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CN-122008174-A - Mechanical arm

CN122008174ACN 122008174 ACN122008174 ACN 122008174ACN-122008174-A

Abstract

The application provides a mechanical arm, which comprises a base, a flexible arm and a first driving assembly, wherein 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, the first driving assembly comprises two first driving assemblies arranged on the base, each first driving assembly comprises a first driving rope and a second driving rope connected with the first control end, the first driving rope and the second driving rope of one of the two first driving assemblies are respectively used for driving the first control end of the flexible arm to bend towards a first side and bend towards a second side in a first control plane, the first driving rope and the second driving rope of the other of the two first driving assemblies are respectively used for driving the first control end of the flexible arm to bend towards the first side and bend towards the second side in a second control plane, and the first control plane and the second control plane are arranged in a crossing mode. 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; The first driving assembly comprises two first control assemblies arranged on the base, the first control assemblies comprise a first driving rope and a second driving rope which are connected with the first control end, the first driving rope and the second driving rope of one of the two first control assemblies are respectively used for driving the first control end of the flexible arm to bend towards a first side and a second side in a first control plane, and the first driving rope and the second driving rope of the other of the two first control assemblies are respectively used for driving the first control end of the flexible arm to bend towards the first side and the second side in a second control plane; The first control plane and the second control plane are arranged in a crossing way; wherein the first control assembly comprises: 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 first control plane is at or equal to 85 degrees and less than or equal to 95 degrees from the second control plane.
  3. 3. The mechanical arm of claim 1, wherein a first drive line of one of the two first control assemblies is proximate an at least portion of the first control end, an at least portion of the second drive line is proximate the first control end, and an axis of the flexible arm are parallel to one another, and/or The first drive line of the other of the two first control assemblies is adjacent to at least part of the axis of the first control end, the axis of the second drive line adjacent to at least part of the first control end, and the axis of the flexible arm are parallel to each other.
  4. 4. A robotic arm as claimed in claim 3, wherein the axis of the flexible arm defines the first control plane and/or the second control plane as two sides, wherein the side of the flexible arm that is located near at least part of the first drive line is the first side of the first control plane and/or the second control plane, and the side of the flexible arm that is located near at least part of the second drive line is the first control plane and/or the second side of the second control plane.
  5. 5. The robotic arm of claim 1, wherein the flexible arm comprises a body post comprising the fixed end connected to the base.
  6. 6. The mechanical arm of claim 5, wherein the flexible arm further comprises a first connector sleeved on the main body column, the first connector comprising the first control end; The first driving rope is connected to one side of the axis of the main body column, and the second driving rope is connected to the other side of the axis of the main body column.
  7. 7. The mechanical arm of claim 6, wherein the first connector comprises a first barrel portion sleeved on the main body column and a first plate body arranged on the first barrel portion.
  8. 8. The mechanical arm of claim 7, wherein the first control end comprises a first mounting location and a second mounting location disposed on a first plate on both sides of the axis of the body post; The first driving rope is connected to the connecting piece through the first installation position, and the second driving rope is connected to the connecting piece through the second installation position.
  9. 9. The mechanical arm of claim 6, wherein the flexible arm further comprises a positioning plate disposed between the first connector and the base and sleeved on the main body column; the positioning plate is provided with a first positioning hole for the first driving rope to pass through and a second positioning hole for the second driving rope to pass through.
  10. 10. The mechanical arm of claim 9, wherein the plurality of positioning plates are spaced apart along the length of the body post.

Description

Mechanical arm Technical Field The invention relates to the technical field of mechanical arms, in particular to a mechanical arm. Background A flexible robotic arm (also known as a continuum or soft robotic arm) is a novel robotic structure that mimics the motion characteristics of an organism (e.g., trunk, octopus). Compared with the traditional rigid mechanical arm consisting of discrete joints, the flexible mechanical arm has the capability of continuous bending deformation, so that the flexible mechanical arm has unique advantages in narrow and unstructured environments (such as minimally invasive surgery channels, complex industrial equipment internal detection and disaster search and rescue gaps). The method has the core characteristics of high flexibility, good environmental compliance and high safety of human-computer interaction. There is now a pneumatic/hydraulic driven mechanical arm, in which a plurality of chambers are provided on the mechanical arm, and then a gas or liquid is filled into a specific chamber (a pressure source is located outside) through a gas pump, and the chambers expand and elongate, are restrained (such as a woven mesh cover) or interact with adjacent chambers, so that the whole structure is bent in opposite directions, and thus bending control is realized, which results in a relatively high material special effect requirement of the mechanical arm. 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; The first driving assembly comprises two first control assemblies arranged on the base, the first control assemblies comprise a first driving rope and a second driving rope which are connected with the first control end, the first driving rope and the second driving rope of one of the two first control assemblies are respectively used for driving the first control end of the flexible arm to bend towards a first side and a second side in a first control plane, and the first driving rope and the second driving rope of the other of the two first control assemblies are respectively used for driving the first control end of the flexible arm to bend towards the first side and the second side in a second control plane; The first control plane and the second control plane are arranged in a crossing way; wherein the first control assembly comprises: 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 driving component, wherein 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, the first driving component comprises two first control components arranged on the base, the first control components comprise a first driving rope and a second driving rope connected with the first control end, the first driving rope and the second driving rope of one of the two first control components are respectively used for driving the first control end of the flexible arm to bend towards a first side and a second side in a first control plane, the first driving rope and the second driving rope of the other of the two first control components are respectively used for driving the first control end of the flexible arm to bend towards the first side and the second side in a second control plane, and the first control plane and the second control plane are respectively arranged in a crossing mode. Therefore, the flexible arm can be driven to bend at the first side and the second side in the first control plane and the second control plane through the two first control components, so that control of multiple degrees of freedom can be realized, and compared with an inflation scheme