and the third steering gear are fixedly connected by threads, the third steering gear and the mounting plate are fixedly connected by threads, and the mounting plate is configured to perform 180° pitching motion and drive the fourth joint to move.

[0010] Preferably, the base arm group is provided with a second joint, the second joint is provided with a large arm and an assembling plate, the large arm is a metal profile, the large arm is fixedly connected with the mounting plate and the assembling plate respectively through detachable threaded connection, the assembling plate is configured to perform 180° pitching motion and drive the third joint to move, and an expansion mounting groove compatible with boat-shaped nuts is provided on a side surface of the large arm.

[0011] Preferably, the second joint is provided with dual-drive steering gears, and the dual-drive steering gears are arranged in parallel.

[0012] Preferably, the fixed claw and the movable claw are provided with expansion plates, and a plurality of expansion holes are provided on the expansion plates.

[0013] Preferably, the movable claw is configured to perform 135° horizontal motion, the shapes of the movable claw and the fixed claw are in a shape of Chinese character "ji (several)" when viewed from both sides, the expansion holes on the movable claw are distributed in a shape of Chinese character "da (big)" on the expansion plate, and the expansion holes on the fixed claw are distributed along the edge on the expansion plate.

[0014] Preferably, the base arm group is provided with a first joint, the first joint is provided with a steering gear mounting seat, a support plate and a compression type planar bearing, the compression type planar bearing is located on the steering gear mounting seat and supports the support plate, and the support plate is configured to perform 360° horizontal motion and drive the second joint to move.

[0015] Compared with the prior art, the mechanical arm and the vehicle provided by the present utility model have the following advantages: 1. This utility model embodiment provides a robotic arm that achieves stable gripping through a fixed claw and a movable claw at the end of the sixth joint. An illumination component is integrated into the clearance groove on the back of the fixed claw, which can illuminate the target area, improving operational accuracy in dim environments, and also serve as a visual indicator of the equipment's operating status, enhancing ease of use and interactive experience. A depth camera mounted on the fourth joint rotates independently of the gripper assembly and does not shift with changes in the gripper assembly's posture, ensuring that the gripper assembly always remains in a fixed position within the camera's view, facilitating visual model training and automated operation.

[0016] 2. In the robotic arm provided by this utility model embodiment, the fifth joint realizes the vertical 360° movement of the mounting plate through the fifth servo motor, the fifth servo disk and other structures, which drives the sixth joint to move flexibly. The structure is compact and the transmission is stable, which improves the working range and adaptability of the robotic arm.

[0017] 3. In the robotic arm provided in this embodiment of the present invention, the fourth joint transmits power to the depth camera through the fourth servo motor, the fourth servo disk, and the fixing component, thereby achieving stable driving and attitude control of the camera and ensuring clear and stable image acquisition. The depth camera can perform a 180° pitch movement, expanding the visual coverage range, and simultaneously driving the fifth joint to achieve coordinated control of vision and motion, improving the intelligence and precision of the overall operation.

[0018] 4. In the robotic arm provided in this embodiment of the utility model, the third joint adopts an integrated design of tubular forearm and cable channel, which facilitates cable layout and protection, and has a simple and reliable structure; the mounting plate can tilt 180°, which drives the fourth joint to flexibly adjust its posture and enhance the robotic arm's motion capability.

[0019] 5. In the robotic arm provided in this embodiment of the utility model, the second joint adopts a metal profile upper arm and an extended mounting groove design, which has high structural strength and strong expandability; the assembly plate can tilt 180°, driving the third joint to move, thereby improving the overall load and adaptability of the robotic arm.

[0020] 6. In the robotic arm provided by this utility model embodiment, the dual drive servo motors are set in parallel, which provides a more stable and powerful power output, enhances the accuracy and reliability of joint movement, and is suitable for high-load or high-precision application scenarios.

[0021] 7. In the robotic arm provided in this embodiment of the utility model, the fixed claw and the movable claw are provided with an extension plate and multiple extension holes, which facilitates the installation of various tools or sensors and enhances the functional diversity and applicability of the robotic arm.

[0022] 8. In the mechanical arm provided by the embodiment of the present utility model, the movable claw can move 135° horizontally, the expansion holes have a reasonable layout, which achieves a wide clamping range and strong adaptability; the n-shaped structure has an ingenious design, integrating clamping stability, light weight and clearance avoidance functions.

[0023] 9. In the mechanical arm provided by the embodiment of the present utility model, the first joint adopts a compression-type planar bearing to support the support plate, realizing smooth 360° horizontal movement, which has low cost, high stability and flexible rotation, and provides reliable basic movement capability and operation accuracy for the entire mechanical arm. Description of Drawings

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model, the following briefly introduces the accompanying drawings required for the embodiments or the description of the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present utility model, and those of ordinary skill in the art can obtain other drawings according to these drawings without creative effort.

[0025] Figure 1 is a schematic structural view of a mechanical arm provided by an embodiment of the present utility model.

[0026] Figure 2 is a schematic structural view of a sixth joint of a mechanical arm provided by an embodiment of the present utility model.

[0027] Figure 3 is a schematic structural view of a fourth joint of a mechanical arm provided by an embodiment of the present utility model.

[0028] Figure 4 is a schematic structural view of a fifth joint of a mechanical arm provided by an embodiment of the present utility model.

[0029] Figure 5 is a schematic structural view of a third joint of a mechanical arm provided by an embodiment of the present utility model.

[0030] Figure 6 is a schematic structural view of a second joint of a mechanical arm provided by an embodiment of the present utility model.

[0031] Figure 7 is a schematic structural view of a first joint of a mechanical arm provided by an embodiment of the present utility model.

[0032] Figure 8 is a schematic structural view of a base plate provided by an embodiment of the present utility model.

[0033] Figure 9 is a schematic structural view of a top cover of a base plate provided by an embodiment of the present utility model.

[0034] Figure 10This is a schematic diagram of a chassis support frame structure provided in an embodiment of the present utility model.

[0035] Figure 11 This is a diagram showing the fit of the upper cover structure of a chassis according to an embodiment of this utility model.

[0036] Figure 12 This is an exploded view of the box-type vehicle body provided in this embodiment of the utility model.

[0037] Figure 13 This is a schematic diagram of a chassis suspension structure provided in an embodiment of the present utility model.

[0038] Figure 14 This is a schematic diagram of the wheel structure of a chassis provided in an embodiment of this utility model.

[0039] Explanation of reference numerals in the attached diagram: 100. Robotic arm; 01. Base; 1. First joint; 11. Press-fit surface bearing; 12. First servo motor; 13. First servo disc; 14. Servo motor mounting base; 15. Support plate; 2. Second joint; 21. Dual-drive servo motor; 22. Second servo disc; 23. Assembly plate; 24. Main boom; 241. Mounting slot; 3. Third joint; 31. Mounting plate; 32. Third servo motor; 33. Third servo disc; 34. Baffle; 35. Forearm; 36. Tube mounting base; 4. Fourth joint; 41. Depth camera; 42. Fixture; 43. Fourth servo; 44. Fourth servo disc; 5. Fifth joint; 51. Fifth servo motor; 52. Fifth servo disc; 53. Mounting base plate; 54. Fixing plate; 6. Sixth joint; 61. Gripper assembly; 611. Fixed jaw; 6111. Recessed slot; 600. Extension plate; 6001. Extension hole; 612. Movable jaw; 613. Lighting assembly; 62. Sixth servo motor; 63. Sixth servo disc; 700, chassis; 70, top cover; 80, box-type body; 90, wheels; 71. Top cover; 711. Through hole; 712. Outer guide plate; 713. No. 1 expansion port and waterproof structural components; 714. No. 1 expansion port cover plate; 72. Support frame; 721. Guide rail; 722. Inner guide plate; 81. Front of the vehicle; 811. Front visor; 812. Headlights; 82. Body; 821. Top bracket; 822. Battery; 823. Box-shaped outer shell; 8231. Handle; 8232. Second expansion port and waterproof structural components; 8233. Third expansion port and waterproof structural components; 8234. Fourth expansion port and waterproof structural components; 8235. Fifth expansion port and waterproof structural components; 83. Rear end; 831. Rear spoiler; 832. Interface assembly; 84. Suspension structure; 841. Upper fixing component; 8411. Mounting hole; 8412. Upper spring mounting position; 8413. Bolt and nut; 842. Lower fixing component; 8421. Connecting hole; 8422. Lower spring mounting position; 8423. Size adapter component; 843. Spring; 91. Electric motor; 92. Tire. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the scope of the present utility model.

[0041] It should be noted that the terms "first" and "second" in the specification and claims of this utility model are used to distinguish different objects, rather than to describe a specific order.

[0042] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0043] In this invention, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this invention and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0044] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this utility model according to the specific circumstances.

[0045] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; 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, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this utility model based on the specific circumstances.

[0046] Please see Figure 1 , Figure 2 and Figure 3 This utility model embodiment provides a robotic arm 100, including a base arm assembly, a sixth joint 6, a fourth joint 4, and a fifth joint 5. The sixth joint 6 can be driven to move by the fourth joint 4. The end of the sixth joint 6 is provided with a fixed claw 611 and a movable claw 612. The movable claw 612 can rotate and cooperate with the fixed claw 611 to achieve clamping. The back of the fixed claw 611 is provided with a clearance groove 6111. The clearance groove 6111 is provided with an illumination component 613. The illumination direction of the illumination component 613 is towards the target area of ​​the fixed claw 611. The fourth joint 4 is provided with a depth camera 41. The working direction of the depth camera 41 is towards the area where the sixth joint 6 is located.

[0047] Understandably, the sixth joint 6, acting as an end effector, achieves grasping and manipulation functions through the cooperation of the fixed gripper 611 and the movable gripper 612. The lighting component 613, located on the back of the fixed gripper 611, remains stationary when the fixed gripper 611 and the movable gripper 612 are engaged in the gripping function. This provides sufficient illumination for the operating area of ​​the gripper in low-light environments, ensuring operational accuracy and visibility. It also serves as a visual indicator of the device's operating status, improving ease of use and interactive experience. The depth camera 41, located on the fourth joint 4, rotates independently of the gripper assembly 61 and does not shift with changes in the gripper assembly 61's posture, ensuring that the gripper assembly 61 remains in a fixed position within the camera's view. Its field of view covers the working area of ​​the sixth joint 6, enabling the identification and positioning of target objects and the acquisition of their three-dimensional spatial information. This provides visual feedback for the intelligent grasping and motion control of the robotic arm 100, facilitating visual model training and automated operation.

[0048] Specifically, the base arm assembly includes a base 01, a first joint 1, a second joint 2, and a third joint 3, providing support and basic motion capabilities for the entire robotic arm 100. The sixth joint 6 is equipped with a sixth servo motor 62 and a sixth servo disk 63. The sixth servo motor 62 serves as the drive source, and its power is transmitted to the movable gripper 612 via the sixth servo disk 63. This allows the movable gripper 612 to extend horizontally outward by 135° from its contact with the fixed gripper 611, cooperating with the fixed gripper 611 to complete the clamping function. The lighting assembly 613 is embedded in the clearance slot 6111, avoiding the risk of external lighting being easily damaged by collisions and making the structure more compact. The depth camera 41 is fixed to the fourth joint 4 and can adjust its viewing angle with the joint movement, constantly tracking the end effector and its target.

[0049] Please refer to further information. Figure 4 The fourth joint 4 is provided with a fixing member 42, and the fifth joint 5 is provided with a fifth servo motor 51, a fifth servo disc 52, a fixing plate 54 and a mounting base plate 53. The fifth servo motor 51 and the fixing member 42 are fixed by threaded connection. The fifth servo motor 51, the fifth servo disc 52 and the mounting base plate 53 are fixed by threaded connection. The fifth servo disc 52 is located between the fifth servo motor 51 and the mounting base plate 53. The fixing plate 54 and the mounting base plate 53 are fixed by threaded connection. The mounting base plate 53 can move vertically 360° and drive the sixth joint 6 to move.

[0050] Specifically, the fixing component 42 serves as a key structure connecting the fourth joint 4 and the fifth joint 5. The fifth joint 5 employs a combination structure of a servo motor, a servo disk, and a plate, with threaded connections ensuring a secure fixation between the components. The fifth servo motor 51 acts as the drive source, transmitting power to the mounting plate 31 via the fifth servo disk 52. The mounting plate 53 can rotate 360° in the vertical plane, thereby enabling the sixth joint 6 at its end to perform a wide range of spatial attitude adjustments, expanding the working range of the robotic arm 100.

[0051] Please refer to further information. Figure 3 The fourth joint 4 is equipped with a fourth servo motor 43 and a fourth servo disc 44. The fourth servo motor 43, the fourth servo disc 44 and the fixing member 42 are fixed by threaded connection. The fourth servo disc 44 is located between the fourth servo motor 43 and the fixing member 42. The fourth servo motor 43 transmits power to the depth camera 41 through the fixing member 42 and the fourth servo disc 44.

[0052] Understandably, the fourth joint 4 also employs a combination of servo motor and servo disc transmission. The power generated by the fourth servo motor 43 is transmitted via the fourth servo disc 44 and the fixed component 42, ultimately driving the depth camera 41 to perform the required movements, such as adjusting its pitch angle to ensure optimal field of view. The threaded connection ensures the rigidity and precision of the power transmission path.

[0053] Furthermore, the depth camera 41 is driven by the fourth joint 4 and can perform a 180° pitch movement, while simultaneously driving the fifth joint 5 and subsequent components to move.

[0054] Specifically, the depth camera 41 is not fixed, but driven by the fourth joint 4, allowing it to pitch up and down with a pitch angle range of up to 180°, enabling it to scan a vast space from bottom to top. This movement is simultaneously linked to the fifth joint 5, achieving coordination between depth perception and arm movement, enhancing the robotic arm 100's initiative and flexibility in environmental perception.

[0055] Please refer to further information. Figure 5 The base arm assembly is equipped with a third joint 3. The third joint 3 is equipped with a forearm 35, a tube fixing seat 36, a baffle 34, a mounting plate 31, a third servo motor 32, and a third servo disc 33. The forearm 35 is made of tubular material and has a through cable channel inside the arm. The two ends of the forearm 35 are fixed to the tube fixing seat 36 by a detachable tube clamp structure. The tube fixing seat 36 and the baffle 34 are fixed by a threaded connection. The baffle 34 and the third servo motor 32 are fixed by a threaded connection. The third servo motor 32 is fixed to the mounting plate 31 by a threaded connection. The mounting plate 31 can move 180° in pitch and drive the fourth joint 4 to move.

[0056] Understandably, the third joint 3, as a crucial part of the connecting arm assembly, features a tubular structure forearm 35 with built-in cable channels through which all power and signal lines can pass, avoiding the risks of tangling and damage from exposed cables and maintaining a clean overall appearance. The forearm 35 is connected to both ends via a tube mounting base 36 and a detachable tube clamp structure, facilitating assembly and maintenance. The third servo motor 32 drives the mounting plate 31 to perform a maximum pitch movement of 180°, thereby moving the fourth joint 4 at its front end and subsequent components.

[0057] Please refer to further information. Figure 6 The base arm assembly is provided with a second joint 2, and the second joint 2 is provided with a main arm 24 and an assembly plate 23. The main arm 24 is a metal profile. The main arm 24 is fixed to the mounting plate 31 and the assembly plate 23 by a detachable threaded connection. The assembly plate 23 can tilt 180° and drive the third joint 3 to move. The side of the main arm 24 is provided with an expansion mounting groove 241 for a compatible nut.

[0058] Specifically, the upper arm 24 of the second joint 2 is made of high-strength metal profile, ensuring the rigidity and stability of the support. The upper arm 24 is fixed to the mounting plate 31 and assembly plate 23 via a detachable threaded connection, ensuring reliable connection and facilitating disassembly and maintenance. The second joint 2 is equipped with a second servo motor and a second servo disc 22 as drive sources, transmitting power to the assembly plate 23, enabling it to perform a 180° pitch movement, thereby driving the movement of the third joint 3 and subsequent components. The extended mounting slot 241 on the side of the upper arm 24 can be embedded with compatible standard nuts, allowing users to easily add additional accessories such as sensors and cable clamps as needed, expanding the functionality of the robotic arm 100.

[0059] Furthermore, the second joint 2 is equipped with dual-drive servo motors 21, which are arranged in parallel.

[0060] Understandably, employing dual-drive servo motors 21 in parallel at the second joint 2 allows for greater output torque and higher drive reliability, effectively reducing the excessive load on the shoulder of the tandem robotic arm 100 caused by the long lever action, and significantly improving the effective load capacity and stability of the robotic arm 100. The dual-servo system also provides power redundancy; if one servo motor fails, the other can still maintain the basic movement function of the joint, improving the stability and fault tolerance of the entire robotic arm 100 system.

[0061] The pivots of the first joint 1 and the second joint 2 are set perpendicularly; the pivots of the second joint 2 and the third joint 3 are set perpendicularly; the pivots of the third joint 3 and the fourth joint 4 are set parallel; the pivots of the fourth joint 4 and the fifth joint 5 are set perpendicularly; and the pivots of the fifth joint 5 and the sixth joint 6 are set perpendicularly.

[0062] Please refer to further information. Figure 2 The fixed claw 611 and the movable claw 612 are provided with an extension plate 600, which has multiple expansion holes 6001. At the same time, the extension plate 600 is also provided with two bent side plates on both sides, and the middle area of ​​the side plates has a hollow design.

[0063] Specifically, the extension plate 600 is fixedly mounted on specific parts of the fixed claw 611 and the movable claw 612, forming an integral functional component with the claw body. The multiple extension holes 6001 provided on the extension plate 600 serve to provide users with diverse mounting bases, which can be used to install different types of end effectors or auxiliary handles, thereby enabling flexible clamping and drag-and-drop teaching operations for objects of different shapes and sizes.

[0064] The extension plate 600 also features a hollowed-out area, which not only reduces weight but also provides clearance. This design significantly enhances the functional expandability and task adaptability of the robotic arm 100's end effector, enabling it to flexibly handle various complex operational scenarios.

[0065] Further, the movable jaw 612 is capable of 135° horizontal movement, the shapes of the movable jaw 612 and the fixed jaw 611 are in a "ji"-shape when viewed from both sides, the expansion holes 6001 on the movable jaw 612 are distributed in a "da"-shape on the expansion plate 600, and the expansion holes 6001 on the fixed jaw 611 are distributed along the edge on the expansion plate 600.

[0066] It can be understood that the movable jaw 612 has a horizontal opening and closing angle of 135°, which provides a large clamping range. The "ji"-shaped structural design of the fixed jaw 611 and the movable jaw 612 enables the jaws to adapt to the clamping of more special-shaped workpieces while providing sufficient structural strength. The expansion holes 6001 distributed in a "da"-shape on the expansion plate 600 of the movable jaw 612 and the expansion holes 6001 distributed along the edge on the fixed jaw 611 provide diversified selection positions and mounting directions for the installation of tools or accessories, and optimize the force arm and stress point.

[0067] For further reading, please refer to Figure 7 , the first joint 1 is provided with a steering gear mounting seat 14, a support plate 15 and a compression type planar bearing 11, the compression type planar bearing 11 is located on the steering gear mounting seat 14 and supports the support plate 15, and the support plate 15 can perform 360° horizontal movement and drive the second joint 2 to move.

[0068] It can be understood that the first joint, as the base joint of the robotic arm 100, undertakes the rotary movement of the entire arm. The use of the compression type planar bearing 11 achieves high-stability support for the base joint connected to the base 01 at a low manufacturing cost, meanwhile enables the support plate 15 to bear large axial loads and realize smooth 360° horizontal rotary movement, which can significantly reduce the shaking of the base of the robotic arm 100 and improve the overall operation accuracy.

[0069] Specifically, the first joint 1 is provided with a first steering gear 12 and a first steering wheel 13. The first steering gear 12 serves as a driving source, and the support plate 15 serves as an output platform, which drives the second joint 2 above it and the entire arm to rotate, so as to achieve full-range working coverage of the robotic arm 100 in the horizontal plane. The steering gear mounting seat 14 is fixed by threaded connection with the base 01 via isolating columns.

[0070] Please refer to Figures 1 to 7The working process / principle of this utility model embodiment is briefly described as follows: The robotic arm 100 provided in this utility model embodiment, through the cooperation of the lighting component 613 and the depth camera 41, achieves the function of coordinated and controllable vision and lighting, and dynamic adaptation to different working conditions; wherein the fourth joint 4 is provided with a fourth servo motor 43 and a fourth servo disk 44, the fourth servo motor 43, the fourth servo disk 44 and the fixing member 42 are fixed by threaded connection, the fourth servo disk 44 is located between the fourth servo motor 43 and the fixing member 42, and the fourth servo motor 43 transmits power to the depth camera 41 through the fixing member 42 and the fourth servo disk 44. The fourth joint 4 also adopts a combination transmission method of servo motor and servo disk. The power generated by the fourth servo motor 43 is transmitted through the fourth servo disk 44 and the fixing member 42, and finally drives the depth camera 41 to perform the required movement, such as adjusting its pitch angle to ensure the best observation field of view. The threaded connection method ensures the rigidity and accuracy of the power transmission path. The depth camera 41 is not fixed but driven by the fourth joint 4, allowing for pitch motion with a range of up to 180°, enabling it to scan a wide area. This motion simultaneously activates the fifth joint 5, which employs a combination structure of servo motors, servo discs, and plates, with threaded connections ensuring secure fixation between components. The fifth servo motor 51 serves as the drive source, transmitting power to the mounting plate 31 via the fifth servo disc 52. The mounting plate 53 can rotate 360° in the vertical plane, thereby driving the sixth joint 6 at its end to perform a wide range of spatial attitude adjustments. This expands the working range of the robotic arm 100, enabling coordination between depth perception and arm movement, and enhancing the robotic arm 100's initiative and flexibility in environmental perception. The sixth joint 6 can be indirectly driven by the fourth joint 4. The end of the sixth joint 6 is equipped with a fixed claw 611 and a movable claw 612. The movable claw 612 can rotate and cooperate with the fixed claw 611 to achieve clamping. The back of the fixed claw 611 is provided with a clearance groove 6111, within which is a lighting component 613. The lighting direction of the lighting component 613 is towards the target area of ​​the fixed claw 611. The fourth joint 4 is equipped with a depth camera 41, whose working direction is towards the area where the sixth joint 6 is located. The sixth joint 6, as an end effector, achieves grasping and manipulation functions through the cooperation of the fixed claw 611 and the movable claw 612. The lighting component 613, located on the back of the fixed claw 611, provides sufficient illumination for the operating area of ​​the claw in low-light environments, ensuring operational accuracy and visibility. It also serves as a visual indicator of the device's operating status, improving ease of use and interactive experience. The depth camera 41 is installed on the fourth joint 4. The camera rotates independently of the gripper assembly 61 and does not shift with the change of the gripper assembly 61's posture, which can ensure that the gripper assembly 61 always stays in a fixed position in the camera's view.Its field of view covers the working area of ​​the sixth joint 6, which can be used to identify and locate target objects and obtain their three-dimensional spatial information, providing visual feedback for the intelligent grasping and motion control of the robotic arm 100, and facilitating visual model training and automated operation.

[0071] Furthermore, the present invention includes a second embodiment, which includes a vehicle comprising the aforementioned robotic arm and the chassis described below, with the robotic arm mounted on the chassis.

[0072] Please see Figure 8 and Figure 12 This utility model embodiment provides a chassis 700, including a top cover 70, a box-type body 80, and wheels 90. The top cover 70 is located above the box-type body 80. The main structure of the box-type body 80 is a box-shaped outer shell 823, which is used to install and connect other components. The wheels 90 are located outside the box-type body 80. In common application scenarios, the chassis 100 in this embodiment is used as the bottom component of mobile robots and unmanned vehicles.

[0073] Please see further. Figures 9 to 11 The upper cover 70 includes a stacked support frame 72 and a top cover 71; the support frame 72 is located between the box-type body 80 and the top cover 71, and is a hollow rectangular frame, set along the upper edge of the box-shaped outer shell 823; the top cover 71 has outer guide plates 712 on opposite sides, the outer guide plates 712 are stepped bending structures, bending downwards for the first time from the opposite edges of the top cover 71, with a bending angle of less than 90 degrees, and bending a second time in the middle position, with a second bending angle close to 90 degrees, and a notch is provided in the middle position of the lower edge to avoid other components; the middle area of ​​the top cover 71 The area is equipped with an expansion port and a waterproof structural component 713 for easy installation of expansion components. An expansion port cover 714 is provided above the expansion port and the waterproof structural component 713. This allows the physical flow-guiding structure of the outer guide plate 712 to effectively block rainwater intrusion, making it suitable for outdoor operation scenarios. The hollow interior of the support frame 72 can serve as a wiring channel, enabling concealed cable management and reducing the risk of external interference. The top cover 70 adopts a layered design of the support frame 72 and the top cover 71, taking into account both structural strength and lightweight requirements. The support frame 72 provides a rigid foundation, and the top cover 71 can be made of lightweight materials to reduce the overall weight.

[0074] Please see further. Figure 10The support frame 72 is provided with a guide rail 721; the top cover 71 is provided with a through hole 711, which is adapted to the guide rail 721; the guide rail 721 is fixed to the upper surface of the support frame 72, and the guide rail 721 is axially symmetrically distributed on the support frame 72. The guide rail 721 is arranged along the length of the support frame 72 and is exposed through the through hole 711; the hollow rectangular support frame 72 can achieve a balance between weight reduction and strength, reducing weight while maintaining structural rigidity compared to a solid structure; the matching design of the guide rail 721 and the through hole 711 ensures the installation accuracy of the components, and the exposed guide rail 721 facilitates maintenance and adjustment, supporting the rapid positioning and installation of modular components; the design of the top cover 70 incorporating the guide rail 721 can increase the overall structural strength.

[0075] Please see Figure 11 The support frame 72 has inner guide plates 722 on both sides, which are shielded by outer guide plates 712. The shielding of the inner guide plates 722 by the outer guide plates 712 forms a protective barrier. The inner guide plates 722 can divert water that seeps into the guide rail 721, improving the waterproof and dustproof capabilities compared to a single-layer structure. The outer guide plates 712 are responsible for primary water diversion, while the inner guide plates 722 provide secondary protection and enhance the edge structure strength to resist external impacts.

[0076] Please see Figure 9 and Figure 12 This product features multiple modular interfaces, including expansion port 1 with waterproof structural component 713, expansion port 2 with waterproof structural component 8232, expansion port 3 with waterproof structural component 8233, expansion port 4 with waterproof structural component 8234, and expansion port 5 with waterproof structural component 8235. Expansion port 1 with waterproof structural component 713 is located on the top cover 71, while expansion ports 2 with waterproof structural component 8232, 3 with waterproof structural component 8233, 4 with waterproof structural component 8234, and 5 with waterproof structural component 8235 are located on the sides of the box-shaped outer shell 823. Each side has one expansion port, and each expansion port is equipped with a waterproof structural component to prevent water from entering through the expansion port. This product features multiple modular interfaces, supports personalized functional combinations, and is suitable for various application scenarios such as logistics, inspection, and service.

[0077] Please see Figure 8 and Figure 12A space is defined between the top cover 70 and the box-type body 80, dividing the space into a front end 81, a body 82, and a rear end 83. The body 82 includes a top bracket 821, a battery 822, and a box-shaped outer shell 823. The top bracket 821 can be expanded to install components such as the core control board. The battery 822 is installed below the top bracket 821. The front end 81 includes a front shield 811 and headlights 812. The front shield 811 is installed in front of the second expansion port and the waterproof structural component 8232. The headlights 812 are mounted on the front cover 811; the rear of the vehicle 83 includes a rear cover 831 and an interface assembly 832; the rear cover 831 is mounted in front of the No. 5 expansion port and the waterproof structural component 8235; the interface assembly 832 is mounted on the front cover 811; the interface assembly 832 includes components such as a switch, an aviation plug and a power interface, and the space defined between the top cover 70 and the box-type body 80 can accommodate core components such as power supply and controller; the centralized space facilitates thermal management design and helps control the operating temperature of core components.

[0078] Please see Figure 8 and Figure 12 The box-shaped outer shell 823 is equipped with three handles 8231, located on both sides of the box-shaped outer shell 823 and in the direction of the front 81 of the vehicle. The handles 8231 are located below the top cover 70. The handles 8231 in the direction of the front 81 facilitate dragging the product under special working conditions. The hidden handles 8231 are ergonomically designed, matching the force point with the center of gravity during transportation, reducing personnel fatigue. The hidden layout located below the top cover 70 prevents the handles from snagging on obstacles during driving, while protecting the handles 8231 from damage by external impact. It does not occupy the upper functional area, keeps the top of the product flat, and facilitates equipment installation.

[0079] Please see Figure 14 The wheel 90 includes a motor 91 and a tire 92. The motor 91 is a hub motor, and the tire 92 is located on the outside of the motor 91. The tire 92 and the motor 91 are an integrated structure. The transmission structure of this product consists of four motors 91 and tires 92. The four motors 91 steer through differential speed. Compared with the traditional structure, this product saves more internal space by mounting the motors 91 on the outside of the box-type body 80, reduces transmission components, eliminates drive shafts and gearboxes, and reduces mechanical failure rate. The direct drive method reduces energy loss and improves transmission efficiency. The modular wheel 90 supports complete replacement, shortening maintenance time. The hub motor 91 has a fast response speed and is suitable for precision motion control. The structure of the motor 91 built into the tire 92 saves installation space compared to the traditional layout. The independent motor 91 drive supports complex motion modes such as stationary steering and differential control.

[0080] Please see Figure 8 and Figure 13The box-type body 80 is equipped with a suspension structure 84; the suspension structure 84 includes an upper fixing member 841, a lower fixing member 842, and a spring 843; the upper fixing member 841 includes mounting holes 8411, upper spring mounting positions 8412, and bolts and nuts 8413; the mounting holes 8411 are used to connect the box-type outer shell 823; the upper spring mounting positions 8412 are distributed on both sides of the upper fixing member 841; the bolts and nuts 8413 are used to fix the upper fixing member 841, the lower fixing member 842, and the spring 843. The lower fixing member 842 is used to connect the wheel 90, including a connecting hole 8421, a lower spring mounting position 8422, and a size adapter component 8423. The connecting hole 8421 is located in the middle area of ​​the lower fixing member 842. The lower spring mounting positions 8422 are distributed on both sides of the lower fixing member 842. The size adapter component 8423 is located at the bottom of the lower fixing member 842 and is fixed by screws. The size of the connecting hole 8421 is adjusted by adjusting the screw insertion depth for adjustment and adaptation with the output end of the wheel 90. The upper fixing member 841 and the lower fixing member 842 are mechanically connected. The spring 843 is located between the upper fixing member 841 and the lower fixing member 842. The position of the spring 843 is defined by the upper spring mounting position 8412 and the lower spring mounting position 8422. The upper fixing member 841, the lower fixing member 842 and the spring 843 are fixed together with bolts and nuts 8413. The spring 843 is sleeved on the bolt in the bolt and nut 8413. The connecting hole 8421 is adapted to the interface of the motor 91 and is used to connect the suspension structure 84 and the motor 91. When the road surface is uneven, the lower fixing member 842 moves up and down with the wheel 90. Through the compression and extension of the spring 843, most of the impact is buffered, the vibration transmitted to the body is reduced, and a flexible connection is achieved. This structure can effectively improve driving stability. The suspension structure 84 can absorb road impact and protect precision equipment. The flat suspension structure 84 is fixed to the outside of the box-type body 80 to achieve efficient use of internal space.

[0081] Understandably, in the chassis 100 provided by this utility model embodiment, the physical flow guiding structure formed by the cooperation of the outer guide plate 712 and the inner guide plate 722 effectively blocks rainwater intrusion. At the same time, each expansion port is equipped with a waterproof structure, which can prevent splashing water droplets from entering. The above two points constitute the waterproof solution of the chassis 100, reducing processing costs. This waterproof solution economically and effectively achieves the waterproof function.

[0082] It is understandable that in the chassis 100 provided by this utility model embodiment, by using an external motor 91 and an external suspension structure 84, the number of transmission system components is reduced, the internal capacity of the box-type body 80 is greatly increased, the expansion limit of the product can be increased, and a larger capacity power supply can be installed to improve the range.

[0083] Please combine Figures 8 to 14The working process / principle of this utility model embodiment is briefly described as follows: This utility model embodiment provides a chassis 700, including a top cover 70, a box-type body 80, and wheels 90. The cooperation of the top cover 70, the box-type body 80, and the wheels 90 enables stable movement on uneven roads and in wet environments. The top cover 70 includes a stacked support frame 72 and a top cover 71. The top cover 71 has a through hole 711 and outer guide plates 712 on opposite sides. The physical flow-guiding structure of the outer guide plates 712 effectively blocks rainwater intrusion. The support frame 72 has a guide rail 721 and inner guide plates 722 on opposite sides. The guide rail 721 is fixed to the upper surface of the support frame 72, and... The exposed guide rail 721, with its fitting design to the through-hole 711, ensures component installation accuracy. The exposed guide rail 721 facilitates maintenance and adjustment, supports rapid positioning and installation of modular components, and enhances the overall mechanical strength of the top cover 70. The inner guide plate 722 is shielded by the outer guide plate 712, allowing water seeping into the guide rail 721 to drain away, improving waterproofing and dustproofing compared to a single-layer structure. A space is defined between the top cover 70 and the box-type body 80, dividing this space into a front end 81, a body 82, and a rear end 83. The front end 81 includes a front shield 811 and headlights 812. The front shield 811 is installed at the second expansion port and the waterproof structure. The front of component 8232; the headlight 812 is mounted on the front cover 811; the body 82 includes a top bracket 821, a battery 822, and a box-shaped outer shell 823; the top bracket 821 can be expanded to install components such as the core control board; the battery 822 is installed below the top bracket 821; the rear of the vehicle 83 includes a rear cover 831 and an interface assembly 832; the rear cover 831 is installed in front of the No. 5 expansion port and the waterproof structural component 8235; the interface assembly 832 is installed on the front cover 811; the box-type body 80 is provided with a suspension structure 84; the suspension structure 84 includes an upper fixing member 841, a lower fixing member 842, and a spring 843; the upper fixing member 841 includes a mounting hole 8411 and an upper spring mounting hole. Position 8412 and bolts and nuts 8413; mounting holes 8411 are used to connect the box-type outer shell 823; upper spring mounting positions 8412 are distributed on both sides of the upper fixing member 841; bolts and nuts 8413 are used to fix the upper fixing member 841, lower fixing member 842 and spring 843; lower fixing member 842 is used to connect the wheel 90, including connecting holes 8421 and lower spring mounting positions 8422, the connecting holes 8421 are located in the middle area of ​​the lower fixing member 842; lower spring mounting positions 8422 are distributed on the lower fixing member 842; the wheel 90 includes a motor 91 and a tire 92, the motor 91 is a hub motor, and the tire 92 is located on the outside of the motor 91; the tire 92 and the motor 91 are an integral structure;The transmission structure of this product consists of four motors 91 and tires 92. The four motors 91 steer via differential. Compared with traditional structures, this product saves more internal space by mounting the motors 91 on the outside of the box-type body 80, reducing transmission components, eliminating the need for drive shafts and gearboxes, and lowering the mechanical failure rate. During operation, the top cover 70 can shield most rainwater, the box-type body 80 can expand its functions to complete different tasks, and the suspension structure 84 of the box-type body 80 can eliminate the impact of road conditions on the product's function during driving. The wheels 90 provide power to the entire chassis 100, enabling smooth movement on uneven roads and in wet environments.

[0084] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A robotic arm, characterized in that: Comprises a base arm group, a sixth joint, a fourth joint and a fifth joint, wherein the sixth joint is driven to move by the fourth joint, an end portion of the sixth joint is provided with a fixed claw and a movable claw, the movable claw is configured to rotate and cooperate with the fixed claw to realize clamping, a back surface of the fixed claw is provided with an avoidance groove, a lighting assembly is arranged in the avoidance groove, an illumination direction of the lighting assembly faces a target area of the fixed claw, a depth camera is arranged on the fourth joint, and a working direction of the depth camera faces an area where the sixth joint is located.

2. The robotic arm as described in claim 1, characterized in that: A fixing member is arranged on the fourth joint, a fifth steering gear, a fifth steering wheel, a fixing plate and a mounting base plate are arranged on the fifth joint, the fifth steering gear and the fixing member are fixedly connected by threads, the fifth steering gear, the fifth steering wheel and the mounting base plate are fixedly connected by threads, the fifth steering wheel is located between the fifth steering gear and the mounting base plate, the fixing plate and the mounting base plate are fixedly connected by threads, and the mounting base plate is configured to perform 360° vertical movement and drive the sixth joint to move.

3. The robotic arm as described in claim 2, characterized in that: The fourth joint is provided with a fourth steering gear and a fourth steering wheel, the fourth steering gear, the fourth steering wheel and the fixing member are fixedly connected by threads, the fourth steering wheel is located between the fourth steering gear and the fixing member, the fourth steering gear transmits power to the depth camera through the fixing member and the fourth steering wheel, the depth camera is driven by the fourth joint, and is configured to perform 180° pitching movement and drive the fifth joint to move at the same time.

4. The robotic arm as described in claim 1, characterized in that: The base arm group is provided with a third joint, the third joint is provided with a small arm, a pipe fixing seat, a baffle, a mounting plate, a third steering gear and a third steering wheel, the small arm is a pipe material and is provided with a through cable channel inside the arm, two ends of the small arm and the pipe fixing seat are fixed by a detachable pipe clamp structure, the pipe fixing seat and the baffle are fixedly connected by threads, the baffle and the third steering gear are fixedly connected by threads, the third steering gear and the mounting plate are fixedly connected by threads, and the mounting plate is configured to perform 180° pitching movement and drive the fourth joint to move.

5. The robotic arm as described in claim 4, characterized in that: The base arm group is provided with a second joint, the second joint is provided with a large arm and an assembling plate, the large arm is a metal profile, the large arm is fixedly connected with the mounting plate and the assembling plate respectively through detachable threads, the assembling plate is configured to perform 180° pitching movement and drive the third joint to move, and a side surface of the large arm is provided with an expansion mounting groove compatible with T-slot nuts.

6. The robotic arm as described in claim 5, characterized in that: The second joint is provided with dual-drive steering gears, and the dual-drive steering gears are arranged in parallel.

7. The robotic arm as described in claim 1, characterized in that: An expansion plate is arranged on each of the fixed claw and the movable claw, and a plurality of expansion holes are formed on the expansion plate.

8. The robotic arm as described in claim 7, characterized in that: The movable claw is configured to perform 135° horizontal movement, shapes of the movable claw and the fixed claw are in a shape of "ji" when viewed from two sides, the expansion holes on the movable claw are distributed in a shape of "da" on the expansion plate, and the expansion holes on the fixed claw are distributed along an edge of the expansion plate.

9. The robotic arm as described in claim 5, characterized in that: The base arm group is provided with a first joint, the first joint is provided with a steering gear mounting seat, a supporting plate and a compression type planar bearing, the compression type planar bearing is located on the steering gear mounting seat and supports the supporting plate, and the supporting plate is configured to perform 360° horizontal movement and drive the second joint to move.

10. A vehicle, characterized in that: Comprises the mechanical arm according to any one of claims 1 to 9.

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