End effector, robotic arm and robot

Abstract

The application provides an end mechanism, a mechanical arm and a robot. The end mechanism comprises a support member having a first connecting surface and a second connecting surface, the first connecting surface being used for connecting with a wrist joint module of a mechanical arm; an end flange connected with the support member through the second connecting surface and located on a side of the support member away from the wrist joint module, the end flange having a connecting portion on a side away from the support member for connecting with an executing mechanism; an electrical connecting female seat embedded on the side of the end flange away from the support member and used for connecting with an electrical connecting male seat of the executing mechanism; and a cable group arranged in a hollow cavity formed by the support member, at least part of the cables in the cable group being connected with the electrical connecting female seat.

Description

Technical Field

[0001] This application relates to the field of robotics technology, specifically to an end effector, a robotic arm, and a robot. Background Technology

[0002] With the continuous development of robotics technology, its application in industrial manufacturing, service, and other fields is becoming increasingly widespread. As the core component for performing operations, the robotic arm's end effector typically integrates multiple functional modules, such as vision sensors, force sensors, or gripping devices. These peripheral devices often require signal and power transmission via cables; therefore, how to rationally arrange the cables and ensure the overall integrity and reliability of the structure has become a key issue in the design of the end effector.

[0003] In related technologies, the cables at the robot's end effector are often externally routed without effective concealment and protection, resulting in exposed cables that not only affect the overall aesthetics but also fail to meet IP54 and other protection standards. Furthermore, exposed cables and their connectors are prone to collisions, wear, or poor contact during robotic arm movement, impacting equipment stability and operational efficiency.

[0004] Because of the exposed cables, the robotic arm needs to take into account the space occupied by the cables when planning its path, which may complicate the motion trajectory, reduce work efficiency, and even cause interference risks. These problems limit the reliability and applicability of the robot's end effector system. Utility Model Content

[0005] This application mainly provides an end effector, a robotic arm, and a robot. The technical solution of this application is implemented as follows:

[0006] In a first aspect, an end effector is provided, comprising: a support member having a first connecting surface and a second connecting surface perpendicular to each other, the first connecting surface being for connecting to a wrist joint module of a robotic arm; an end flange connected to the support member via the second connecting surface, located on the side of the support member away from the wrist joint module, the side of the end flange away from the support member having a connecting portion for connecting to an actuator; an electrical connection female socket embedded in the side of the end flange away from the support member, for connecting to an electrical connection male socket of the actuator; and a cable assembly disposed within a hollow cavity formed by the support member, at least a portion of the cables in the cable assembly being connected to the electrical interface female socket.

[0007] Based on the aforementioned technical means, by arranging the cable group within a hollow cavity formed inside the support component and embedding the electrical connection female connector on the end flange, an internal cable routing design can be achieved, thereby avoiding the risk of impact and visual clutter caused by exposed cables. Simultaneously, this structure helps to improve the overall protection level and enhance the stability and safety of equipment operation.

[0008] In some embodiments, the support member includes a first support member body and a second support member body arranged in an L-shape. The first support member body has a first cavity, and the second support member body has a second cavity. The first cavity and the second cavity communicate to form the hollow cavity. The support member also includes a first cover plate and a second cover plate. The first cover plate is disposed on the side of the first support member body away from the first connecting surface. The second cover plate is perpendicular to the first cover plate and located on the side of the second support member body away from the wrist joint module. The outer surface of the second cover plate is the second connecting surface. The second cover plate has a first through hole, and at least a portion of the cables in the cable group pass through the first through hole. The end mechanism also includes a control plate fixed in the first cavity, and the cable group is connected to the control plate.

[0009] Based on the aforementioned technical means, by employing an L-shaped support structure, combined with the design of multiple cavities and cover plates, cables can be arranged systematically within the cavities and led out through wiring holes for easy connection to external actuators. Simultaneously, integrating the control board within the cavity reduces the number of external connectors, further simplifying the structure and enhancing sealing.

[0010] In some embodiments, the support further includes: a first sealing member disposed between the first cover plate and the first support body, for sealing the gap between the first cover plate and the first support body.

[0011] Based on the above technical means, a sealing element is set between the cover plate of the support and the body, which can effectively prevent dust, moisture and other substances from entering the cavity, thereby ensuring the normal operation of cables and electronic components and improving the reliability of the end mechanism.

[0012] In some embodiments, the end mechanism further includes a teach button, at least partially located within the hollow cavity, including a pressing portion protruding from the outer surface of the first cover plate, the teach button being connected to the control board via the cable group.

[0013] Based on the above technical means, by integrating the teaching button into the cavity and connecting it to the control board via a cable, the operation function is ensured, while avoiding damage or accidental touches caused by exposed buttons, thus improving the compactness and aesthetics of the overall structure.

[0014] In some embodiments, the end mechanism further includes: a sensor assembly connected to the control board via the cable group, disposed between the second support body and the end flange, one end of the sensor assembly being connected to the second cover plate and the other end being connected to the end flange; the sensor assembly having a second wire hole, and at least a portion of the cables in the cable group passing through the second wire hole.

[0015] Based on the above technical means, by setting a sensor assembly between the support and the end flange and using its wiring hole as a cable channel, not only is a reliable connection between the sensor and the control system achieved, but the cable path is also optimized, the wiring space occupancy is reduced, and the space utilization rate is improved.

[0016] In some embodiments, the end flange and the second cover plate together form a third cavity, and the sensor assembly is located in the third cavity; the end mechanism further includes: a second seal disposed between the end flange and the second support member; and a third seal disposed between the end flange and the electrical interface socket.

[0017] Based on the above technical means, by setting a sealing element, the gap between the end flange and the support is sealed to ensure that the sensor assembly is not exposed to the external environment, thus giving it good protective performance and adapting to the needs of complex working conditions.

[0018] In some embodiments, the end mechanism further includes a fourth seal disposed on the side of the end flange away from the second connection surface and surrounding the outer periphery of the electrical connection female.

[0019] Based on the above technical means, by setting a seal around the electrical connection female seat, it is possible to effectively prevent moisture or foreign objects from entering, ensure the stability and safety of the electrical connection, and further enhance the overall protection capability of the end mechanism.

[0020] In some embodiments, the second support member is provided with a fourth through hole, the fourth through hole being radially connected to the second cavity and the outer side of the second support member; the end mechanism further includes: a camera bracket, radially disposed on the outer side of the second support member body, the camera bracket having a fourth cavity formed inside, the side of the fourth cavity away from the second support member body communicating with the external environment, and the side of the fourth cavity near the second support member body communicating with the second cavity through the fourth through hole; a camera, disposed at the end of the camera bracket away from the second support member body; a fourth seal, disposed between the camera and the camera bracket; and a camera connector, passing through the fourth through hole, with a first end connected to the camera and the other end connected to the control board through the cable assembly.

[0021] Based on the above technical means, by setting a wire hole on the support and integrating the camera and its related components, the function of sensing the external environment can be realized without compromising the sealing of the cavity. At the same time, the connection between the camera and the bracket is protected by the sealing component, which enhances the stability and protection of the overall structure.

[0022] In a second aspect, a robotic arm is provided, comprising: a shoulder joint module, an upper arm module, an elbow joint module, a forearm module, a wrist joint module, and an end effector as described in the first aspect; wherein the upper arm module is located between the shoulder joint module and the elbow joint module, the forearm module is located between the elbow joint module and the wrist joint module, and the end effector is connected to the wrist joint module.

[0023] Thirdly, a robot is provided, comprising: at least one end effector as described in the first aspect, and / or at least one robotic arm as described in the second aspect. Attached Figure Description

[0024] Figure 1 A schematic structural diagram of the end effector provided in the embodiments of this application;

[0025] Figure 2 for Figure 1 A cross-sectional view of the end mechanism in the middle;

[0026] Figure 3 for Figure 1 Exploded view of the end mechanism in the middle;

[0027] Figure 4 This is a schematic structural diagram of the robotic arm provided in an embodiment of this application.

[0028] The attached figures are labeled as follows:

[0029] End mechanism 100, support member 110, end flange 120, electrical connection female connector 130, cable assembly 140, control board 150, teach button 160, sensor assembly 170, first support member body 111, second support member body 112, first cover plate 113, second cover plate 114, first seal 115, connecting part 121, opening 122, pressing part 161, second wiring hole 171, second seal 181, third... Seal 182, camera bracket 191, camera 192, fourth seal 193, camera connector 194, first connecting surface 1101, second connecting surface 1102, first wire hole 1141, fourth wire hole 1121, wrist joint module 210, output end 221, robotic arm 400, shoulder joint module 410, upper arm module 420, elbow joint module 430, forearm module 440, wrist joint module 450, end effector 460. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0031] In the following description, the terms first and second are used only to distinguish similar objects and do not represent a specific ordering of objects. It is understood that first and second may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0033] In related technologies, the cables and connectors at the end of robot arms are generally exposed, which not only affects the overall aesthetics but also makes them susceptible to damage or poor contact during movement, thus impacting production efficiency and system reliability. Furthermore, due to the lack of effective protective measures, these exposed components often fail to meet the basic protection requirements for equipment in industrial environments.

[0034] To address the aforementioned issues, this application provides an end effector, a robotic arm, and a robot. By incorporating a central control cavity, key components such as cables, electrical connectors, control boards, and sensor assemblies are integrated within the cavity. A multi-stage sealing mechanism achieves IP54-level protection, effectively resolving the problems of exposed cables and insufficient protection while also improving the overall aesthetics. The technical solution of this application will be described in detail below with reference to the accompanying drawings.

[0035] Figure 1 This is a schematic structural diagram of the end effector provided in the embodiments of this application. Figure 2 and Figure 3 These are partial sectional views and exploded views of the end effector. This end effector can be used in robotic arms or robots as a connecting component at the end of the arm or robot, connecting to the actuator. For ease of understanding, partial structures of the wrist joint module 210 and forearm module 220 connected to the end effector are also shown in the figures.

[0036] The end mechanism 100 includes a support 110, an end flange 120, an electrical connection socket 130, and a cable assembly 140.

[0037] The support member 110 is a structural component used to support the end effector and connect to the wrist joint module 210 in the robotic arm. The support member 110 is typically a shell-shaped component made of metal or high-strength plastic. The support member 110 has a first connecting surface 1101 and a second connecting surface 1102 that are perpendicular to each other, both of which are parallel to the axis of rotation of the wrist joint module 210.

[0038] The first connecting surface 1101 is used to connect with the wrist joint module 210 of the robotic arm. More specifically, the wrist joint module 220 of the robotic arm typically has an output end 221, and the first connecting surface 1101 of the support member 110 can fit against the output end of the wrist joint module and be fixedly connected by a threaded connector. When the wrist joint module rotates relative to the forearm module, the support member 110 can rotate synchronously with the wrist joint module.

[0039] In this embodiment, the support member 110 has an overall L-shaped structure. This shape can provide installation positions for various components in the end mechanism 100, thereby improving space utilization and enhancing the rigidity and stability of the support member 110.

[0040] The end flange 120 is connected to the support member 110 via a second connecting surface 1102 and is located on the side of the support member 110 away from the wrist joint module 210. Alternatively, the end flange 120 can be fixed to the support member 110 using threaded fasteners such as screws.

[0041] A connecting part 121 is provided on the side of the end flange 120 away from the support member 110, through which various actuators can be fixedly installed. The connecting part 121 may include multiple standard holes and positioning pins and other positioning elements, thereby forming a standardized structure to facilitate the unification of actuator design standards and enable quick replacement.

[0042] The aforementioned actuators may be, for example, grippers, dexterous hands, and suction cups, etc., and the embodiments of this application do not specifically limit them.

[0043] The electrical connection female connector 130 is embedded in the end flange 120 on the side away from the support member 110, for connection with the electrical connection male connector of the actuator. For example, see... Figure 2 and Figure 3 The end flange 120 has an opening 122 for accommodating an electrical connection female. The electrical connection female 130 can extend into the opening 122 and be fixed to the end flange 120 by means of threaded connection or adhesive.

[0044] The side of the electrical connection female socket 130 furthest from the support member 110 is the mating side for connection with the actuator. As an example, the electrical connection female socket can be a socket-type interface with multiple metal contacts. An electrical connection male socket with multiple pogopins is provided in the actuator. When the actuator is secured to the end flange 120, the pogopins in the actuator conduct electricity with the metal contacts of the electrical connection female socket 130. Furthermore, the control unit of the robotic arm or robot can control the actuator and acquire feedback signals based on this electrical connection. This pogopin connection method eliminates the need for screws or clips, requiring only simple plug-and-play operations to complete the connection, thus improving the ease of installation and disassembly.

[0045] The cable assembly 140 is a collection of multiple cables used for transmitting electrical signals, which may include power lines, signal lines, and communication lines. The cable assembly 140 is housed within the hollow cavity formed by the support member 110. This arrangement of the cable assembly 140 within the cavity avoids the risk of damage to the cables due to collisions, friction, or external environmental factors. Furthermore, since the cables are no longer exposed, the overall neatness and aesthetics of the system are significantly improved.

[0046] At least a portion of the cables in the aforementioned cable group 140 are connected to an electrical interface socket. The other end of this portion of the cable can be connected to the control unit of the robotic arm or robot, enabling the control unit to control the actuator and collect signals fed back by the actuator through the cable connection.

[0047] By employing the aforementioned technical means, and placing the cable assembly 140 within the hollow cavity formed inside the support member 110, and embedding the electrical connection female connector 130 onto the end flange 120, an internal cable routing design can be achieved, thereby avoiding the risk of impact and visual clutter caused by exposed cables. Simultaneously, this structure helps to improve the overall protection level and enhance the stability and safety of equipment operation.

[0048] In some embodiments, the support member 110 includes a first support member body 111 and a second support member body 112 arranged in an L-shape. The first support member body 111 has a first cavity, and the second support member body 112 has a second cavity. The first cavity and the second cavity communicate to form the aforementioned hollow cavity.

[0049] It is understandable that the first support body 111 and the second support body 112 can be manufactured by integral molding methods such as casting, CNC cutting or 3D printing. Alternatively, in order to solve the material problem and reduce the processing difficulty, the first support body 111 and the second support body 112 can be a separate structure, that is, the first support body 111 and the second support body 112 are processed separately, and then they are fixedly connected by means of threaded connection or welding to form a complete support body 110 structure.

[0050] The support member 110 also includes a first cover plate 113 and a second cover plate 114. The first cover plate 113 is disposed on the side of the first support member body 111 away from the first connecting surface 1101. The second cover plate 114 is perpendicular to the first cover plate 113 and is located on the side of the second support member body 112 away from the wrist joint module 210. The outer surface of the second cover plate 114 is the aforementioned second connecting surface 1102.

[0051] As one possible implementation, the first cover plate 113 and the first support body 111 can be connected by screws. Similarly, the second cover plate 114 and the second support body 112 can be fixed by screws.

[0052] See also Figure 2 and Figure 3 The second cover plate 114 is also provided with a first wire hole 1141, through which part of the cable group 140 used to connect with the electrical connection female 130 passes.

[0053] In this embodiment of the application, the end mechanism 100 also includes a control board 150, which is located in the first cavity and disposed near the first connecting surface 1101.

[0054] The control board 150 is one of the core electronic components in the end effector 100, responsible for processing sensor signals, controlling actuator movements, and communicating with the main control system of the robotic arm or robot. The cables in the aforementioned cable group 140 are all connected to the control board 150, enabling the control board 150 to send and receive various signals with the electronic components and actuators in the end effector 100.

[0055] In order to avoid unpredictable problems caused by the control board 150 shaking in the first cavity, in the solution of this application embodiment, the control board 150 is fixed on the first support member 110. More specifically, the control board 150 can be fixed on the inner wall of the first support member 110 by screws.

[0056] Based on the aforementioned technical means, by employing an L-shaped support member 110, combined with the design of multiple cavities and cover plates, cables can be arranged in an orderly manner within the cavities and led out through wire holes for easy connection to external actuators. Simultaneously, integrating the control board 150 within the cavity helps reduce the number of external connectors, further simplifying the structure and enhancing sealing.

[0057] In some embodiments, the support member 110 further includes a first sealing member 115 disposed between the first cover plate 113 and the first support member body 111, for sealing the gap between the first cover plate 113 and the first support member body 111.

[0058] The first seal 115 can be a sealing ring made of materials such as silicone rubber, which has good resilience and weather resistance. As an example, in the specific design of the end mechanism 100, a groove can be provided on the edge of the first cover plate 113 or on the first support body 111. The first seal 115 is embedded in the groove. After the first cover plate 113 and the first support body 111 are tightly fitted, the first seal 115 undergoes elastic deformation, thereby tightly filling the gap between the two component supports and preventing dust or moisture from entering the internal environment through the gap.

[0059] According to the above-mentioned technical means, a sealing element is set between the cover plate of the support 110 and the body, which can effectively prevent dust, moisture and other substances from entering the cavity, thereby ensuring the normal operation of cables and electronic components and improving the reliability of the end mechanism 100.

[0060] In some embodiments, the end mechanism 100 further includes a teach button 160, at least a portion of which is located within the hollow cavity and includes a pressing portion 161 protruding from the outer surface of the first cover plate 113. The teach button 160 is connected to the control board 150 via a cable assembly 140.

[0061] The teach pendant 160 is a physical button used for human-machine interaction, typically for executing specific operation commands, such as triggering recording, resetting, and mode switching. In this application, the teach pendant 160 is integrated into the end effector structure of the robotic arm, allowing users to quickly implement certain preset functions by pressing the teach pendant 160, such as manually controlling robot movements, entering debug mode, and starting the learning process.

[0062] The pressable portion of the teach button 160 is its operable area, typically a circular or rectangular structure protruding from the cover plate, facilitating the user's finger to apply pressure to trigger the button function. In this embodiment, the pressable portion is positioned on the outer surface of the first cover plate 113, ensuring that the user can intuitively identify and accurately touch the button during operation, thereby enhancing the human-computer interaction experience.

[0063] In practical applications, when a user needs the robotic arm to perform a teaching operation, they can directly press the teaching button 160. The control board 150 will receive the signal from the teaching button 160 through the cable group 140, and then the control board 150 will control the entry into the teaching mode according to the signal.

[0064] Based on the above technical means, by integrating the teaching button 160 into the cavity and connecting it to the control board 150 through a cable, the operation function is ensured, and the damage or accidental touch caused by exposed buttons is avoided, thereby improving the compactness and aesthetics of the overall structure.

[0065] In some embodiments, the end mechanism 100 further includes a sensor assembly 170, which is connected to the control board 150 via a cable group 140 and is disposed between the second support body 112 and the end flange 120. One end of the sensor assembly 170 is connected to the second cover plate 114, and the other end is connected to the end flange 120.

[0066] The sensor can be used to collect the status information of the end effector and communicate with the control board 150 via electrical signals. For example, the sensor assembly 170 can be an accelerometer, gyroscope, etc., which can detect parameters such as force, acceleration, and angular acceleration of the actuator in real time, and send these data to the control system via the cable group 140 to achieve accurate sensing and feedback control of the actuator.

[0067] The aforementioned sensor assembly 170 is preferably a six-dimensional force sensor, used to detect the forces and torques acting on an object in three-dimensional space. Specifically, the six-dimensional force sensor can measure forces (F) along three axial directions. x ,F y ,F z ) and the torque (M) about these three axes x M y M z It is used in tasks such as robot grasping, assembly, and handling to improve operational accuracy and stability.

[0068] The sensor assembly 170 is provided with a second wiring hole 171, through which at least a portion of the cables in the cable group 140 pass. The second wiring hole 171 is a channel structure provided inside the sensor assembly 170, through which a portion of the cable connecting the control board 150 and the electrical connection socket 130 passes.

[0069] According to the above technical means, by setting the sensor assembly 170 between the support 110 and the end flange 120, and using its wire hole as a cable channel, not only is a reliable connection between the sensor and the control system achieved, but the cable path is also optimized, the wiring space is reduced, and the space utilization rate is improved.

[0070] In some embodiments, the end flange 120 and the second cover plate 114 together form a third cavity, in which the aforementioned sensor assembly 170 is located.

[0071] The aforementioned third cavity is a closed space formed by the end flange 120 and the second cover plate 114, which houses the sensor assembly 170 and effectively isolates the internal components from the influence of the external environment, thereby achieving a protective effect. For example, in an industrial environment, the third cavity can prevent the entry of contaminants such as dust and moisture, ensuring the stable operation of the sensor assembly 170.

[0072] The end mechanism 100 also includes a second seal 181 disposed between the end flange 120 and the second support 110.

[0073] The second seal 181 is made of an elastic material such as rubber and is used to prevent contaminants from seeping into the third cavity through the area between the end flange 120 and the second support member 110. For example, during frequent movements of the robotic arm, the second seal 181 can adapt to minor deformations between the end flange 120 and the second support member 110, maintaining good sealing performance.

[0074] According to the above technical means, by setting a sealing element, the gap between the end flange 120 and the support 110 is sealed to ensure that the sensor assembly 170 is not exposed to the external environment, so that it has good protection performance and can meet the needs of complex working conditions.

[0075] In some embodiments, the end mechanism 100 further includes a third seal 182 disposed on the side of the end flange 120 away from the second connection surface 1102 and surrounding the outside of the electrical connection female seat 130.

[0076] The third seal 182 is disposed on the connection surface of the end flange 120. After the end actuator is connected to the end flange 120, the third seal 182 can seal the gap between the end flange 120 and the actuator, thereby forming a closed protective area around the electrical connection socket 130, which effectively prevents contaminants from entering and causing rust or short circuits.

[0077] According to the above-mentioned technical means, by setting a seal around the electrical connection female seat 130, it is possible to effectively prevent moisture or foreign objects from entering, ensure the stability and safety of the electrical connection, and further enhance the overall protection capability of the end mechanism 100.

[0078] In some embodiments, the second support member 110 is provided with a fourth through hole 1121, which radially connects to the outer side of the aforementioned second cavity and the second support member 110. The fourth through hole 1121 allows cables to pass from inside the second cavity to the outer side of the second support member 110, facilitating camera mounting wiring. The fourth through hole 1121 may have a circular or rectangular cross-section, the cross-sectional dimensions of which are related to the diameter of the cable. The fourth through hole 1121 allows the cables connecting to the camera to be neatly arranged, avoiding cable exposure.

[0079] The end effector 100 provided in this application embodiment also includes a camera bracket 191, a camera 192, a fourth seal 193, and a camera connector 194.

[0080] The camera bracket 191 is radially disposed on the outer side of the second support body 112 for fixing the camera 192. It can be made of metal or high-strength plastic and has good rigidity and stability. A fourth cavity is formed inside the camera bracket 191. The side of this fourth cavity away from the second support body 112 communicates with the external environment, while the side closer to the second support body 112 communicates with the second cavity through a fourth through-hole 1121. In other words, the camera bracket 191 has a through-cavity channel inside.

[0081] The camera 192 is located at the end of the camera bracket 191 away from the second support body 112, and includes components such as a lens, image sensor, and signal processing circuitry. Figure 1-3 In the implementation shown, the camera 192 is connected to the camera bracket 191 via a threaded connector. Of course, the connection method between the camera 192 and the camera bracket is not limited to this; they can also be connected using snap-fit ​​or other methods.

[0082] In the embodiment of this application, the camera 192 can acquire image information of the end effector 100 and the actuator connected to the end effector 100 during operation, and perform tasks such as target recognition and positioning navigation based on the image information. By using the camera bracket 191 to set the camera 192 at a certain distance from the second support body 112, the obstruction of the image by the end effector 100 and the actuator can be avoided.

[0083] A fourth seal 193 is disposed between the camera 192 and the camera bracket 191. More specifically, the fourth seal 193 is disposed on the contact surface between the camera 192 and the camera bracket 191 to fill the gap between them, preventing dust, water, and other contaminants from entering the device through the fourth cavity of the camera bracket 191. Similar to the aforementioned seals, the fourth seal 193 can be made of an elastic material such as rubber.

[0084] The camera connector 194 is inserted into the fourth cable hole 1121, with one end connected to the camera 192 and the other end connected to the control board 150 via the cable assembly 140. In the embodiment of this application, the camera connector 194 is an interface device for high-speed transmission of image signals. Its placement in the fourth cable hole 1121 enables cable guidance and sealing protection while maintaining a clean and simple appearance.

[0085] According to the above-mentioned technical means, by setting a wire hole on the support 110 and integrating the camera 192 and its related components, the function of sensing the external environment can be realized without damaging the cavity's sealing performance. At the same time, the connection between the camera 192 and the bracket is protected by the sealing component, which enhances the stability and protection of the overall structure.

[0086] like Figure 4 As shown in the figure, this application also provides a robotic arm. Figure 4 The robotic arm 400 includes: a shoulder joint module 410, an upper arm module 420, an elbow joint module 430, a forearm module 440, a wrist joint module 450, and an end effector 460.

[0087] The shoulder joint module 410 is the rotating device at the starting point of the robotic arm, used to support and drive the movement of the upper arm module 420, realizing the first degree of rotational freedom of the arm. The shoulder joint module 410 typically integrates components such as a servo motor, reducer, and bearings, providing a large torque output to meet the motion requirements under complex working conditions. The upper arm module 420 is the intermediate structure connecting the shoulder joint module 410 and the elbow joint module 430, undertaking the main load-bearing function. The elbow joint module 430 is a key component for realizing the angle change between the upper arm module 420 and the forearm module 440, typically composed of a hinge structure and drive unit, providing the second degree of rotational freedom. The forearm module 440 is located between the elbow joint module 430 and the wrist joint module 450, mainly used to support the wrist and the wrist end effector 460. The wrist joint module 450 connects the forearm module 440 and the end effector 460, providing the third degree of rotational freedom. The aforementioned joint modules work together to drive the end effector 460 and the actuator connected to the end effector 460 to move.

[0088] In this embodiment, the end effector 460 may be the end effector 100 described in any of the preceding embodiments.

[0089] This application also provides a robot, which may be a humanoid robot, including at least one robotic arm or at least one end effector. The robotic arm may be the robotic arm 400 described in the preceding embodiments, and the end effector may be the end effector 100 described in any of the preceding embodiments.

[0090] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0091] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0092] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0093] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0094] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. An end effector, characterized in that, include: The support has a first connecting surface and a second connecting surface that are perpendicular to each other, the first connecting surface being used to connect to the wrist joint module of the robotic arm; An end flange, connected to the support member via the second connecting surface, is located on the side of the support member away from the wrist joint module, and the side of the end flange away from the support member has a connecting portion for connecting an actuator; An electrical connection female is embedded in the end flange on the side away from the support member, and is used to connect with the electrical connection male of the actuator; A cable assembly is disposed within the hollow cavity formed by the support member, and at least a portion of the cables in the cable assembly are connected to the electrical connection socket.

2. The end effector according to claim 1, characterized in that, The support includes a first support body and a second support body arranged in an L-shape. The first support body has a first cavity, and the second support body has a second cavity. The first cavity and the second cavity are connected to form the hollow cavity. The support also includes a first cover plate and a second cover plate. The first cover plate is disposed on the side of the first support body away from the first connecting surface. The second cover plate is perpendicular to the first cover plate and is located on the side of the second support body away from the wrist joint module. The outer surface of the second cover plate is the second connecting surface. The second cover plate has a first wire hole, and at least a portion of the cables in the cable group pass through the first wire hole. The end mechanism also includes a control board, which is fixed in the first cavity and placed therein, and the cable group is connected to the control board.

3. The end effector according to claim 2, characterized in that, The support member also includes: A first sealing element is disposed between the first cover plate and the first support body to seal the gap between the first cover plate and the first support body.

4. The end effector according to claim 2, characterized in that, Also includes: The teach button is located at least partially within the hollow cavity and includes a pressing portion protruding from the outer surface of the first cover plate. The teach button is connected to the control board via the cable assembly.

5. The end effector according to claim 2, characterized in that, The end effector also includes: A sensor assembly, connected to the control board via the cable group, is disposed between the second support body and the end flange. One end of the sensor assembly is connected to the second cover plate, and the other end is connected to the end flange. The sensor assembly has a second wire hole through which at least a portion of the cables in the cable group pass.

6. The end effector according to claim 5, characterized in that, The end flange and the second cover plate together form a third cavity, and the sensor assembly is located in the third cavity; The end mechanism further includes a second seal, disposed between the end flange and the second support member, for sealing the gap between the end flange and the second support member.

7. The end effector according to any one of claims 1 to 6, characterized in that, Also includes: A third sealing element is disposed on the side of the end flange away from the second connection surface and surrounds the outer periphery of the electrical connection female seat, for sealing the gap between the actuator and the end flange.

8. The end-effector according to any one of claims 2 to 6, characterized in that, The second support member is provided with a fourth threading hole, which radially connects the second cavity and the outer side of the second support member; The end effector also includes: A camera bracket is radially disposed on the outside of the second support body. A fourth cavity is formed inside the camera bracket. The side of the fourth cavity away from the second support body is connected to the external environment, and the side of the fourth cavity close to the second support body is connected to the second cavity through the fourth through hole. The camera is mounted at one end of the camera bracket away from the body of the second support member; A fourth seal is disposed between the camera and the camera bracket; A camera connector is inserted through the fourth cable hole, with one end connected to the camera and the other end connected to the control board via the cable assembly.

9. A robotic arm, characterized in that, include: Shoulder joint module, upper arm module, elbow joint module, forearm module, wrist joint module, and end effector as described in any one of claims 1 to 8; The upper arm module is located between the shoulder joint module and the elbow joint module, the forearm module is located between the elbow joint module and the wrist joint module, and the end effector is connected to the wrist joint module.

10. A robot, characterized in that, include: At least one end effector as described in any one of claims 1 to 8, and / or at least one robotic arm as described in claim 9.

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