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CN-122008173-A - Mechanical arm

CN122008173ACN 122008173 ACN122008173 ACN 122008173ACN-122008173-A

Abstract

The application provides a mechanical arm, which comprises a flexible arm, a first control assembly, a second drive motor, a first drive rope, a second drive rope and a second drive rope, wherein the flexible arm comprises a fixed end connected to a base and a first control end which is arranged at intervals with the fixed end along the length direction of the flexible arm, the first control assembly comprises a first drive motor which is arranged on the base and comprises a first rotating output shaft, the second drive motor is arranged on the base and comprises a second rotating output shaft, one end of the first drive rope is connected to the first rotating output shaft along the first rotating direction, the other end of the first drive rope is connected to the first control end, one end of the second drive rope is connected to the second rotating output shaft along the second rotating direction opposite to the first rotating direction, the other end of the second drive rope is connected to the first control end, and the first drive motor is used for driving the first drive rope to drive the first control end of the flexible arm to bend towards the first side, and/or the second drive piece is used for the second drive the first control end of the flexible arm to bend towards the second side opposite to the first side. By the mode, the cost of the mechanical arm can be reduced.

Inventors

  • PENG RUI
  • PU YUAN

Assignees

  • 深圳擎羽科技有限公司

Dates

Publication Date
20260512
Application Date
20260205

Claims (10)

  1. 1. A robotic arm, the robotic arm comprising: A base; The flexible arm comprises a fixed end connected to the base and a first control end arranged at intervals with the fixed end along the length direction of the flexible arm; A first control assembly comprising: the first driving motor is arranged on the base and comprises a first rotating output shaft; The second driving motor is arranged on the base and comprises a second rotating output shaft; one end of the first driving rope is connected to the first rotating output shaft along the first rotating direction, and the other end of the first driving rope is connected to the first control end; one end of the second driving rope is connected to the second rotating output shaft along a second rotating direction opposite to the first rotating direction, and the other end of the second driving rope is connected to the first control end; The first driving motor is used for driving the first driving rope to drive the first control end of the flexible arm to bend towards the first side, and/or the second driving piece is used for driving the second driving rope to drive the first control end of the flexible arm to bend towards the second side opposite to the first side.
  2. 2. The robotic arm of claim 1, wherein the axis of at least a portion of the first drive line proximate the first control end, the axis of at least a portion of the second drive line proximate the first control end, and the axis of the flexible arm lie on the same plane.
  3. 3. The mechanical arm of claim 2, wherein at least a portion of the axis of the first drive line proximate the first control end, at least a portion of the axis of the second drive line proximate the first control end, and the axis of the flexible arm are disposed in parallel.
  4. 4. The robotic arm of claim 2, wherein a plane common to an axis defining at least a portion of a first drive line proximate the first control end, an axis defining at least a portion of a second drive line proximate the first control end, and an axis of the flexible arm is a first control plane; Wherein the axis of the flexible arm defines the first control plane as two sides, wherein the side of the flexible arm that is located near at least part of the first drive string is the first side and the side of the flexible arm that is located near at least part of the second drive string is the second side.
  5. 5. The mechanical arm of claim 1, wherein the first rotating output shaft comprises a first outer race and the second rotating output shaft comprises a second outer race, the first drive string end being coupled to the first outer race in a first rotational direction and the second drive string end being coupled to the second outer race in a second rotational direction.
  6. 6. The mechanical arm of claim 5, wherein the first outer race has a first runner and the second outer race has a second runner, the first drive cord is at least partially wound in the first runner, and at least a portion of the second drive cord is wound in the second runner.
  7. 7. The mechanical arm of claim 6, wherein the first drive motor comprises a first pulley member coupled to the first outer race and a second pulley member disposed on the second outer race, the first pulley having the first runner and the second pulley having the second runner.
  8. 8. The mechanical arm according to claim 6, wherein the first outer ring and/or the second outer ring is provided with first teeth, and the first drive rope and/or the second drive rope is provided with second teeth; Wherein the first drive rope is connected to the first outer ring by the engagement of the second tooth with the first tooth and/or the second drive rope is connected to the second outer ring by the engagement of the second tooth with the first tooth.
  9. 9. The robotic arm of claim 1, wherein the flexible arm comprises a body post comprising the fixed end connected to the base.
  10. 10. The mechanical arm of claim 9, wherein the main body column further comprises a first control end, a first fixed position and a second fixed position are respectively arranged on two sides of the axis of the main body column along the first control end, the first driving rope is connected to the first fixed position, and the second driving rope is connected to the second fixed position.

Description

Mechanical arm Technical Field The invention relates to the technical field of mechanical arms, in particular to a mechanical arm. Background With the rise of humanoid robots, the mechanical arm is gradually paid attention to as a core component, the current mechanical arm generally comprises at least two hinged rigid arms, and a motor and a speed reducer are arranged at a hinged position, namely a commonly-called joint position to realize terminal control, but the cost of the speed reducer is extremely high, such as a harmonic speed reducer, and if one mechanical arm needs a plurality of degrees of freedom, a plurality of rigid arms and a plurality of joints are needed, so that the cost is increased sharply. Disclosure of Invention In view of the above, in order to solve the problem of high cost of the mechanical arm, a first solution provided by the present application is to provide a mechanical arm, which includes: A base; The flexible arm comprises a fixed end connected to the base and a first control end arranged at intervals with the fixed end along the length direction of the flexible arm; A first control assembly comprising: the first driving motor is arranged on the base and comprises a first rotating output shaft; The second driving motor is arranged on the base and comprises a second rotating output shaft; one end of the first driving rope is connected to the first rotating output shaft along the first rotating direction, and the other end of the first driving rope is connected to the first control end; one end of the second driving rope is connected to the second rotating output shaft along a second rotating direction opposite to the first rotating direction, and the other end of the second driving rope is connected to the first control end; The first driving motor is used for driving the first driving rope to drive the first control end of the flexible arm to bend towards the first side, and/or the second driving piece is used for driving the second driving rope to drive the first control end of the flexible arm to bend towards the second side opposite to the first side. The mechanical arm has the beneficial effects that the mechanical arm comprises a base, a flexible arm and a first control component, wherein the flexible arm comprises a fixed end connected to the base and a first control end arranged at intervals from the fixed end along the length direction, the first control component comprises a first driving motor arranged on the base and comprising a first rotating output shaft, a second driving motor arranged on the base and comprising a second rotating output shaft, one end of a first driving rope is connected to the first rotating output shaft along the first rotating direction, the other end of the first driving rope is connected to the first control end, one end of the second driving rope is connected to the second rotating output shaft along a second rotating direction opposite to the first rotating direction, and the other end of the second driving rope is connected to the first control end, wherein the first driving motor is used for driving the first driving rope to drive the first control end of the flexible arm to bend towards a first side and/or the second driving piece is used for the second driving the first control end of the flexible arm to bend towards a second side opposite to the first side. Therefore, the first control end of the flexible arm is driven by the motor, so that the conversion of the degree of freedom is realized, and the cost is greatly reduced. Drawings In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained by those skilled in the art without the inventive effort. FIG. 1 is a schematic structural diagram of an embodiment of a mechanical arm according to the present application; FIG. 2 is a schematic structural view of an embodiment of a mechanical arm according to the present application, wherein the first control component is matched with the flexible arm; FIG. 3 is a schematic structural view of an embodiment of a mechanical arm according to the present application, wherein the first control component is matched with the flexible arm; FIG. 4 is an enlarged schematic view of the partial area A of FIG. 3; FIG. 5 is a schematic cross-sectional view of a first drive motor and a first transmission assembly in a mechanical arm according to the present application; FIG. 6 is a schematic view of an embodiment of a positioning plate according to the present application; FIG. 7 is a schematic view of another embodiment of a locating plate according to the present application; FIG. 8 is a schematic view of another embodiment of a locating plate according to the present appl