CN113276132A

CN113276132A - Service robot

Info

Publication number: CN113276132A
Application number: CN202110629831.5A
Authority: CN
Inventors: 高党波; 雷纲; 刘毅; 韩定强; 杨中原; 郝兆礼
Original assignee: Hangzhou Ezviz Software Co Ltd
Current assignee: Hangzhou Ezviz Software Co Ltd
Priority date: 2021-06-07
Filing date: 2021-06-07
Publication date: 2021-08-20

Abstract

The invention discloses a service robot. Based on the invention, the mechanical arm of the service robot can execute task operation through the joint motion of the swing joint of the arm framework, and a joint synchronous belt mechanism is selected between the swing joint and a joint driving motor for driving the swing joint to move so as to realize speed reduction transmission. Since the weight of the joint timing belt mechanism can be easily controlled to a level lower than the gear reducer and the harmonic reducer, the stability of the service robot can be improved without increasing the counter weight for the mobile chassis, that is, the stability of the service robot can be improved while minimizing the counter weight for the mobile chassis and reducing the weight of the robot arm, and the cost of the joint timing belt mechanism can be easily controlled to a level lower than the gear reducer and the harmonic reducer, which contributes to the cost reduction of the service robot. Further, it is helpful to improve the stability of the service robot and to reduce the cost and weight of the service robot.

Description

Service robot

Technical Field

The present invention relates to a robot technology, and more particularly to a service robot suitable for service work such as maintenance, repair, cleaning, rescue, home monitoring, and the like.

Background

The service robot can move to a specified position by using the mobile chassis and execute various service tasks at the specified position by using the mechanical arm.

However, when the robot arm of the service robot is laterally extended, the weight of the robot arm is laterally shifted at the position of the force application of the service robot, and if the weight of the moving chassis is insufficient, the center of gravity of the service robot is easily shifted, and the service robot is easily tilted. Furthermore, the counterweight to the moving chassis tends to require the addition of additional counterweight members, thereby increasing the weight and cost of the service robot.

Therefore, how to improve the stability of the service robot and reduce the cost and weight of the service robot at the same time becomes a technical problem to be solved in the prior art.

Disclosure of Invention

In an embodiment of the invention, a service robot is provided, which helps to improve the stability of the service robot and simultaneously reduce the cost and weight of the service robot.

In one embodiment, the service robot may include:

moving the chassis; and the number of the first and second groups,

a robotic arm suspended above the mobile chassis;

the mechanical arm comprises at least two sections of arm frameworks and a tail end executing mechanism which are sequentially cascaded;

the arm skeleton has skeleton joints for cascade connection, a joint driving motor for driving the skeleton joints, and a joint synchronous belt mechanism for realizing at least two-stage reduction transmission between the joint driving motor and the skeleton joints.

Optionally, the robotic arm further comprises an electrical harness passing wires from the joint timing belt mechanism.

Optionally, the reduction order of the joint synchronous belt mechanism of the arm framework located at the tail end of the cascade is higher than that of the joint synchronous belt mechanisms of other arm frameworks located at the upstream side of the cascade.

Optionally, each arm skeleton includes a link slat, wherein the skeleton joint of the link slat is a swing joint disposed on a plate surface of the link slat, and a swing axis of the swing joint is perpendicular to the plate surface of the link slat.

Optionally, the at least one section of arm skeleton further comprises a switching end edge, wherein the switching end edge extends along the length direction of the connecting rod slat and is integrally butted with the connecting rod slat, and the plate surface of the switching end edge is parallel to the swing axis of the swing joint.

Optionally, the joint synchronous belt mechanism includes at least two sets of synchronous belt pulley sets in cascade transmission, wherein an output belt pulley of the synchronous belt pulley set at the final transmission stage is mounted on the connecting rod slat to form a swing joint with a swing axis perpendicular to the surface of the connecting rod slat.

Optionally, each arm skeleton comprises a profiling arm cylinder, wherein the skeleton joint of the profiling arm cylinder comprises a torsion joint arranged at an end of the profiling arm cylinder, and the swing axis of the swing joint is arranged along the radial direction of the profiling arm cylinder.

Optionally, the joint synchronous belt mechanism includes at least two sets of synchronous belt pulley sets in cascade transmission, wherein an output belt pulley of the synchronous belt pulley set at a final transmission stage is mounted on an end hinge plate of the profiling arm cylinder to form a swing joint with a swing axis perpendicular to an arm cylinder axis of the profiling arm cylinder.

Optionally, the skeleton joint of the profiling arm cylinder of the at least one section of arm skeleton further comprises a torsion joint integrated between the ends of the profiling arm cylinder, wherein at least two-stage reduction transmission is realized between a joint driving motor for driving the torsion joint and the torsion joint by using a joint synchronous belt mechanism.

Optionally, the joint synchronous belt mechanism includes at least two sets of synchronous belt pulley sets in cascade transmission, wherein an output pulley of the synchronous belt pulley set at the final transmission stage is mounted on a torsion disc between the ends of the profiling arm cylinder to form a torsion joint with a torsion axis parallel to the arm cylinder axis of the profiling arm cylinder.

Based on the embodiment, the mechanical arm of the service robot can execute task operation through joint motion of the swing joint of the arm framework, and a joint synchronous belt mechanism is selected between the swing joint and a joint driving motor for driving the swing joint to move so as to realize speed reduction transmission. Since the weight of the joint timing belt mechanism can be easily controlled to a level lower than the gear reducer and the harmonic reducer, the stability of the service robot can be improved without increasing the counter weight for the mobile chassis, that is, the stability of the service robot can be improved while the counter weight of the mobile chassis is minimized and the weight of the robot arm is reduced, and the cost of the joint timing belt mechanism can be easily controlled to a level lower than the gear reducer and the harmonic reducer, which contributes to the cost reduction of the service robot. Furthermore, it is helpful to improve the stability of the service robot and to reduce the cost and weight of the service robot at the same time.

Further, the joint timing belt mechanism has a more open wiring space than the gear reducer and has no strict specification restriction like the harmonic reducer, and therefore, the joint timing belt mechanism can facilitate the deployment of the electric harness inside the robot arm and can flexibly set the size of the robot arm according to the design requirement.

Drawings

The following drawings are only schematic illustrations and explanations of the present invention, and do not limit the scope of the present invention:

FIG. 1 is an exemplary schematic diagram of a service robot in one embodiment;

FIG. 2 is a schematic diagram of a first example of a service robot as in the embodiment of FIG. 1;

FIG. 3 is a schematic diagram of the deployment of the joint timing belt mechanism in the robot arm in the first example shown in FIG. 2;

FIG. 4 is a partially disassembled view of the robot shown in FIG. 3;

FIG. 5 is a schematic view of an assembly structure of the robot arm of the first example shown in FIG. 2 in a link slat;

FIG. 6 is a schematic view of the assembled structure shown in FIG. 5 in an exploded state;

fig. 7a and 7b are schematic views illustrating an assembly structure of the robot arm of the first example shown in fig. 2 on the arm spread link slat;

FIG. 8 is a schematic view of the assembled structure shown in FIGS. 7a and 7b in an exploded state;

FIG. 9 is a cross-sectional view of the assembled structure shown in FIGS. 7a and 7 b;

FIG. 10 is a schematic view showing an assembled structure of link plates at arm ends of the robot arm of the first example shown in FIG. 2;

FIG. 11 is an exploded view of the assembled structure of FIG. 10;

FIG. 12 is a schematic view showing a folded state of the first example shown in FIG. 2;

FIG. 13 is a schematic diagram of a second example of a service robot as in the embodiment of FIG. 1;

fig. 14 is a schematic diagram of the deployment of a joint timing belt mechanism in a swing joint of a robot arm in the second example shown in fig. 13;

FIG. 15 is a schematic view of the deployment of a joint timing belt mechanism in a torsional joint of a robot arm in the second example shown in FIG. 13;

FIGS. 16a and 16b are schematic views of the assembly mechanism of the torsion joint shown in FIG. 15;

fig. 17 is a schematic view of an assembly structure of a pan-tilt mechanism of the service robot in the embodiment shown in fig. 1;

fig. 18 is an exploded view of the pan/tilt head mechanism shown in fig. 17.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples.

The robot arm is typically required to perform a corresponding task using an end effector. To accomplish the task more flexibly and more flexibly, the robot needs to provide more abundant degrees of freedom for the end effector, and the degrees of freedom of the end effector depend on the number of joints of the robot.

Because the motion of each joint needs to be driven by the motor through a speed reducer (gear reducer or harmonic reducer), the increase of the number of joints also means that the number of motors and the number of speed reducers (gear reducers or harmonic reducers) are also increased, so that the weight of the mechanical arm is increased, and further, if the service robot is prevented from toppling over when the mechanical arm laterally extends out, the weight ratio of the mobile chassis needs to be increased in a constant manner.

Although the stability of the service robot can be ensured, the cost and the weight of the service robot cannot be reduced, and the cost and the weight of the service robot are increased due to the increase of the counter weight of the mobile chassis.

Moreover, the gears in the gear reducer are provided with corresponding packaging due to the lubrication requirement, so that the wiring of the electric wire harness in the mechanical arm is not facilitated; there are strict specification restrictions on the harmonic reducer, resulting in that the size of the robot arm must be adapted to the specification of the harmonic reducer, and the design cannot be activated.

In order to overcome the above problems, in the following embodiments, an improvement is made from the viewpoint of weight reduction of the robot arm, that is, a reduction gear transmission is realized using a synchronous belt mechanism, and the synchronous belt mechanism for realizing the reduction gear transmission is referred to as a joint synchronous belt mechanism herein. The weight reduction of the mechanical arm means that the weight of the mechanical arm is smaller than that of the mechanical arm when a gear reducer or a harmonic reducer is used on the premise that the mechanical arm has the same number of joints. If the mechanical arm is lightened, the balance weight of the mobile chassis is reduced in equal amount, so that the stability of the service robot is improved, and meanwhile, the cost and the weight of the service robot can be reduced.

In addition, the joint synchronous belt mechanism has a more open wiring space than the gear reducer, so that the joint synchronous belt mechanism can facilitate the arrangement of an electric wire harness in the mechanical arm; further, since the joint timing belt mechanism does not have strict specification restrictions as in the case of a harmonic reducer, the size of the robot arm can be flexibly set according to design requirements.

FIG. 1 is an exemplary architectural diagram of a service robot in one embodiment. Referring to fig. 1, in one embodiment, the service robot may include a mobile chassis 10, and a robotic arm 20 suspended above the mobile chassis 10.

The mobile chassis 10 may be a movable device based on electric power drive, for example, an AGV (Automated Guided Vehicle). As a further alternative, the mobile chassis 10 may also have a cleaning function to facilitate sweeping cleaning of the floor area traversed by the travel path on the way. Also, the mobile chassis 10 is detachable from the rest of the service robot to allow the mobile chassis 10 to independently perform cleaning or handling tasks after being detached from the other parts.

And, the service robot may further include a support column 70 installed above the moving chassis 10 to extend vertically, and the robot arm 20 may be installed to the support column 70 to achieve suspension above the moving chassis 10. Preferably, in order to increase the degree of freedom of the robot arm 20, the robot arm 20 may be slidably mounted on the support column 70, for example, the support column 70 may further include a longitudinal slide rail 71 and a lifting slider 72 slidably mounted on the longitudinal slide rail 71, and accordingly, the robot arm 20 may be mounted on the lifting slider 72.

Furthermore, the mobile chassis 10 may have a self-detection function in progress in addition to loading the robot arm 20. For example, the top surface of the mobile chassis 10 may be provided with a low position detection mechanism 11 such as a laser radar, and the top end of the support column 70 may be provided with a high position detection mechanism 12 such as a camera module, and the high position detection mechanism 12 may be provided with a pan-tilt mechanism 80 at the top end of the support column 70.

For example, if the low position detection mechanism 11 is a laser radar, and the high position detection mechanism 12 is a three-dimensional camera, the low position detection mechanism 11 and the high position detection mechanism 12 may support laser navigation and 3D Visual navigation VSLAM (Visual Simultaneous Localization and Mapping) functions of the service robot, that is, the service robot may use the low position detection mechanism 11 to implement two-dimensional map components or laser navigation based on a two-dimensional map during traveling, and at the same time, the service robot may also use the high position detection mechanism 12 to implement three-dimensional map construction or 3D Visual navigation based on a three-dimensional map.

Thus, the service robot (for example, a main controller integrated in the mobile chassis 10) can control the mobile chassis 10 to move to a designated position where a service target (for example, an article placed on the ground, a cup placed on the table in any posture, or a person ready to receive service) is located, according to the detection result of the low detection mechanism 11 and/or the high detection mechanism 12; furthermore, the service robot (for example, a main controller integrated in the mobile chassis 10) may perform target recognition on a service target at a specified position according to the detection result of the high detection mechanism 12, and determine the position and posture of the service target, so as to control the robot arm 20 to perform a task operation on the service target according to the acquired task instruction.

In addition, a low-position obstacle avoidance mechanism 13 (e.g., an ultrasonic obstacle avoidance detection mechanism) may be disposed on the outer peripheral wall of the mobile chassis 10, and a high-position obstacle avoidance mechanism 14 (e.g., a visual obstacle avoidance detection mechanism) disposed in an inclined manner may also be disposed on the top of the mobile chassis 10, so as to provide obstacle avoidance detection for the service robot during the moving process.

The task operations performed by the robotic arm 20 on the service objective may be accomplished through articulation. That is, the robotic arm 20 may include at least two segments of arm armature 30 and an end effector 40 (e.g., a two, three, or five finger manipulator, or other effector) that are sequentially cascaded, and each segment of arm armature 30 has a skeletal joint J _ frm for cascading.

Each arm skeleton 30 of the robot arm 20 may further have (is provided with) a joint driving motor 50 for driving a skeleton joint J _ frm, the joint driving motor 50 may generate a power output under the control of an arm controller (for example, the arm controller may perform control independently, or may be controlled by a main controller of the mobile chassis 10) integrated in the robot arm 20, and the swing joint J _ swg may perform a swing motion under the driving of the power output.

Each arm skeleton 30 of the robot arm 20 may further have (be provided with) a joint timing belt mechanism 60 for realizing at least two-stage reduction transmission between the joint driving motor 50 and the skeleton joint J _ frm, so as to convert the power output generated by the joint driving motor 50 into a driving force with a sufficiently low rotation speed and a sufficiently large torque.

For example, the joint synchronous belt mechanism 60 may include at least two sets of synchronous belt pulley sets 60_ G1-60 _ Gk in cascade transmission, where k is a positive integer greater than or equal to 2, where each set of synchronous belt pulley set 60_ Gi may include an input pulley 60_ Gi _ a, a synchronous belt 60_ Gi _ b, and an output pulley 60_ Gi _ c, i is a positive integer greater than or equal to 1 and less than or equal to k, the synchronous belt 60_ Gi _ b is tensioned around the input pulley 60_ Gi _ a and the output pulley 60_ Gi _ c, and an outer diameter of the output pulley 60_ Gi _ c is greater than an outer diameter of the input pulley 60_ Gi _ a.

The input pulley 60_ G1_ a of the synchronous pulley set 60_ G1 at the first transmission stage is coaxially connected with the output shaft of the joint driving motor 50, and the output pulley 60_ Gk _ c of the synchronous pulley set 60_ Gk at the last transmission stage can be coaxially disposed with or at least a part of the skeleton joint J _ frm and can be coaxially connected with the input pulley of the next synchronous pulley set, so that the power output generated by the joint driving motor 50 can be converted from the input pulley 60_ G1_ a of the synchronous pulley set 60_ G1 at the first transmission stage through at least two sets of synchronous pulley sets 60_ G1-60 _ Gk in stages, and a driving force with a sufficiently low rotation speed and a sufficiently high torque can be formed at the output pulley 60_ Gk _ c of the synchronous pulley set 60_ Gk at the last transmission stage.

In addition, in actual design, the specification of the joint driving motor disposed at the end may be smaller than the specification of the joint driving motor 50 disposed at the root, and accordingly, the output torque of the joint driving motor disposed at the end may be relatively small, and if the relatively small torque output cannot satisfy the task load of the end effector, the number of deceleration stages of the joint timing belt mechanism 60 of the arm skeleton 30 located at the end of the cascade may be higher than that of the joint timing belt mechanism 60 of the other arm skeleton 30 located at the upstream side thereof in order to compensate for the shortage of the output torque.

As described above, since the weight of the joint timing belt mechanism 60 can be easily controlled to a level lower than the gear reducer and the harmonic reducer, the stability of the service robot can be improved without increasing the weight of the mobile chassis 10, that is, the stability of the service robot can be improved while minimizing the weight of the mobile chassis 10 and reducing the weight of the robot arm 20 can be achieved, and the cost of the joint timing belt mechanism 60 can be easily controlled to a level lower than the gear reducer and the harmonic reducer, which contributes to the cost reduction of the service robot. Furthermore, it is helpful to improve the stability of the service robot and to reduce the cost and weight of the service robot at the same time.

Further, since the joint timing belt mechanism 60 has a more open wiring space than the gear reducer, if the robot arm 30 further includes an electric harness that is passed through the joint timing belt mechanism 60, the joint timing belt mechanism 60 can facilitate the arrangement of the electric harness inside the robot arm. Further, since the joint timing belt mechanism 60 does not have strict specification restrictions as in the case of a harmonic reducer, the size of the robot arm 20 can be flexibly set according to design requirements.

In actual design, the skeleton joint J _ frm of each arm skeleton may include a swing joint J _ swg and/or a torsion joint J _ tor according to the degree of freedom requirement of the robot arm 20.

Taking the root of the robot arm 20 as the upstream side of the cascade and the end of the robot arm 20 as the downstream side of the cascade, one end of each arm skeleton 30 near the root of the robot arm 20 is the upstream cascade end, and the other end near the end of the robot arm 20 is the downstream cascade end, that is, the arm skeleton 30 may have an upstream cascade end located on the upstream side and a downstream cascade end located on the downstream side in the cascade direction. If the arm skeleton's skeleton joint J _ frm includes a swing joint J _ swg, the swing joint J _ swg may be disposed at the downstream cascade end of the arm skeleton 30, based on the arrangement:

the upstream cascade end of the arm framework 30 at the head end of the cascade can be arranged on the supporting upright 70 (lifting slide block), and the swing joint J _ swg at the downstream cascade end of the arm framework 30 at the head end of the cascade can be connected with the upstream cascade end of the arm framework 30 at the downstream side;

by analogy, the upstream cascade end of the other arm frameworks 30 at the non-cascade head end can be connected with the swing joint J _ swg at the downstream cascade end of the arm framework 30 at the upstream side thereof until the arm framework 30 at the cascade end;

also, the swing joint J _ swg at the downstream cascade end of the arm skeleton 30 at the cascade end may be connected to the end effector 40.

Also, the arrangement directions of the swing axes of the swing joints J _ swg of the respective arm frames 30 may be the same as each other to realize the full-stroke unidirectional swing of the robot arm 20.

Alternatively, the arrangement directions of the swing axes of the swing joints J _ swg of the arm frames 30 may not all be the same, and for example, the arrangement direction of the swing axis of the swing joint J _ swg of the arm frame 30 positioned at the end of the cascade may be different from the arrangement direction of the swing axis of the other swing joint J _ swg on the upstream side, whereby the body of the robot arm 20 can swing in one direction and the end can swing in a different direction.

Thus, by the swing motion of the swing joint J _ swg, at least the two-end arm frames 30 sequentially cascaded can be driven to swing, so that the end effector 40 is in the designated posture for performing the task operation.

If the skeleton joint J _ frm of the arm skeleton includes a torsion joint J _ tor, the torsion joint J _ tor may be arranged between the ends of the arm skeleton 30 (between the upstream cascade end and the downstream cascade end).

In order to better understand the structural implementation of the service robot in this embodiment, the following description is given by way of example.

Fig. 2 is a schematic view of a first example of the service robot in the embodiment shown in fig. 1. Fig. 3 is a schematic diagram of the deployment of the joint timing belt mechanism in the robot arm in the first example shown in fig. 2. Fig. 4 is a sectional disassembled state diagram of the robot arm shown in fig. 3. Referring to fig. 2 to 4, in a first example, a link type robot arm 21 (an alternative form of the robot arm 20 shown in fig. 1) is taken as an example for illustration, that is, each arm skeleton of the link type robot arm 21 may include a link slat 31 (an alternative form of the arm skeleton 30 shown in fig. 1), a skeleton joint J _ frm of each link type robot arm 21 is a swing joint J _ swg, and the swing joint J _ swg is disposed on a plate surface of the link slat 31, and a swing axis of the swing joint J _ swg is perpendicular to the plate surface of the link slat 31.

In the first example, a four-segment arm skeleton (link slat 31) is taken as an example, that is, the arm slat 31 of the link-type robot arm 21 may include a segment arm root link slat 311, two segments arm spread

link slats

312 and 313, and a segment arm end link slat 314. It is to be understood that the number of segments of the arm skeleton may not be limited thereto, and in particular, the number of segments of the arm skeleton may vary depending on the number of segments of the arm spread link slat, for example, the link-type robot arm 21 may include more than two-end arm spread link slats (more than four arm skeletons), or only one-segment arm spread link slats (three-segment arm skeletons), or may not even include the arm spread link slats (two-segment arm skeletons).

The joint

timing belt mechanisms

61, 62, 63 or 64 of each of the arm root link slat 311, the arm

span link slats

312 and 313, and the arm end link slat 314 (as shown in the different integrated versions of the joint timing belt mechanism 60 shown in figure 1), may include at least two sets of timing belt pulleys in a tandem drive, wherein, the output belt wheel of the synchronous pulley group at the final transmission stage can be arranged on the section of the connecting rod strip plate, so as to form a swing joint J _ swg _311 or J _ swg _312 or J _ swg _313 or J _ swg _314 with the swing axis vertical to the plate surface of the section of the connecting rod slat, moreover, the output belt wheel of the synchronous belt wheel set positioned at the non-transmission final stage and the input belt wheel of the next transmission stage can be coaxially arranged on the section of connecting rod slat through a belt wheel bracket, so that the wheel shafts of the input belt wheel and the output belt wheel of each synchronous pulley set are perpendicular to the plate surface of the section of the connecting rod slat.

Further, for the joint

timing belt mechanism

61, 62, 63 or 64 of each of the arm root link slat 311, the arm

extension link slats

312 and 313, and the arm end link slat 314, each of the included sets of timing belt pulley groups is disposed in a staggered manner in the thickness direction of the link slat, for example, at least two sets of timing belt pulley groups may be alternately disposed in a staggered manner on opposite sides of the link slat in the thickness direction of the link slat, or at least two sets of timing belt pulley groups may be disposed in a staggered manner on the same side of the link slat in the thickness direction of the link slat.

In addition, the end effector 40 may be replaced by a swing joint J _ swg _314 mounted to the downstream cascading end of the arm-end link slat 314 with an end adapter bracket 400 so that the end effector 40 may be replaced as needed for the actual task. That is, the end adapter rack 400 may be a universal interface member that supports different types of end effectors.

Next, the arm root link slat 311, the arm spread

link slats

312 and 313, and the arm end link slat 314 will be described in detail.

Fig. 5 is a schematic view showing an assembly structure of the robot arm at the arm root link slat of the first example shown in fig. 2. Fig. 6 is a schematic view showing an exploded state of the assembly structure shown in fig. 5. Referring to fig. 5 and 6, the upstream cascade end of the arm root link slat 311 may be connected to the lift slider 72, the downstream cascade end may have a first swing joint J _ swg _311 for cascading the arm span link slat 312, and the arm root link slat 311 is equipped with a joint timing belt mechanism (or referred to as a first timing belt mechanism) 61 for implementing two-stage reduction transmission between the first joint driving motor 51 and the first swing joint J _ swg _311, and the joint timing belt mechanism 61 may include two sets of timing belt wheel sets 61_ G1 and 61_ G2 of cascade transmission, in which:

the timing belt pulley group 61_ G1 at the primary stage of transmission may include a primary input pulley 61_ G1_ a, a primary timing belt 61_ G1_ b, and a primary output pulley 61_ G1_ c, and the primary input pulley 61_ G1_ a is coaxially connected with the output shaft of the first joint driving motor 51;

the timing pulley set 61_ G2 at the final stage of the transmission may include a final stage input pulley 61_ G2_ a, a final stage timing belt 61_ G2_ b, and a final stage output pulley 61_ G2_ c, and the final stage input pulley 61_ G2_ a is coaxially connected with the first stage output pulley 61_ G1_ c, and the final stage output pulley 61_ G2_ c may be connected with the first swing joint J _ swg _311 of the arm root link slat 311 as at least a part of the first swing joint J _ swg _ 311.

For example, the final output pulley 61_ G2_ c of the synchronous pulley set 61_ G2 at the final transmission stage may be mounted to the downstream cascade end of the arm root link slat 311 through a first pulley bearing 610 (the final output pulley 61_ G2_ c and the first pulley bearing 610 are respectively located on opposite sides of the arm root link slat 311) to form a first swing joint J _ swg _311 having a swing axis perpendicular to the plate surface of the arm root link slat 311), and the upstream cascade end of the arm spread link slat 312 may be fixedly mounted to the first pulley bearing 610 (coaxially connected to the final output pulley 61_ G2_ c) to realize the cascade of the arm root link slat 311 and the arm spread link slat 312 through the first swing joint J _ swg _ 311.

Accordingly, the first-stage output pulley 61_ G1_ c of the synchronous pulley set 61_ G1 at the first stage of transmission (non-transmission final stage) and the final-stage input pulley 61_ G2_ a at the next stage of transmission may be coaxially mounted to the arm-root link slat 311 by the first pulley holder 611, so that the wheel shafts of the output pulleys of the synchronous pulley sets 61_ G1 and 61_ G2 at each stage are perpendicular to the plate surface of the arm-root link slat 311. For example, the through screw 612 is inserted into the first-stage output pulley 61_ G1_ c (the pulley bearing 614 for supporting the through screw 612 is provided at the wheel center, the pulley shim 615 for positioning the through screw 612 in the axial direction is provided at the end face) and the last-stage input pulley 61_ G2_ a, and is fixed to the first pulley holder 611 by the lock nut 613, and the first pulley holder 611 may be fixed to a side plate face (a side plate face opposite to the side where the first joint drive motor 51 is provided) of the arm root link plate 311 by a screw.

The two sets of timing pulley sets 61_ G1 and 61_ G2 of the joint timing mechanism 61 are disposed in staggered manner in the thickness direction of the arm root link slat 311, and fig. 5 and 6 illustrate two sets of timing pulley sets 61_ G1 and 61_ G2 disposed in staggered manner on the same side of the arm root link slat 311, but the actual design is not limited thereto.

At each arm slat 31, the length of the arm root link slat 311 is minimized, for example, the length of the arm root link slat 311 allows only one set of the timing belt pulley sets 61_ G2 to be deployed in the length direction, and therefore, the deployment directions (timing belt tensioning directions) of the two sets of the timing belt pulley sets 61_ G1 and 61_ G2 may intersect, that is, the timing belt pulley set 61_ G1 at the first stage of the transmission may be deployed in the width direction of the arm root link slat 311, the first joint drive motor 51 may be mounted outside the side in the width direction of the arm root link slat 311 by the first motor bracket 510, and the timing belt pulley set 61_ G2 at the last stage of the transmission may be deployed in the length direction of the arm root link slat 311.

In addition, the motor driving module (hidden in the drawing) of the first joint driving motor 51 of the arm root link slat 311 can be integrally installed with the arm controller, so that the motor driving module of the first joint driving motor 51 can be controlled by the arm controller without relying on additional wiring harness connection, whereas the motor driving modules in the arm spread

link slats

312 and 313, the arm end link slat 314 and the end effector 40 need to be controlled by the arm controller through the intra-arm electric wiring harness of the link type robot arm 21.

To facilitate deployment of the intra-arm electrical harness, the arm root link slat 311 may further be provided with a routing sheath 616, the routing sheath 616 is used for preventing the intra-arm axis from interfering with the transmission path of the joint timing belt mechanism 61, for example, the routing sheath 616 may be fixedly mounted on the first pulley bracket 611, and one end of the routing sheath 616 protrudes out of the edge (the side edge in the width direction on the same side as the first joint driving motor 51) of the arm root link slat 311, and the other end of the routing sheath is communicated with the hollow shaft cavity of the final-stage output pulley 61_ G2_ c (the first swing joint J _ swg _311), the hollow shaft cavity of the final-stage output pulley 61_ G2_ c is communicated with the hollow shaft cavity of the first pulley bearing 610 through a line passing hole 617 (located at the downstream cascade end) formed in the arm root link slat 311, so as to form the transmission path of the joint timing belt mechanism 61, And penetrates the wiring space of the final stage output pulley 61_ G2_ c (first swing joint J _ swg _ 311).

As for the arm

spread link slat

312 and 313, the upstream cascade end of the arm spread link slat 312 on the upstream side may be connected to the first swing joint J _ swg _311 (first pulley bearing 610) of the downstream cascade end of the arm root link slat 311, and the downstream cascade end of the arm spread link slat 312 may have a second swing joint J _ swg _312 for cascading the arm spread link slat 313 on the downstream side thereof; the upstream cascade end of the arm spread link slat 313 on the downstream side may be connected to the second swing joint J _ swg _312 of the downstream cascade end of the arm spread link slat 312, and the downstream cascade end of the arm spread link slat 313 may have a third swing joint J _ swg _313 for cascading the arm end link slat 314 on the downstream side thereof. That is, the structure and the reduction drive principle of the arm spread

link slats

312 and 313 are substantially the same except that the connection objects of the upstream cascade end and the downstream cascade end are different, that is:

the arm spread link slat 312 is equipped with a second joint drive motor 52 for driving a second swing joint J _ swg _312, and similarly, the arm spread link slat 313 is equipped with a third joint drive motor 53 for driving a third swing joint J _ swg _ 313;

the arm extension link slat 312 is equipped with a joint timing belt mechanism (or referred to as a second timing belt mechanism) 62 for effecting two-stage reduction transmission between the second joint drive motor 53 and the second swing joint J _ swg _312, and similarly, the arm extension link slat 313 is equipped with a joint timing belt mechanism (or referred to as a third timing belt mechanism) 63 for effecting two-stage reduction transmission between the third joint drive motor 53 and the third swing joint J _ swg _ 313.

Therefore, only the arm spread link plate 313 will be described as an example.

Fig. 7a and 7b are schematic views illustrating an assembly structure of the robot arm of the first example shown in fig. 2 on the arm spread link slat. Fig. 8 is a schematic view of an assembled structure as shown in fig. 7a and 7b in an exploded state. Fig. 9 is a cross-sectional view of the assembled structure as shown in fig. 7a and 7 b. Referring to fig. 7a and 7b and fig. 8 and 9, the joint timing belt mechanism 63 mounted on the arm extension link slat 313 may include two sets of timing belt pulley sets 63_ G1 and 63_ G2 in cascade transmission, in which:

the primary transmission timing belt pulley set 63_ G1 may include a primary input pulley 63_ G1_ a, a primary timing belt 63_ G1_ b, and a primary output pulley 63_ G1_ c, and the primary input pulley 63_ G1_ a is coaxially connected to an output shaft of the third joint driving motor 53 (directly and fixedly mounted on the arm extension link plate 313);

the timing belt pulley set 63_ G2 at the final stage of the transmission may include a final stage input pulley 63_ G2_ a, a final stage timing belt 63_ G2_ b, and a final stage output pulley 63_ G2_ c, and the final stage input pulley 63_ G2_ a is coaxially connected with the first stage output pulley 63_ G1_ c, and the final stage output pulley 63_ G2_ c may be at least a part of the third swing joint J _ swg _ 313.

For example, the final output pulley 63_ G2_ c of the synchronous pulley set 63_ G2 at the final stage of the transmission may be mounted to the downstream cascade end of the stretcher bar plate 313 through a third pulley bearing 630 (the final output pulley 63_ G2_ c and the third pulley bearing 630 are respectively located on opposite sides of the stretcher bar plate 313) to form a third swing joint J _ swg _313 having a swing axis perpendicular to the plate surface of the stretcher bar plate 313, and the upstream cascade end of the arm end link plate 314 may be fixedly mounted to the final output pulley 63_ G2_ c (coaxially connected to the final output pulley 61_ G2_ c) to realize the cascade of the stretcher bar plate 313 and the arm end link plate 314 through the third swing joint J _ swg _ 313. Similarly, in the joint timing belt mechanism 62 of the arm spread link slat 312, the final output pulley of the timing belt pulley set at the final transmission stage may also be mounted at the downstream cascade end of the arm spread link slat 312 through a second pulley bearing to form a third swing joint J _ swg _312 with the swing axis perpendicular to the plate surface of the arm spread link slat 312, and the upstream cascade end of the arm spread link slat 313 may be fixedly mounted on the final output pulley (coaxially connected) of the arm spread link slat 312, so as to implement the cascade connection of the arm spread link slat 312 and the arm spread link slat 313 through the second swing joint J _ swg _ 312.

Accordingly, the first stage output pulley 63_ G1_ c of the synchronous pulley set 63_ G1 at the first stage of transmission (non-transmission final stage) and the final stage input pulley 63_ G2_ a of the next stage of transmission may be coaxially mounted to the stretcher bar plate 313 through the third pulley bracket 631 such that the axles of the output pulleys of the synchronous pulley sets 63_ G1 and 63_ G2 at each stage are perpendicular to the plate surface of the stretcher bar plate 313. For example, the pulley screw 632 is inserted into the first-stage output pulley 63_ G1_ c and fixed to the third pulley holder 631 by the fastening nut 633, the hoisting flange shaft 634 is further fixed to the end surface of the first-stage output pulley 63_ G1_ c, the final-stage input pulley 63_ G2_ a is fixed to the hoisting flange shaft 634, and the third pulley holder 631 may be fixed to a side plate (a side plate opposite to the side where the third joint drive motor 53 is located) of the arm extension link plate 313 by screws. Similarly, a similar second pulley carriage may be provided in the joint timing belt mechanism 62 of the arm extension link slat 312.

The two sets of timing pulley sets 63_ G1 and 63_ G2 of the joint timing belt mechanism 63 are disposed in staggered fashion in the thickness direction of the arm extension link plate 313, and fig. 7a and 7b and fig. 8 and 9 illustrate two sets of timing pulley sets 63_ G1 and 63_ G2 disposed in staggered fashion on opposite sides of the arm extension link plate 313, but the actual design is not limited thereto. The deployment of the joint timing belt mechanism 62 on the arm extension link slat 312 is the same.

The length of the spanlink slat 313 may be relatively large (larger than the root link slat 311), for example, the length of the spanlink slat 313 may be larger than the continuous length of the two sets of timing pulley sets 63_ G1 and 63_ G2, and thus the two sets of timing pulley sets 63_ G1 and 63_ G2 may be deployed continuously along the length of the spanlink slat 313. The deployment of the joint timing belt mechanism 62 on the arm extension link slat 312 is the same.

In addition, the third joint driving motor 53 of the arm extension link slat 313 may be controlled by the motor driving module 530 installed on the arm extension link slat 313, and the motor driving module 530 may be controlled by the arm controller through the in-arm electric harness described above, for this reason, the cascade upstream end of the arm extension link slat 313 may be provided with a threading hole 531 through which the in-arm electric harness (indicated by a dotted line in fig. 9) passes, that is, the in-arm electric harness may pass through the threading hole 531 from the side where the synchronous belt pulley set 63_ G1 located at the first transmission stage (non-transmission final stage) passes to the side where the third joint driving motor 53 is located, and is electrically connected to the motor driving module 530.

Also, for its downstream side of the arm end link strip 314 and the end actuator 40 to be controlled by the arm controller, the in-arm electric harness may pass back from the wire passing through hole 533 of the arm extension link strip 313 to the side where the synchronous pulley group 63_ G1 is located, and the final output pulley 63_ G2_ c may have a hollow shaft cavity that may communicate with the hollow shaft cavity of the third pulley bearing 630 through the wire passing hole 532 of the cascade downstream end of the arm extension link strip 313 to form a wiring space that passes through the final output pulley 63_ G2_ c (third swing joint J _ swg _313) for extending deployment of the in-arm electric harness passing therethrough to the downstream side of the arm end link strip 314 and the end actuator 40.

That is, both the cascade upstream end and the cascade downstream end of the arm spread

link slats

312 and 313 may have a wiring space through which the in-arm electric harness passes, and the arm spread

link slats

312 and 313 may further have a wire passing through hole between the cascade upstream end and the cascade downstream end so that the in-arm electric harness may be routed in a detour manner to an extended disposition to the downstream side.

Fig. 10 is a schematic view showing an assembly structure of link plates at arm ends of the robot arm of the first example shown in fig. 2. Fig. 11 is a schematic view showing an exploded state of the assembly structure shown in fig. 10. Referring to fig. 10 and 11, the upstream cascade end of the arm-end link slat 314 may be connected to a third swing joint J _ swg _313 (coaxially connected to the final output pulley 63_ G2_ c) of the downstream cascade end of the arm-end link slat 313, the downstream cascade end of the arm-end link slat 314 may have a fourth swing joint J _ swg _314 for cascading (via the end transfer bracket 400) the end actuator 40, and the arm-end link slat 314 is equipped with a joint timing belt mechanism (or referred to as a fourth timing belt mechanism) 64 for implementing a three-stage reduction transmission between the fourth joint drive motor 54 and the fourth swing joint J _ swg _314, and the joint timing belt mechanism 64 may include three sets of timing belt pulley sets 64_ G1 and 64_ G2 and 64_ G3 of the cascade transmission, wherein:

the primary timing belt pulley set 64_ G1 may include a primary input pulley 64_ G1_ a, a primary timing belt 64_ G1_ b, and a primary output pulley 64_ G1_ c, and the primary input pulley 64_ G1_ a is coaxially connected to the output shaft of the fourth joint driving motor 54 (directly and fixedly mounted on the arm end connecting rod slat 314);

the secondary timing pulley set 64_ G2 at the driving secondary may include a secondary input pulley 64_ G2_ a, a secondary timing belt 64_ G2_ b, and a secondary output pulley 64_ G2_ c, and the secondary input pulley 64_ G2_ a is coaxially connected with the primary output pulley 64_ G1_ c;

the synchronous pulley set 64_ G3 at the final stage of the transmission may include a final stage input pulley 64_ G3_ a, a final stage synchronous belt 64_ G3_ b, and a final stage output pulley 64_ G3_ c, and the final stage input pulley 64_ G3_ a is coaxially connected with the secondary stage output pulley 64_ G2_ c, and the final stage output pulley 64_ G3_ c may be at least a part of the fourth swing joint J _ swg _ 314.

For example, the final output pulley 64_ G3_ c of the synchronous pulley set 64_ G3 at the final stage of the transmission may be mounted on the support pedestal 640 of the end-of-arm link slat 314 to form a fourth swing joint J _ swg _314 having a swing axis perpendicular to the plate surface of the end-of-arm link slat 314, and the end effector 40 is fixedly mounted on the final output pulley 64_ G3_ c by the end adapter frame 400 to achieve the cascade connection (bridging based on the end adapter frame 400) of the end-of-arm link slat 314 and the end effector 40 through the fourth swing joint J _ swg _ 314.

Accordingly, the primary output pulley 64_ G1_ c of the synchronous pulley set 64_ G1 located at the primary transmission stage (non-transmission final stage) may be coaxially mounted to one side plate surface of the arm-end link plate 314 with the secondary input pulley 64_ G2_ a of the next transmission stage through the fourth pulley bracket 641, and the secondary output pulley 64_ G2_ c of the synchronous pulley set 64_ G2 located at the secondary transmission stage (non-transmission final stage) may be coaxially mounted to the other side plate surface of the arm-end link plate 314 with the final input pulley 64_ G3_ a of the next transmission stage through the fifth pulley bracket 644, so that the wheel shafts of the output pulleys of the synchronous pulley sets 64_ G1 and 64_ G2 and 64_ G3 of the respective stages are perpendicular to the plate surface of the arm-end link 314.

For example, a pulley screw 642 is inserted into the primary output pulley 64_ G1_ c and fixed to the fourth pulley holder 641 by a fastening nut, a lifting flange shaft 643 is further fixed to an end surface of the primary output pulley 64_ G1_ c, the secondary input pulley 64_ G2_ a is fixed to the lifting flange shaft 643, and the fourth pulley holder 641 may be fixed to a side plate surface (a side plate surface opposite to the side where the fourth joint drive motor 54 is located) of the arm-end link plate 314 by a screw. Similarly, another pulley screw 645 is inserted into the secondary output pulley 64_ G2_ c and fixed to the fifth pulley holder 644 by a fastening nut, another mounting flange shaft 646 is further fixed to the end face of the secondary output pulley 64_ G2_ c, the final-stage input pulley 64_ G3_ a is fixed to the mounting flange shaft 643, and the fifth pulley holder 644 can be fixed to the other side plate surface (the same side plate surface as the fourth joint driving motor 54) of the arm end link plate 314 by a screw.

The three sets of timing belt wheel sets 64_ G1 and 64_ G2 and 64_ G3 of the joint timing belt mechanism 64 are disposed in staggered layers in the thickness direction of the arm end link slat 314, and fig. 10 and 11 exemplify three sets of timing belt wheel sets 64_ G1 and 64_ G2 and 64_ G3 disposed in staggered layers on opposite sides of the arm end link slat 314, but the actual design is not limited thereto.

The length of the arm end link slat 314 may be relatively large (larger than the arm root link slat 311), for example, the length of the arm end link slat 314 may be larger than the continuous length of the three sets of timing belt pulley sets 64_ G1 and 64_ G2 and 64_ G3, and thus, the three sets of timing belt pulley sets 64_ G1 and 64_ G2 and 64_ G3 may be deployed continuously along the length extension of the arm span link slat 313.

Similar to arm spread

link slats

312 and 313, fourth joint drive motor 54 of arm end link slat 314 may be controlled by a motor drive board 540 mounted to arm end link slat 314, motor drive board 540 may be controlled by an arm controller via the in-arm electrical harness as previously described.

In addition, the upstream cascading end of the arm end link slat 314 may further integrate a transit end edge 310, wherein the transit end edge 310 may extend along the length direction of the arm end link slat 314 and integrally butt with the arm end link slat 314 at the upstream cascading end of the arm end link slat, and the plate surface of the transit end edge 310 is parallel to the swing axis of the fourth swing joint J _ swg _ 314. Thus, when the upstream cascade end of the arm end link slat 314 cascades the third swing joint J _ swg _313 of the downstream cascade end of the span link slat 313 through the transit edge 310, the fourth swing joint J _ swg _314 is perpendicular to the swing axis of the third swing joint J _ swg _ 313.

If the root link slat 311 and the

span link slats

312 and 313 are all disposed parallel to the bearing plane (top surface) of the mobile chassis 10, the first swing joint J _ swg _311, the second swing joint J _ swg _312, and the third swing joint J _ swg _313 are perpendicular to the bearing plane (top surface) of the mobile chassis 10 to provide the link-type robot arm 21 with three levels of horizontal swing freedom, and the end link slats 314 cascaded through the transition edges 310 are laterally perpendicular to the bearing plane (top surface) of the mobile chassis 10 to make the fourth swing joint J _ swg _314 parallel to the bearing plane (top surface) of the mobile chassis 10 to provide the link-type robot arm 21 with one level of pitch-and-yaw freedom.

Fig. 12 is a schematic view showing a folded state of the first example shown in fig. 2. Referring to fig. 12 (the arm frames 31 are each provided with an external appearance housing as shown in fig. 2), for the first example in which the link type robot arm 21 has three degrees of freedom in horizontal swinging and one degree of freedom in pitch swinging, when the service robot is in the non-working period of standby, charging, or resting, the three degrees of freedom in horizontal swinging may allow the link type robot arm 21 to be folded and folded around the support column 70, so as to reduce the occupied space of the service robot and further improve the stability of the service robot in the non-working period of standby, charging, or resting.

In the first example described above, the arm root link slat 311 realizes a skeleton form of a bent horizontal swing arm section, the arm spread

link slats

312 and 313 realize a skeleton form of a straight long horizontal swing arm section, the arm section link slat 314 realizes a skeleton form of a straight long reverse arm section, and a cascade combination of the three skeleton forms is adopted in order of the arm spread direction from the arm root to the arm end. It is understood that at least one of the bent horizontal swing arm segment, the straight long horizontal swing arm segment and the straight long reversing arm segment can be selected to be cascaded in any order to form the mechanical arm with various possible forms, and the cascading order and the combination in the first example should not be limited. For example, any one of the arm skeletons may be in a skeleton shape of a bent horizontal swing arm section, a straight long horizontal swing arm section, or a straight long reversing arm section, that is, at least one of the arm skeletons (not limited to the arm root, the arm extension, or the arm end) may further include a switching edge.

Likewise, the number of deceleration stages for arm root link slat 311 and arm

span link slats

312 and 313 may not be limited to two stages, nor should the number of deceleration stages for arm segment link slat 314 be limited to three stages.

Fig. 13 is a schematic diagram of a second example of the service robot in the embodiment shown in fig. 1. Fig. 14 is a schematic diagram of the deployment of the joint timing belt mechanism in the swing joint of the robot arm in the second example shown in fig. 13. Referring to fig. 13 and 14, in a second example, a humanoid robot arm 22 (shown as another alternative form of the robot arm 20 in fig. 1) is taken as an example, that is, each arm skeleton of the humanoid robot arm 22 includes a humanoid arm cylinder 32 (shown as another alternative form of the arm skeleton 30 in fig. 1), and a skeleton joint J _ frm of the humanoid arm cylinder 32 may include a swing joint J _ swg, wherein the swing joint J _ swg is disposed at an end of the humanoid arm cylinder 32, and a swing axis of the swing joint J _ swg is perpendicular to an arm cylinder axis of the humanoid arm cylinder 32 (e.g., disposed in a radial direction of the humanoid arm cylinder 32).

In the second example, a three-segment arm skeleton (a contoured arm cylinder 32) is taken as an example, that is, the contoured arm cylinder 32 of the humanoid robot arm 22 may include a segment of the shoulder contoured arm cylinder 321, a segment of the upper arm contoured arm cylinder 322, and a segment of the forearm contoured arm cylinder 323.

Each section of the copying arm cylinder 32 in the shoulder copying arm cylinder 321, the upper arm copying arm cylinder 322 and the forearm copying arm cylinder 323 may include the corresponding integrated form of the joint synchronous belt mechanism 60 described above, and the integrated form of the joint synchronous belt mechanism 60 in the shoulder copying arm cylinder 321, the upper arm copying arm cylinder 322 and the forearm copying arm cylinder 323 may include at least two sets of synchronous belt pulley sets in cascade transmission, wherein each set of synchronous belt pulley set may be arranged in a staggered manner on an end hinge disk (disk surfaces on the same side or opposite sides) along a direction perpendicular to the end hinge disk at the downstream cascade end of the copying arm cylinder 32, and an output pulley of the synchronous belt pulley set at the final transmission stage may be arranged on the end hinge disk at the downstream cascade end of the copying arm cylinder 32, that is:

the shoulder contour arm cylinder 321 comprises a shoulder main arm cylinder 321a (mounted on the lifting slider 72), and a shoulder hinge disc 321b (coplanar with the axial section of the shoulder main arm cylinder 321a) protruding out of the downstream cascade end of the shoulder main arm cylinder 321a, and in the integrated form of the shoulder contour arm cylinder 321, each group of synchronous belt pulley sets are arranged on the disc surfaces on the same side or opposite sides of the shoulder hinge disc 321b in a staggered manner along a direction perpendicular to the shoulder hinge disc 321b, wherein the output belt pulley of the last-stage transmission synchronous belt pulley set can be mounted on the shoulder hinge disc 321b to form a shoulder swing joint J _ swg _321 with a swing axis arranged perpendicular to the arm cylinder axis direction of the shoulder contour arm cylinder 321 (arranged along the radial direction of the shoulder contour arm cylinder 321);

the upper arm contoured arm cylinder 322 includes a shoulder hooking disk 322a (coaxially connected to the shoulder hinging disk 321 b) connected to the shoulder swinging joint J _ swg _321 at an upstream cascade end, a first upper arm main arm cylinder 322b and a second upper arm main arm cylinder 322c coaxially connected in sequence from the shoulder hooking disk 322a to a downstream cascade end, and an elbow hinging disk 322d (coplanar with axial cross sections of the first upper arm main arm cylinder 322b and the second upper arm main arm cylinder 322c) protruding beyond an end of the second upper arm main arm cylinder 322c at the downstream cascade end, and the joint synchronous belt mechanism 60 is arranged in an integrated form of the upper arm cylinder 322 with respective sets of synchronous belt pulley groups arranged in staggered layers in a direction perpendicular to the elbow hinging disk 322d on disk surfaces on the same side or opposite sides of the elbow hinging disk 322d, wherein an output pulley of the synchronous belt pulley group for driving the transmission can be mounted on the elbow hinging disk 322d, an arm toggle joint J _ swg _322 arranged in a direction forming a pivot axis perpendicular to the arm cylinder axis direction of the upper arm cylinder 322 (arranged in the radial direction of the upper arm cylinder 322);

the forearm profile modeling arm cylinder 323 includes an elbow coupling disk 323a (coaxially coupled to an elbow hinge disk 322 d) coupled to an elbow swing joint J _ swg _322 at an upstream cascade end, a first forearm main arm cylinder 323b and a second forearm main arm cylinder 323c coaxially coupled in sequence from the elbow coupling disk 323a to a downstream cascade end, and a wrist hinge disk 323d (coplanar with axial sections of the first forearm main arm cylinder 323b and the second forearm main arm cylinder 323c) protruding beyond an end of the second forearm main arm cylinder 323c at the downstream cascade end, and the joint timing belt mechanism 60 is arranged in an integrated form of the forearm profile arm cylinder 323 with respective sets of timing belt pulley sets arranged in staggered layers on disk faces on the same side as or on opposite sides of the wrist hinge disk 322d in a direction perpendicular to the wrist hinge disk 323d, wherein an output pulley of the timing belt pulley set of the transmission timing belt may be mounted on the wrist hinge disk 322d, to form a wrist swing joint J _ swg _323 whose swing axis is arranged perpendicular to the arm cylinder axis direction of the forearm profile arm cylinder 323 (arranged in the radial direction of the forearm profile arm cylinder 323);

the end effector 40 may be replaced by a wrist swing joint J _ swg _323 mounted to the downstream cascading end of the forearm profile arm cylinder 323 with an end adapter bracket 400' so that the end effector 40 may be replaced as needed for the actual task. That is, the end adapter rack 400' may be a universal interface member that supports different types of end effectors.

Fig. 15 is a schematic diagram showing the deployment of the joint timing belt mechanism in the torsion joint of the robot arm in the second example shown in fig. 13. Fig. 16a and 16b are schematic views of the assembly mechanism of the torsion joint shown in fig. 15. Referring to fig. 13 and 14 and further referring to fig. 15 and 16a and 16b, in a second example, the skeleton joint J _ frm of the contoured arm cylinder 32 of at least one arm skeleton may be further integrated with a torsion joint J _ tor (a torsion axis is arranged coaxially with the arm cylinder axis of the contoured arm cylinder 32) between the ends of the contoured arm cylinder 32 (between the upstream cascade end and the downstream cascade end), wherein a joint synchronous belt mechanism (still another integrated form of the joint synchronous belt mechanism 60) may also be used between a joint driving motor for driving the torsion joint and the torsion joint to realize at least two-stage reduction transmission.

For example, the shoulder main arm cylinder 321a and the shoulder hinge plate 321b of the shoulder contour arm cylinder 321 may be connected by a shoulder torsion plate 910 (e.g., a shoulder flange plate) formed with a shoulder torsion joint J _ tor _321, so that the torsion axis of the shoulder torsion joint J _ tor _321 is arranged coaxially with the arm cylinder axis of the shoulder contour arm cylinder 321 (shoulder main arm cylinder 321 a); the first upper arm main arm cylinder 322b and the second upper arm main arm cylinder 322c of the upper arm copying arm cylinder 322 can be coaxially connected through an upper arm torsion disc 920 (e.g., an upper arm torsion disc) formed with an upper arm torsion joint J _ tor _322, so that a torsion axis of the upper arm torsion joint J _ tor _322 and an arm cylinder axis of the upper arm copying arm cylinder 322 (the first upper arm main arm cylinder 322b and the second upper arm main arm cylinder 322c) are coaxially arranged; between the first forearm main arm cylinder 323b and the second forearm main arm cylinder 323c of the forearm copying arm cylinder 323, a forearm torsion plate 930 (e.g., a forearm adapter plate) formed with a forearm torsion joint J _ tor _323 may be coaxially connected such that a torsion axis of the forearm torsion joint J _ tor _323 is coaxially arranged with an arm cylinder axis of the forearm copying arm cylinder 323 (the first forearm main arm cylinder 323b and the second forearm main arm cylinder 323 c).

In fig. 15, 16a and 16b, a shoulder torsion disc 910, an upper arm torsion disc 920 and a forearm torsion disc 930 are shown in common for the torsion disc 900, and a two-stage deceleration (k is 2) is realized by the joint timing belt mechanism 60 mounted on the torsion disc 900, for example. It will be appreciated that more than two speed reductions may be achieved, provided there are more than two sets of synchronous pulley sets, in which case:

the output belt wheel 60_ Gi _ c of each group of synchronous belt wheel sets 60_ Gi (i is more than or equal to 1 and less than k) of the non-transmission final stage can be coaxially arranged with the input belt wheel 60_ Gi +1_ a of the next synchronous belt wheel set 60_ Gi +1 at the eccentric position of the torsion disc 900 through a mounting screw 991, a belt wheel bearing 992, a positioning gasket 993 and a mounting nut 994;

and, the output pulley 60_ Gk _ c of one set of the synchronous pulley sets 60_ Gk of the final transmission stage is coaxially assembled with the output bearing 990 located at the center of the disc 900. That is, the output pulley 60_ Gk _ c of the synchronous pulley set 60_ Gk at the final stage of transmission is attached to the torsion plate 900 between the ends of the copying arm cylinder 32 to form a torsion joint J _ tor whose torsion axis is parallel to the arm cylinder axis of the copying arm cylinder 32 (disposed coaxially with the arm cylinder axis of the copying arm cylinder 32).

As another modification, the joint timing belt mechanism 60 may be applied to the torsion disc 900 for deploying the torsion joint J _ tor, or may be applied to the articulation discs (the shoulder articulation disc 321b, the elbow articulation disc 322d, and the wrist articulation disc 323d) for deploying the swing joint J _ swg.

It will be appreciated that the first and second examples are not intended to unnecessarily limit the configuration of the robot arm 20, and the integrated configuration of the joint timing belt mechanism 60 is likewise not limited to the instantiated configuration of the first and second examples. By way of example of the first and second examples, it is understood that the design of weight reduction and cost reduction by reducing the speed of the joint timing belt mechanism 60 can be applied to different forms of the robot arm 20.

In addition, in order to further improve the effects of the overall weight reduction and the overall cost reduction of the service robot, the linear motion of the lifting slider 72 along the longitudinal slide rail 71 may be driven by a lifting drive motor (not shown in the drawings because it is hidden in the support column 70) through a lifting timing belt mechanism (not shown in the drawings because it is hidden in the support column 70) having at least one stage of reduction transmission, that is, a gear reducer or a harmonic reducer may be avoided.

Similarly, if the pan/tilt head mechanism 80 has a function of adjusting the view angle of the high position detection mechanism 12, that is, if the pan/tilt head mechanism 80 can adjust the pose of the high position detection mechanism 12 by the power output of the pan/tilt head driving motor (controlled by the arm controller), the pan/tilt head mechanism 80 and the pan/tilt head driving motor can also be connected by at least one stage of a pan/tilt head synchronous belt mechanism with speed reduction transmission, without using a gear reducer or a harmonic reducer.

Fig. 17 is a schematic view of an assembly structure of a pan-tilt mechanism of the service robot in the embodiment shown in fig. 1. Fig. 18 is an exploded view of the pan/tilt head mechanism shown in fig. 17. Referring to fig. 17 and 18, the pan/tilt mechanism 80 can provide two degrees of freedom for horizontal adjustment (about the pan axis C _ scan _ hor) and pitch adjustment (about the pitch axis C _ scan _ ver) of the field of view of the high position detection mechanism 12. Specifically, the pan/tilt head mechanism 80 may include a pan/tilt head base 81 fixedly mounted on the top end of the support column 70, and a pan/tilt head suspension 82 mounted on the pan/tilt head base 81 so as to be horizontally rotatable (about a pan/tilt rotation axis C _ scan _ hor), and the high-position detection mechanism 12 is mounted on the pan/tilt head suspension 82 so as to be capable of tilting (about a pan/tilt rotation axis C _ scan _ ver).

The cradle head base 81 is internally provided with a first cradle head driving motor 581 and a translation timing pulley set 68_ G1 in the cradle head timing mechanism, wherein an output shaft of the first cradle head driving motor 581 is tensioned between a translation input pulley 68_ G1_ a and a translation output pulley 68_ G1_ c of the translation timing pulley set 68_ G1, a translation timing belt 68_ G1_ b is tensioned between the translation input pulley 68_ G1_ a and the translation output pulley 68_ G1_ c, and the translation output pulley 68_ G1_ c is connected with a transmission shaft 810, for example, coaxially connected with the transmission shaft 810 through a first translation bearing 811 and a second translation bearing 812 which are arranged at intervals.

The transmission shaft 810 protrudes vertically downward from the inside of the pan/tilt head base 81, and the axis of the transmission shaft 810 is a pan rotation shaft C _ scan _ hor.

The pan-tilt suspension 82 is hung below the end of the transmission shaft 810 to horizontally rotate about the horizontal rotation axis C _ scan _ hor with the rotation of the transmission shaft 810. Further, the pan/tilt suspension 82 is provided with a second pan/tilt drive motor 582 and a tilt/tilt timing pulley group 68_ G2 in a pan/tilt timing belt mechanism, wherein an output shaft of the second pan/tilt drive motor 582 and a tilt/tilt input pulley 68_ G2_ a of the tilt/tilt timing pulley group 68_ G2, a tilt/tilt timing belt 68_ G2_ b is stretched between the tilt/tilt input pulley 68_ G2_ a and the tilt/tilt output pulley 68_ G2_ c, the tilt/tilt output pulley 68_ G2_ c is connected to a rotating shaft 820a of the mounting bracket 820, for example, the rotating shaft 820a and the tilt/tilt output pulley 68_ G2_ c may be coaxially installed between the first tilt/tilt bearing 821 and the second tilt/tilt bearing 822 by a pin 823, and an end of the pin 823 may be installed to axially lock the rotating shaft 820a and the tilt/tilt output pulley 68_ G2_ c between the first tilt/tilt bearing 821 and the second tilt bearing 822.

The axis of the rotating shaft 820a is a tilt rotating shaft C _ scan _ ver, and the mounting bracket 820 further includes a tray 820b protruding from the radial direction of the rotating shaft 820a, and the tray 820b can rotate around the tilt rotating shaft C _ scan _ ver in accordance with the rotation of the rotating shaft 820 a.

Thus, when the high-position detection mechanism 12 is attached to the tray part 820b, horizontal rotation by the reduction gear of the pan timing pulley group 68_ G1 and pitch rotation by the reduction gear of the pitch timing pulley group 68_ G2 can be achieved to achieve horizontal adjustment (about the pan rotation axis C _ scan _ hor) and pitch adjustment (about the pitch rotation axis C _ scan _ ver) of the visual field.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. A service robot, comprising:

moving the chassis; and the number of the first and second groups,

a robotic arm suspended above the mobile chassis;

2. The service robot of claim 1, wherein the robotic arm further comprises an electrical harness that passes wires from the joint timing belt mechanism.

3. The service robot as claimed in claim 1, wherein the number of reduction stages of the joint timing belt mechanism of the arm skeleton located at the end of the cascade is higher than the number of reduction stages of the joint timing belt mechanisms of the other arm skeleton located at the upstream side thereof.

4. The service robot as claimed in claim 1, wherein each arm skeleton includes a link slat, wherein the skeleton joint of the link slat is a swing joint disposed at a plate surface of the link slat, and a swing axis of the swing joint is perpendicular to the plate surface of the link slat.

5. The service robot as claimed in claim 4, wherein the at least one arm skeleton further comprises an adapter edge, wherein the adapter edge extends along a length direction of the link slats and integrally abuts the link slats, and a plate surface of the adapter edge is parallel to a pivot axis of the pivot joint.

6. The service robot as claimed in claim 4, wherein the joint timing belt mechanism includes at least two sets of timing belt pulley sets in cascade transmission, wherein an output pulley of the timing belt pulley set at the final stage of transmission is mounted to the link slat to form a pivot joint having a pivot axis perpendicular to a plate surface of the link slat.

7. The service robot as claimed in claim 1, wherein each arm skeleton includes a profile arm cylinder, wherein the skeleton joint of the profile arm cylinder includes a torsion joint disposed at an end of the profile arm cylinder, and wherein a swing axis of the swing joint is disposed in a radial direction of the profile arm cylinder.

8. The service robot as claimed in claim 7, wherein the joint timing belt mechanism comprises at least two sets of timing belt pulley sets in cascade transmission, wherein an output pulley of the timing belt pulley set at the final transmission stage is mounted on an end hinge plate of the profiling arm cylinder to form a swing joint having a swing axis perpendicular to an arm cylinder axis of the profiling arm cylinder.

9. The service robot of claim 7, wherein the skeletal joints of the contoured arm cylinders of at least one segment of the arm skeleton further comprise torsional joints integrated between the ends of the contoured arm cylinders, wherein at least two stages of reduction transmission are achieved between a joint drive motor for driving the torsional joints and the torsional joints using a joint timing belt mechanism.

10. The service robot as recited in claim 9, wherein the joint timing belt mechanism comprises at least two sets of timing belt pulley sets of a cascade drive, wherein an output pulley of the timing belt pulley set at a final stage of the drive is mounted to the torsion plate between the ends of the contour arm cylinder to form a torsion joint having a torsion axis parallel to the arm cylinder axis of the contour arm cylinder.