A robot arm

Abstract

The utility model relates to a kind of mechanical arm, including shoulder component and arm assembly, shoulder component includes shoulder fixed seat, shoulder linear module, shoulder swing mechanism and shoulder rotation module, shoulder linear module first end is rotatably connected with shoulder fixed seat, second end is rotatably connected with the input end of shoulder swing mechanism, shoulder swing mechanism output end is connected with the shell of shoulder rotation module, shoulder swing mechanism converts the telescopic of shoulder linear module into the swing of shoulder rotation module, arm assembly is connected with the output shaft of shoulder rotation module. The shoulder component of above-mentioned mechanical arm uses the linear module driven arm assembly to lift and put down, and the torque weight ratio is far more than the rotation module of same weight, shoulder rotation module drives arm assembly to rotate at preset angle, while the function of inside and outside rotation of mechanical arm is retained, the output load capacity of maximum place of mechanical arm load force arm is improved, so as to realize anthropomorphic high load capacity under the condition of guaranteeing movement flexibility.

Description

Technical Field

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

[0002] Existing seven-DOF robotic arms mainly employ a fully rotating module, or a linear module for the wrist and forearm and a rotating module for the shoulder. It's understood that the shoulder of the robotic arm not only needs to bear the weight of the object being moved but also the weight of the robotic arm itself. Therefore, the load-bearing capacity of the shoulder structure directly affects the overall load-bearing capacity of the robotic arm. However, current rotating modules, such as harmonic reducers, generally suffer from poor impact resistance, relatively low torque density, and poor anti-overturning torque. This results in insufficient load-bearing capacity of the shoulder in existing robotic arms, leading to a single-arm horizontal load capacity of less than 15kg for humanoid robots. This is significantly different from the load capacity of a human arm and cannot meet the heavy-duty work requirements of humanoid robots. Utility Model Content

[0003] The purpose of this invention is to provide a robotic arm that improves the load-bearing capacity of the shoulder structure, thereby enhancing the overall load-bearing capacity of the robotic arm.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] In a first aspect of this application, a robotic arm is provided, comprising:

[0006] A shoulder assembly includes a shoulder mounting base, a shoulder linear module, a shoulder swing mechanism, and a shoulder rotation module. A first end of the shoulder linear module is rotatably connected to the shoulder mounting base, a second end of the shoulder linear module is rotatably connected to the input end of the shoulder swing mechanism, and the output end of the shoulder swing mechanism is connected to the outer shell of the shoulder rotation module. The shoulder swing mechanism is at least used to convert the extension and retraction of the shoulder linear module into the swing of the shoulder rotation module about a first axis, the first axis being perpendicular to the extension and retraction direction of the shoulder linear module.

[0007] An arm assembly connected to the output shaft of the shoulder rotation module.

[0008] In one possible implementation, the shoulder swing mechanism is a shoulder four-bar linkage, the shoulder fixing seat serves as a fixing component of the shoulder four-bar linkage, the second end of the shoulder linear module is rotatably connected to the crank of the shoulder four-bar linkage, and the rocker arm of the shoulder four-bar linkage is connected to the outer shell of the shoulder rotation module.

[0009] In one possible implementation, the rocker arm of the shoulder four-bar linkage is provided with an annular fixing part, which is sleeved on the outer shell of the shoulder rotating module, and the annular fixing part is connected to the outer shell of the shoulder rotating module by a threaded fastener.

[0010] In one possible implementation, the shoulder mounting base includes a first mounting base and a second mounting base spaced apart along the extension direction of the arm assembly, a first end of the shoulder linear module is rotatably connected to the first mounting base, and the crank and rocker arm of the shoulder four-bar linkage are rotatably connected to the second mounting base, respectively.

[0011] In one possible implementation, the shoulder assembly includes at least two sets of the shoulder linear modules and the shoulder four-bar linkage.

[0012] In one possible implementation, the shoulder swing mechanism includes a shoulder support, a first cross shaft, and a first straight shaft. The first shaft of the first cross shaft is rotatably connected to the shoulder support, and the second shaft of the first cross shaft is rotatably connected to the shoulder fixing seat. The first straight shaft is rotatably connected to the shoulder support in a plane that is perpendicular to the first shaft of the first cross shaft and parallel to the plane containing the axis of the second shaft of the first cross shaft. The second ends of a plurality of shoulder straight modules are rotatably connected to the first straight shaft on both sides of the first shaft of the first cross shaft. The rotation axes at both ends of the shoulder straight modules are perpendicular to each other, the rotation axes at the first ends of each shoulder straight module are collinear, and the rotation axes at the second ends of each shoulder straight module are parallel.

[0013] In one possible implementation, the arm component includes:

[0014] The upper arm assembly has a first end connected to the output shaft of the shoulder rotation module, and the upper arm drive mechanism of the upper arm assembly is used to drive the second end of the upper arm assembly to rotate relative to the first end of the upper arm assembly about a first axis, the first axis being perpendicular to the output shaft of the shoulder rotation module.

[0015] The forearm assembly has a first end rotatably connected to the second end of the upper arm assembly. A first forearm drive mechanism of the forearm assembly is used to drive the first end of the forearm assembly to rotate relative to the second end of the upper arm assembly about a second axis, the second axis being parallel to the first axis. A second forearm drive mechanism of the forearm assembly is used to drive the second end of the forearm assembly to rotate relative to the first end of the forearm assembly about a third axis, the third axis being perpendicular to the second axis.

[0016] In one possible implementation, the boom assembly includes a boom linear module and a boom four-bar linkage. The rocker arm of the boom four-bar linkage serves as the first end of the boom assembly and is connected to the output shaft of the shoulder rotation module. The first end of the boom linear module is rotatably connected to the fixing member of the boom four-bar linkage. The fixing member of the boom four-bar linkage serves as the second end of the boom assembly. The second end of the boom linear module is rotatably connected to the crank of the boom four-bar linkage.

[0017] In one possible implementation, the forearm assembly includes a forearm linear module, a forearm four-bar linkage, a forearm rotation module, and a forearm frame. The forearm linear module serves as the first forearm drive mechanism, the forearm rotation module serves as the second forearm drive mechanism, the fixing member of the upper arm four-bar linkage serves as the fixing member of the forearm four-bar linkage, the rocker arm of the forearm four-bar linkage and the rocker arm of the upper arm four-bar linkage are respectively rotatably connected to the two ends of the fixing member of the upper arm four-bar linkage, the rocker arm of the forearm four-bar linkage serves as the first end of the forearm assembly, and the forearm frame serves as the second end of the forearm assembly.

[0018] The first end of the forearm linear module is rotatably connected to the fixed part of the upper arm four-bar linkage mechanism, the second end of the forearm linear module is rotatably connected to the crank of the forearm four-bar linkage mechanism, the outer shell of the forearm rotating module is connected to the rocker arm of the forearm four-bar linkage mechanism, and the output shaft of the forearm rotating module is connected to the forearm frame.

[0019] In one possible implementation, the arm assembly further includes a wrist assembly, which includes a wrist support, a multi-directional swing member, and a wrist drive mechanism. The wrist support is movably disposed at the second end of the forearm assembly via the multi-directional swing member, and the wrist drive mechanism is disposed between the second end of the forearm assembly and the wrist support to drive the wrist support to swing relative to the second end of the forearm assembly in at least two directions.

[0020] In one possible implementation, the multi-directional swivel component includes a second cross axis and a second straight axis. The first axis of the second cross axis is rotatably connected to the wrist support, and the second axis of the second cross axis is rotatably connected to the second end of the forearm assembly. The second straight axis is perpendicular to the first axis of the second cross axis and parallel to the plane containing the axis of the second axis of the second cross axis, and is rotatably connected to the wrist support.

[0021] In one possible implementation, the wrist drive mechanism includes multiple wrist linear modules. The first end of each wrist linear module is rotatably connected to the second end of the forearm assembly. The rotation axes of the first ends of each wrist linear module are collinear. The second ends of each wrist linear module are rotatably connected to the second I-axis on both sides of the first shaft of the second cross shaft. The rotation axes of the two ends of each wrist linear module are perpendicular to each other, and the rotation axes of the second ends of each wrist linear module are parallel.

[0022] As can be seen from the above technical solution, this utility model discloses a robotic arm, including a shoulder assembly and an arm assembly. The shoulder assembly includes a shoulder mounting base, a shoulder linear module, a shoulder swing mechanism, and a shoulder rotation module. The first end of the shoulder linear module is rotatably connected to the shoulder mounting base, and the second end of the shoulder linear module is rotatably connected to the input end of the shoulder swing mechanism. The output end of the shoulder swing mechanism is connected to the outer shell of the shoulder rotation module. The shoulder swing mechanism is at least used to convert the extension and retraction of the shoulder linear module into the swing of the shoulder rotation module around a first axis, which is perpendicular to the extension and retraction direction of the shoulder linear module. The arm assembly is connected to the output shaft of the shoulder rotation module.

[0023] The shoulder assembly of the aforementioned robotic arm uses a combination of a linear shoulder module and a shoulder swing mechanism to lift and lower the arm assembly. The shoulder rotation module drives the arm assembly to rotate at a preset angle. It is understood that, compared to the rotation module, the linear module can achieve a larger output torque without changing its own structural weight by adjusting the effective lever arm. Its torque-to-weight ratio is much greater than that of the rotation module of the same weight. Therefore, using it in the shoulder assembly can improve the output load capacity at the maximum load lever arm of the robotic arm. At the same time, the shoulder rotation module can retain the function of the robotic arm's inward and outward rotation, thereby achieving a human-like high load capacity while ensuring motion flexibility. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 Schematic diagram of the structure of the robotic arm provided in the embodiment of this utility model Figure 1 ;

[0026] Figure 2 Schematic diagram of the structure of the robotic arm provided in the embodiment of this utility model Figure 2 ;

[0027] Figure 3 Schematic diagram of the structure of the robotic arm provided in the embodiment of this utility model Figure 3 ;

[0028] Figure 4 Schematic diagram of the shoulder assembly of the robotic arm provided in this embodiment of the utility model Figure 1 ;

[0029] Figure 5 Schematic diagram of the shoulder assembly of the robotic arm provided in this embodiment of the utility model Figure 2 ;

[0030] Figure 6 A schematic diagram of the upper arm portion of the robotic arm provided in an embodiment of this utility model;

[0031] Figure 7 A schematic diagram of the internal structure of the upper arm portion of the robotic arm provided in an embodiment of this utility model;

[0032] Figure 8 Schematic diagram of the forearm portion of the robotic arm provided in this embodiment of the utility model Figure 1 ;

[0033] Figure 9 Schematic diagram of the forearm portion of the robotic arm provided in this embodiment of the utility model Figure 2 .

[0034] In the picture:

[0035] 100 is the shoulder assembly; 110 is the first fixed base; 120 is the second fixed base; 130 is the shoulder linear module; 140 is the crank of the shoulder four-bar linkage; 150 is the rocker arm of the shoulder four-bar linkage; 160 is the connecting rod of the shoulder four-bar linkage; 170 is the shoulder rotation module; 180 is the annular fixing part.

[0036] 200 is the boom assembly; 210 is the boom mounting base; 220 is the boom frame; 230 is the crank of the boom four-bar linkage; 240 is the connecting rod of the boom four-bar linkage; 250 is the boom linear module.

[0037] 300 is the forearm assembly; 310 is the forearm linear module; 320 is the crank of the forearm four-bar linkage; 330 is the connecting rod of the forearm four-bar linkage; 340 is the forearm mounting base; 350 is the forearm rotating module; 360 is the forearm frame.

[0038] 400 is the wrist assembly; 410 is the wrist linear module; 420 is the wrist support; 430 is the second cross axis; 431 is the first axis of the second cross axis; 432 is the second axis of the second cross axis; 440 is the second straight axis. Detailed Implementation

[0039] The core of this utility model is to provide a robotic arm whose structural design can improve the load-bearing capacity of the shoulder structure, thereby enhancing the overall load-bearing capacity of the robotic arm.

[0040] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0041] This application provides a robotic arm, such as... Figures 1 to 3 As shown, the robotic arm includes a shoulder assembly 100 and an arm assembly.

[0042] The shoulder assembly 100 is used to connect the robotic arm to the robot's body or other fixed equipment (such as a production line frame). The shoulder assembly 100 includes a shoulder mounting base, a shoulder linear module 130, a shoulder swing mechanism, and a shoulder rotation module 170. The first end of the shoulder linear module 130 is rotatably connected to the shoulder mounting base. The shoulder swing mechanism is capable of movement in at least one direction to provide at least one degree of freedom. The second end of the shoulder linear module 130 is rotatably connected to the input end of the shoulder swing mechanism. The output end of the shoulder rotation mechanism is connected to the outer shell of the shoulder rotation module 170. The shoulder rotation mechanism can at least convert the extension and retraction of the shoulder linear module 130 into the rotation of the shoulder rotation module 170 around the first axis, which is perpendicular to the extension and retraction direction of the shoulder linear module 130. Of course, in addition to making the shoulder rotation module 170 rotate around the first axis, by adjusting the structure of the shoulder rotation mechanism, as well as the setting and output method of the shoulder linear module 130, the shoulder rotation module 170 can be made to rotate in other directions.

[0043] It should be noted that, in the embodiments of this application, the rotating modules involved include, but are not limited to, brushless DC motors, stepper motors, servo motors, and harmonic gear motors, while the linear modules include, but are not limited to, piston cylinders and linear electric cylinders.

[0044] The arm assembly can adopt a multi-section structure to simulate the structure of the human upper arm, forearm, and wrist. The arm assembly is connected to the output shaft of the shoulder rotation module 170. The rotation angle range of the output shaft of the shoulder rotation module 170 is ±180°, that is, the output shaft of the shoulder rotation module 170 can drive the arm assembly to rotate ±180°.

[0045] Compared with the prior art, the shoulder assembly 100 of the robotic arm provided in this application adopts a combination of a shoulder linear module 130 and a shoulder swing mechanism to drive the arm assembly to lift and lower. The shoulder rotation module 170 drives the arm assembly to rotate at a preset angle. It can be understood that, compared with the rotation module, the linear module can achieve a larger output torque without changing its own structural weight, by adjusting the effective lever arm of the linear module. Its torque-to-weight ratio is much greater than that of the rotation module of the same weight. Therefore, using it in the shoulder assembly 100 can improve the output load capacity at the maximum load lever arm of the robotic arm. At the same time, the shoulder rotation module 170 can retain the function of the robotic arm's inward and outward rotation, thereby achieving a human-like high load capacity while ensuring motion flexibility.

[0046] In one specific embodiment of this application, such as Figures 1 to 5 As shown, the shoulder swing mechanism is a shoulder four-bar linkage. A four-bar linkage is a transmission mechanism widely used in the mechanical field. A four-bar linkage generally consists of a fixed member, a crank, a rocker arm, and a connecting rod. One end of the crank and one end of the rocker arm are rotatably connected to the fixed member, and the ends of the crank and the rocker arm away from the fixed member are rotatably connected to the connecting rod. The crank generally serves as the driving member connected to the driving component, and the rocker arm serves as the driven member. In this case, the content involving the four-bar linkage is described according to the above description. Therefore, the shoulder four-bar linkage also consists of four parts: the fixed member of the shoulder four-bar linkage, the crank 140 of the shoulder four-bar linkage, the rocker arm 150 of the shoulder four-bar linkage, and the rocker arm 150 of the shoulder four-bar linkage.

[0047] exist Figures 1 to 5 In the illustrated embodiment, a shoulder mounting base is used as a fixing member of the shoulder four-bar linkage. The second end of the shoulder linear module 130 is rotatably connected to the crank 140 of the shoulder four-bar linkage. The second end of the shoulder linear module 130 can be connected to the handle of the crank 140 of the shoulder four-bar linkage or to one end of the crank 140 of the shoulder four-bar linkage that is rotatably connected to the connecting rod 160 of the shoulder four-bar linkage. The rocker arm 150 of the shoulder four-bar linkage is connected to the outer shell of the shoulder rotating module 170. The ends of the crank 140 and the rocker arm 150 of the shoulder four-bar linkage away from the shoulder mounting base are respectively rotatably connected to the connecting rod 160 of the shoulder four-bar linkage.

[0048] When the shoulder linear module 130 extends or retracts, it can drive the crank 140 of the shoulder four-bar linkage to swing relative to the shoulder fixed seat. This, in turn, drives the rocker arm 150 of the shoulder four-bar linkage to swing relative to the shoulder fixed seat through the connecting rod 160 of the shoulder four-bar linkage, thereby driving the shoulder rotation module 170 to swing relative to the shoulder fixed seat, thus realizing the raising and lowering of the shoulder assembly 100.

[0049] To facilitate fixing the shoulder rotation module 170, such as Figures 1 to 5 As shown, the rocker arm 150 of the shoulder four-bar linkage is provided with an annular fixing part 180. The annular fixing part 180 is sleeved on the outer shell of the shoulder rotation module 170, and the annular fixing part 180 and the outer shell of the shoulder rotation module 170 are connected by threaded fasteners. The shape of the annular fixing part 180 is adapted to the shape of the outer shell of the shoulder rotation module 170. In order to enhance the consistency of the assembled product and facilitate assembly, a mounting guide mechanism with a concave-convex fit and asymmetrical arrangement along the circumference can be provided between the annular fixing part 180 and the outer shell of the shoulder rotation module 170, so that the outer shell of the shoulder rotation module 170 can be installed on the annular fixing part 180 in a predetermined posture.

[0050] In the illustrated embodiment, the threaded fastener is a bolt. Correspondingly, the outer shell of the shoulder rotation module 170 is provided with multiple threaded holes spaced apart circumferentially, and the annular fixing part 180 is provided with multiple through holes spaced apart circumferentially. The bolt passes through the through holes and engages with the threaded holes to tighten, thereby fixing the outer shell of the shoulder rotation module 170 to the rocker arm 150 of the shoulder four-bar linkage. This connection method can reduce the connection links between the shoulder rotation module 170 and the shoulder four-bar linkage, improve the connection rigidity, and simplify the assembly process.

[0051] It should be noted that threaded fasteners are not limited to bolts. Depending on the specific mating structure between the annular fixing part 180 and the outer shell of the shoulder rotating module 170, threaded fasteners can also include bolts and nuts, or screws and nuts, without limitation here.

[0052] The shoulder support can be either a one-piece structure or a split structure, depending on the requirements. Figures 1 to 4 As shown, in one embodiment of this application, the shoulder mounting base adopts a split structure. The shoulder mounting base includes a first mounting base 110 and a second mounting base 120 spaced apart along the extension direction of the arm assembly. The first end of the shoulder linear module 130 is rotatably connected to the first mounting base 110, and the crank 140 and rocker arm 150 of the shoulder four-bar linkage are respectively rotatably connected to the second mounting base 120. The above structure can integrate the shoulder linear module 130 of the shoulder assembly 100 with the robot's torso, avoiding a bulky structure while meeting load requirements and increasing the range of motion.

[0053] The shoulder assembly 100 may employ one or more (two or more) shoulder linear modules 130 and a shoulder four-bar linkage. In one embodiment of this application, please refer to... Figure 5 The shoulder assembly 100 includes two sets of shoulder linear modules 130 and a shoulder four-bar linkage mechanism. The two sets of shoulder linear modules 130 operate synchronously, so that the load capacity of the shoulder assembly 100 is balanced with the weight and volume of the shoulder assembly 100, and the robotic arm moves smoothly under maximum load.

[0054] The combination of the aforementioned shoulder four-bar linkage and the shoulder linear module 130 can enable the robotic arm to simulate the human shoulder and swing the arm laterally toward the human body.

[0055] It is understood that the four-bar linkage is only a preferred embodiment of this application. The shoulder swing mechanism is not limited to the four-bar linkage. It can also use structures such as cross shafts and universal joints to realize the multi-directional swing of the shoulder swing mechanism. In another embodiment of this application, the shoulder swing mechanism includes a shoulder bracket, a first cross shaft and a first straight shaft. The shoulder bracket is used to install the outer shell of the shoulder rotation module 170. The first shaft of the first cross shaft is rotatably connected to the shoulder bracket. The second shaft of the first cross shaft is rotatably connected to the shoulder fixing seat. The first shaft of the first cross shaft and the second shaft of the first cross shaft are perpendicular to each other. The axis of the first shaft of the first cross shaft and the axis of the second shaft of the first cross shaft may intersect or not intersect.

[0056] The first straight shaft is perpendicular to the first axis of the first cross shaft and parallel to the plane containing the axis of the second axis of the first cross shaft, and is rotatably connected to the shoulder support. In order to enable the shoulder swing mechanism to swing in multiple directions, this shoulder swing mechanism composed of a straight shaft and a cross shaft needs to be used with at least two shoulder straight modules 130. The second end of each shoulder straight module 130 is rotatably connected to the first straight shaft on both sides of the first axis of the first cross shaft. The rotation axes of the two ends of the shoulder straight module 130 are perpendicular to each other, the rotation axes of the first ends of each shoulder straight module 130 are collinear, and the rotation axes of the second ends of each shoulder straight module 130 are parallel.

[0057] When each shoulder linear module 130 extends and retracts synchronously, each shoulder linear module 130 drives the shoulder bracket to rotate relative to the shoulder fixing seat with the second axis of the first cross shaft as the axis through the first straight shaft, thereby causing the shoulder bracket to lift and lower. When each shoulder linear module 130 on one side of the first axis of the first cross shaft extends and each shoulder linear module 130 on the other side shortens, each shoulder linear module 130 drives the shoulder bracket to rotate relative to the shoulder fixing seat with the first axis of the first cross shaft through the first straight shaft, thereby causing the shoulder bracket to swing back and forth relative to the shoulder fixing seat, realizing the multi-directional swing motion of the shoulder assembly 100.

[0058] The combination of the aforementioned shoulder linear module 130 with the first cross axis and the first straight axis can realize the function of the robotic arm simulating the human shoulder to drive the arm to swing laterally and forward and backward in the human body.

[0059] Please see Figures 1 to 3In one embodiment of this application, the arm assembly includes an upper arm assembly 200 and a forearm assembly 300. The first end of the upper arm assembly 200 is connected to the output shaft of the shoulder rotation module 170. The upper arm drive mechanism of the upper arm assembly 200 is used to drive the second end of the upper arm assembly 200 to rotate relative to the first end of the upper arm assembly 200 around a first axis. The first axis is perpendicular to the output shaft of the shoulder rotation module 170. That is, the upper arm drive mechanism is used to drive the upper arm assembly 200 to be raised and lowered relative to the shoulder assembly 100. The first end of the forearm assembly 300 is rotatably connected to the second end of the upper arm assembly 200.

[0060] The first forearm drive mechanism of the forearm assembly 300 is used to drive the first end of the forearm assembly 300 to rotate relative to the second end of the upper arm assembly 200 about a second axis, the second axis being parallel to the first axis. That is, the first forearm drive mechanism is used to drive the forearm assembly 300 to raise or lower relative to the upper arm assembly 200. The second forearm drive mechanism of the forearm assembly 300 is used to drive the second end of the forearm assembly 300 to rotate relative to the first end of the forearm assembly 300 about a third axis, the third axis being perpendicular to the second axis. That is, the second forearm drive mechanism is used to drive the forearm assembly 300 to twist relative to the upper arm assembly 200.

[0061] Specifically, please refer to Figure 6 and Figure 7 The boom assembly 200 includes a boom linear module 250 and a boom four-bar linkage to improve the load capacity of the boom assembly 200. Similar to the shoulder four-bar linkage, the boom four-bar linkage includes a boom four-bar linkage fixing member, a boom four-bar linkage crank 230, a boom four-bar linkage rocker arm, and a boom four-bar linkage connecting rod 240. The rocker arm of the boom four-bar linkage serves as the first end of the boom assembly 200 and is connected to the output shaft of the shoulder rotation module 170. That is, the rocker arm of the boom four-bar linkage also serves as the boom mounting base 210 connecting the boom assembly 200 and the shoulder assembly 100.

[0062] The first end of the boom linear module 250 is rotatably connected to the fixing component of the boom four-bar linkage mechanism. This fixing component also serves as the boom frame 220 of the boom assembly 200. Figure 6 and Figure 7As can be seen from the above, in this application, there are two boom frames 220, which are arranged at intervals, so that a space is formed between the two boom frames 220 to accommodate the boom linear module 250 and other components of the boom four-bar linkage mechanism, as well as the forearm linear module 310 and other components of the forearm four-bar linkage mechanism described below. This not only plays a protective role, but also improves the lateral load resistance of the boom assembly 200. The fixing component of the boom four-bar linkage mechanism is the second end of the boom assembly 200. The second end of the boom linear module 250 is rotatably connected to the crank 230 of the boom four-bar linkage mechanism. The two ends of the connecting rod 240 of the boom four-bar linkage mechanism are rotatably connected to the crank 230 of the boom four-bar linkage mechanism and the rocker arm (boom mounting base 210) of the boom four-bar linkage mechanism, respectively.

[0063] When the boom linear module 250 extends or retracts, it drives the crank 230 of the boom four-bar linkage to rotate relative to the fixed part (boom frame 220) of the boom four-bar linkage. The crank 230 of the boom four-bar linkage drives the rocker arm (boom mounting base 210) of the boom four-bar linkage to rotate relative to the fixed part (boom frame 220) of the boom four-bar linkage through the connecting rod 240 of the boom four-bar linkage. This achieves relative rotation between the fixed part (boom frame 220) of the boom four-bar linkage and the rocker arm (boom mounting base 210) of the boom four-bar linkage, and realizes the rotation of the second end of the boom assembly 200 around the first axis relative to the first end of the boom assembly 200. That is, the boom assembly 200 is raised and lowered relative to the shoulder assembly 100.

[0064] Please continue reading. Figures 1 to 3 , Figure 6 and Figure 7 In one embodiment of this application, the forearm assembly 300 includes a forearm linear module 310, a forearm four-bar linkage, a forearm rotation module 350, and a forearm frame 360. That is, the forearm assembly 300 also adopts a combination of a linear module and a four-bar linkage to improve the load-bearing capacity of the forearm assembly 300. The forearm linear module 310 serves as the first forearm drive mechanism, the forearm rotation module 350 serves as the second forearm drive mechanism, and the fixing component of the upper arm four-bar linkage serves as the fixing component of the forearm four-bar linkage. The rocker arm of the four-bar linkage and the rocker arm of the upper arm four-bar linkage are rotatably connected to the two ends of the fixed part of the upper arm four-bar linkage, respectively. That is, the crank 320 of the forearm four-bar linkage and the rocker arm of the forearm four-bar linkage are rotatably connected to the upper arm frame 220 and are located at the end of the upper arm frame 220 away from the crank 230 and the rocker arm of the upper arm four-bar linkage. The rocker arm of the forearm four-bar linkage serves as the first end of the forearm assembly 300, and the forearm frame 360 ​​serves as the second end of the forearm assembly 300.

[0065] The first end of the forearm linear module 310 is rotatably connected to the fixing part (upper arm frame 220) of the upper arm four-bar linkage mechanism. The second end of the forearm linear module 310 is rotatably connected to the crank 320 of the forearm four-bar linkage mechanism. The outer shell of the forearm rotating module 350 is connected to the rocker arm of the forearm four-bar linkage mechanism. At this time, the rocker arm of the forearm four-bar linkage mechanism also serves as the forearm mounting seat 340 for the forearm assembly 300 installed at the second end of the upper arm assembly 200. The output shaft of the forearm rotating module 350 is connected to the forearm frame 360.

[0066] When the forearm linear module 310 extends or retracts, it drives the crank 320 of the forearm four-bar linkage to rotate relative to the fixed part (upper arm frame 220) of the upper arm four-bar linkage. The crank 320 of the forearm four-bar linkage drives the rocker arm (forearm mounting base 340) of the forearm four-bar linkage to rotate relative to the fixed part (upper arm frame 220) of the upper arm four-bar linkage through the connecting rod 330 of the forearm four-bar linkage. This achieves relative rotation between the fixed part (upper arm frame 220) of the upper arm four-bar linkage and the rocker arm (forearm mounting base 340) of the forearm four-bar linkage, and realizes the rotation of the first end of the forearm assembly 300 around the second axis relative to the second end of the upper arm assembly 200. That is, the forearm assembly 300 is raised and lowered relative to the upper arm assembly 200.

[0067] When the forearm rotation module 350 rotates, the forearm frame 360 ​​can rotate ±180° relative to the rocker arm (forearm mounting base 340) of the forearm four-bar linkage, realizing the torsion of the forearm assembly 300 relative to the upper arm assembly 200. In addition to the upper arm assembly 200 and the forearm assembly 300, the arm assembly also includes a wrist assembly 400. The wrist assembly 400 includes a wrist support 420, a multi-directional swing component, and a wrist drive mechanism. The wrist support 420 can be fitted with a dexterous hand, gripper, suction cup, etc., to perform various functions simulating a human hand. The wrist support 420 is movably mounted on the second end of the forearm assembly 300 through the multi-directional swing component. The wrist drive mechanism is located between the second end of the forearm assembly 300 and the wrist support 420 to drive the wrist support 420 to swing relative to the second end of the forearm assembly 300 in at least two directions.

[0068] Specifically, please refer to Figures 1 to 3 , Figure 8 and Figure 9In this application, the multi-directional swing component includes a second cross shaft 430 and a second straight shaft 440. The first shaft 431 of the second cross shaft 430 is rotatably connected to the wrist support 420, and the second shaft 432 of the second cross shaft 430 is rotatably connected to the second end of the forearm assembly 300. The first shaft 431 and the second shaft 432 of the second cross shaft 430 are perpendicular to each other, and the axis of the first shaft 431 and the axis of the second shaft 432 of the second cross shaft 430 may intersect or not intersect. The second straight shaft 440 is rotatably connected to the wrist support 420, which is perpendicular to the first shaft 431 of the second cross shaft 430 and parallel to the plane containing the axis of the second shaft 432 of the second cross shaft 430.

[0069] In order to cooperate with the combination of the second cross shaft 430 and the second straight shaft 440, the wrist drive mechanism includes two or more wrist linear modules 410. The first end of the wrist linear module 410 is rotatably connected to the second end of the forearm assembly 300. The rotation axes of the first ends of each wrist linear module 410 are collinear. The second ends of each wrist linear module 410 are rotatably connected to the second straight shaft 440 on both sides of the first shaft body 431 of the second cross shaft 430. The rotation axes of the two ends of the wrist linear module 410 are perpendicular to each other, and the rotation axes of the second ends of each wrist linear module 410 are parallel.

[0070] from Figure 8 and Figure 9 As can be seen, the wrist drive mechanism includes two wrist linear modules 410, which are symmetrically arranged about the forearm frame 360. The forearm frame 360 ​​adopts an integrated structural design to improve the resistance to lateral loads. The forearm frame 360 ​​is provided with a hollow structure to accommodate the two wrist linear modules 410.

[0071] When each wrist linear module 410 extends and retracts synchronously, each wrist linear module 410 drives the wrist support 420 to rotate relative to the forearm frame 360 ​​about the second axis 432 of the second cross axis 430 via the second straight axis 440. This causes the wrist support 420 to rotate about the second axis 432 of the second cross axis 430. When each wrist linear module 410 on one side of the first axis 431 of the second cross axis 430 extends and each wrist linear module 410 on the other side shortens, each wrist linear module 410 drives the wrist support 420 to rotate relative to the forearm frame 360 ​​about the first axis 431 of the second cross axis 430 via the second straight axis 440. This causes the wrist support 420 to rotate about the first axis 431 of the second cross axis 430, simulating the multi-directional swinging motion of the human wrist.

[0072] The combination of the above-mentioned wrist linear module 410 with the second cross axis 430 and the second straight axis 440 can realize the function of the robotic arm simulating the human wrist to drive the hand to swing in multiple directions.

[0073] In summary, the robotic arm provided in this application has its shoulder assembly 100, upper arm assembly 200, forearm assembly 300, and wrist assembly 400 all powered by linear modules. Furthermore, the shoulder assembly 100, upper arm assembly 200, and forearm assembly 300 all employ a four-bar linkage to transmit power. This maximizes the output torque while ensuring a sufficient range of motion, thereby enhancing the overall load capacity of the robotic arm. Tests have shown that the robotic arm provided in this application can achieve a load of 40kg in a single-arm extended position, similar to the human body's load capacity, and higher than the approximately 15kg load capacity of existing robotic arms that use rotary modules as the main moving joints.

[0074] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "a," and / or "the" are not specifically singular and may include the plural. Generally, the terms "comprising" and "including" only indicate the inclusion of expressly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements. An element defined by the phrase "comprising an..." does not exclude the presence of other identical elements in the process, method, product, or apparatus that includes the element.

[0075] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0076] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0077] This article uses specific examples to illustrate the principles and implementation methods of this utility model. The descriptions of the above embodiments are only for the purpose of helping to understand the core ideas of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made to this utility model without departing from the principles of this utility model, and these improvements and modifications also fall within the protection scope of the claims of this utility model.

Claims

1. A robotic arm, characterized in that, include: The shoulder assembly (100) includes a shoulder mounting base, a shoulder linear module (130), a shoulder swing mechanism, and a shoulder rotation module (170). The first end of the shoulder linear module (130) is rotatably connected to the shoulder mounting base, and the second end of the shoulder linear module (130) is rotatably connected to the input end of the shoulder swing mechanism. The output end of the shoulder swing mechanism is connected to the outer shell of the shoulder rotation module (170). The shoulder swing mechanism is at least used to convert the extension and retraction of the shoulder linear module (130) into the swing of the shoulder rotation module (170) about a first axis, which is perpendicular to the extension and retraction direction of the shoulder linear module (130). An arm assembly connected to the output shaft of the shoulder rotation module (170).

2. The robotic arm according to claim 1, characterized in that, The shoulder swing mechanism is a shoulder four-bar linkage mechanism. The shoulder fixing seat serves as the fixing component of the shoulder four-bar linkage mechanism. The second end of the shoulder linear module (130) is rotatably connected to the crank (140) of the shoulder four-bar linkage mechanism. The rocker arm (150) of the shoulder four-bar linkage mechanism is connected to the outer shell of the shoulder rotation module (170).

3. The robotic arm according to claim 2, characterized in that, The rocker arm (150) of the shoulder four-bar linkage is provided with an annular fixing part (180), which is sleeved on the outer shell of the shoulder rotation module (170), and the annular fixing part (180) and the outer shell of the shoulder rotation module (170) are connected by threaded fasteners.

4. The robotic arm according to claim 2, characterized in that, The shoulder mounting base includes a first mounting base (110) and a second mounting base (120) spaced apart along the extension direction of the arm assembly. The first end of the shoulder linear module (130) is rotatably connected to the first mounting base (110). The crank (140) of the shoulder four-bar linkage and the rocker arm (150) of the shoulder four-bar linkage are rotatably connected to the second mounting base (120).

5. The robotic arm according to claim 2, characterized in that, The shoulder assembly (100) includes at least two sets of the shoulder linear modules (130) and the shoulder four-bar linkage.

6. The robotic arm according to claim 1, characterized in that, The shoulder swing mechanism includes a shoulder support, a first cross shaft, and a first straight shaft. The first shaft of the first cross shaft is rotatably connected to the shoulder support, and the second shaft of the first cross shaft is rotatably connected to the shoulder fixing seat. The first straight shaft is rotatably connected to the shoulder support in a plane that is perpendicular to the first shaft of the first cross shaft and parallel to the plane containing the axis of the second shaft of the first cross shaft. The second ends of a plurality of shoulder straight modules (130) are rotatably connected to the first straight shaft on both sides of the first shaft of the first cross shaft. The rotation axes at both ends of the shoulder straight modules (130) are perpendicular to each other. The rotation axes at the first ends of each shoulder straight module (130) are collinear, and the rotation axes at the second ends of each shoulder straight module (130) are parallel.

7. The robotic arm according to any one of claims 1-6, characterized in that, The arm assembly includes: The upper arm assembly (200) has a first end connected to the output shaft of the shoulder rotation module (170), and the upper arm drive mechanism of the upper arm assembly (200) is used to drive the second end of the upper arm assembly (200) to rotate relative to the first end of the upper arm assembly (200) about a first axis, the first axis being perpendicular to the output shaft of the shoulder rotation module (170). Forearm assembly (300), the first end of the forearm assembly (300) is rotatably connected to the second end of the upper arm assembly (200), the first forearm drive mechanism of the forearm assembly (300) is used to drive the first end of the forearm assembly (300) to rotate relative to the second end of the upper arm assembly (200) about a second axis, the second axis being parallel to the first axis, and the second forearm drive mechanism of the forearm assembly (300) is used to drive the second end of the forearm assembly (300) to rotate relative to the first end of the forearm assembly (300) about a third axis, the third axis being perpendicular to the second axis.

8. The robotic arm according to claim 7, characterized in that, The boom assembly (200) includes a boom linear module (250) and a boom four-bar linkage mechanism. The rocker arm of the boom four-bar linkage mechanism is connected to the output shaft of the shoulder rotation module (170) as the first end of the boom assembly (200). The first end of the boom linear module (250) is rotatably connected to the fixing member of the boom four-bar linkage mechanism. The fixing member of the boom four-bar linkage mechanism is the second end of the boom assembly (200). The second end of the boom linear module (250) is rotatably connected to the crank (230) of the boom four-bar linkage mechanism.

9. The robotic arm according to claim 8, characterized in that, The forearm assembly (300) includes a forearm linear module (310), a forearm four-bar linkage, a forearm rotation module (350), and a forearm frame (360). The forearm linear module (310) serves as the first forearm drive mechanism, the forearm rotation module (350) serves as the second forearm drive mechanism, the fixing member of the upper arm four-bar linkage serves as the fixing member of the forearm four-bar linkage, the rocker arm of the forearm four-bar linkage and the rocker arm of the upper arm four-bar linkage are respectively rotatably connected to the two ends of the fixing member of the upper arm four-bar linkage, the rocker arm of the forearm four-bar linkage serves as the first end of the forearm assembly (300), and the forearm frame (360) serves as the second end of the forearm assembly (300). The first end of the forearm linear module (310) is rotatably connected to the fixing part of the upper arm four-bar linkage, the second end of the forearm linear module (310) is rotatably connected to the crank (320) of the forearm four-bar linkage, the outer shell of the forearm rotating module (350) is connected to the rocker arm of the forearm four-bar linkage, and the output shaft of the forearm rotating module (350) is connected to the forearm frame (360).

10. The robotic arm according to claim 7, characterized in that, The arm assembly also includes a wrist assembly (400), which includes a wrist support (420), a multi-directional swing member, and a wrist drive mechanism. The wrist support (420) is movably disposed at the second end of the forearm assembly (300) via the multi-directional swing member. The wrist drive mechanism is disposed between the second end of the forearm assembly (300) and the wrist support (420) to drive the wrist support (420) to swing relative to the second end of the forearm assembly (300) in at least two directions.

11. The robotic arm according to claim 10, characterized in that, The multi-directional swivel component includes a second cross shaft (430) and a second straight shaft (440). The first shaft (431) of the second cross shaft (430) is rotatably connected to the wrist support (420). The second shaft (432) of the second cross shaft (430) is rotatably connected to the second end of the forearm assembly (300). The second straight shaft (440) is rotatably connected to the wrist support (420) and is perpendicular to the first shaft (431) of the second cross shaft (430) and parallel to the plane containing the axis of the second shaft (432) of the second cross shaft (430).

12. The robotic arm according to claim 11, characterized in that, The wrist drive mechanism includes multiple wrist linear modules (410). The first end of each wrist linear module (410) is rotatably connected to the second end of the forearm assembly (300). The rotation axes of the first ends of each wrist linear module (410) are collinear. The second ends of each wrist linear module (410) are rotatably connected to the second straight shaft (440) on both sides of the first shaft (431) of the second cross shaft (430). The rotation axes of the two ends of each wrist linear module (410) are perpendicular to each other, and the rotation axes of the second ends of each wrist linear module (410) are parallel.

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