WO2021139145A1 - 一种机械臂装置 - Google Patents

一种机械臂装置 Download PDF

Info

Publication number
WO2021139145A1
WO2021139145A1 PCT/CN2020/106314 CN2020106314W WO2021139145A1 WO 2021139145 A1 WO2021139145 A1 WO 2021139145A1 CN 2020106314 W CN2020106314 W CN 2020106314W WO 2021139145 A1 WO2021139145 A1 WO 2021139145A1
Authority
WO
WIPO (PCT)
Prior art keywords
component
main control
control unit
arm device
mechanical arm
Prior art date
Application number
PCT/CN2020/106314
Other languages
English (en)
French (fr)
Inventor
杨健勃
Original Assignee
北京可以科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202010012375.5A external-priority patent/CN111152262A/zh
Priority claimed from CN202020023073.3U external-priority patent/CN212170390U/zh
Application filed by 北京可以科技有限公司 filed Critical 北京可以科技有限公司
Publication of WO2021139145A1 publication Critical patent/WO2021139145A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms

Definitions

  • the invention relates to the technical field of modular robots, in particular to a mechanical arm device.
  • the current modular robots are formed by assembling multiple modular units. By assembling different modular units, users can make modular robots show different forms. For example, users can assemble modular robots into a robotic arm structure. Interact with users. In a modular robot assembled into a mechanical arm structure, the modular unit has only a single assembly method. Therefore, the assembled mechanical arm has a single structure, which limits the movement mode of the mechanical arm structure and has low flexibility.
  • the present invention provides a mechanical arm device.
  • the solution to the technical problem of the present invention is to provide a mechanical arm device for interacting with a user, which includes a connecting arm, a component and a main control unit.
  • the connecting arm is elongated, and the component and the The structure of the connecting arm is different; any two of the connecting arm, the component and the main control unit can be detachably connected, and the component includes a first component end and a second component end, the first component end and the The second component end is rotatably connected; after the main control unit is connected to any one of the first component end and the second component end, the first component end and the second component end can be controlled to rotate relative to each other.
  • both ends of the connecting arm in the length direction are provided with a first connecting structure
  • the surface of the component is provided with at least two second connecting structures
  • the main control unit is provided with a main control connecting structure
  • the structures of the first connection structure, the second connection structure and the main control connection structure are the same.
  • the main control unit further includes a housing, a rotating part, and a display screen, the display screen is arranged on the housing, and the component and the connecting arm can be detachably connected to the rotating part, so The housing is rotatably connected with the rotating member.
  • the mechanical arm device further includes a base, the base is positioned on an external object; the number of the component is at least two, and at least one of the component has a first component end and a second component end One end of the connecting arm and the base are respectively connected; the first component end and the second component end of the other component are respectively connected to the other end of the connecting arm and the main control unit; the main control unit The first component end and the second component end of the at least two components are controlled to rotate relative to each other, so that the main control unit can move on the basis of at least 2 degrees of freedom and interact with the user.
  • the at least two components are connected in series in sequence, and the two rotation axes of the at least two components are orthogonal or parallel.
  • a camera is provided on the main control unit.
  • a sensing module is provided in the main control unit, and the sensing module is used to sense a contact action with a user and make the mechanical arm device perform a preset interactive action.
  • a speaker is provided in the main control unit, and the main control unit causes the speaker to play a set voice after receiving a user's voice instruction.
  • a control module is provided in the main control unit, and the control module is used to receive control instructions to move the first component end and the second component end.
  • the connecting arm includes two end surfaces and a surface connected to the end surface, at least one end surface is arranged at an angle to the surface, and the main control unit and the component can be connected to the two end surfaces.
  • the two end faces are symmetrically arranged, and both of the end faces are arranged at an angle to the surface.
  • a lamp body is provided on the surface, and after the main control unit is connected to the connecting arm, the lamp body emits light.
  • the component is spherical or cylindrical.
  • the mechanical arm device further includes a base, the base is provided with a receiving groove, the component is placed in the receiving groove, and is detachably connected to the base through the second connection structure.
  • the diameter of one side of the base provided with the receiving groove is smaller than the diameter of the opposite side.
  • the mechanical arm device of the present invention has the following advantages:
  • the first connection structure, the second connection structure, and the main control connection structure are respectively arranged on the connecting arm, the component and the main control unit, so that the three can be connected by a snap and at the same time, it is convenient for the user to disassemble the connected three.
  • the design is more humane.
  • At least one end face of the connecting arm is arranged at an angle to the surface, and the first connecting structure is arranged on the two end faces, so that the main control unit, the components and the connecting arm are connected to form a mechanical arm device.
  • a lamp body is arranged on the surface of the connecting arm. After the main control unit is connected to the connecting arm, the lamp body emits light. The lamp body can further determine whether the connecting arm in the mechanical arm device is damaged, which is convenient for users to troubleshoot.
  • the length of the connecting arm is 100mm-150mm, and the diameter is 30mm-40mm, so that the length of the connecting arm in the robot arm device is moderate, and the components, the main control unit and the connecting arm can be connected, which is convenient for the robot arm device. Exercise to show different forms.
  • the first connection structure is set in the form of a first connection piece and a second connection piece, and the second connection structure, the main control connection structure and the first connection structure have the same structure to facilitate the connection of the arm, the component and the main control
  • the three units can be connected in any combination.
  • the base allows the robotic arm device to be stably placed on the ground or desktop, so that the user can interact with the robotic arm device.
  • Fig. 1 is a schematic diagram of a three-dimensional structure of a mechanical arm device according to a first embodiment of the present invention.
  • Fig. 2 is a schematic structural view of a first view angle of the connecting arm in the mechanical arm device of the first embodiment of the present invention.
  • Fig. 3 is a schematic structural view of a second view angle of the connecting arm in the mechanical arm device of the first embodiment of the present invention.
  • Fig. 4 is an enlarged view of R in Fig. 3.
  • Fig. 5 is a schematic view of the first embodiment of the present invention before assembling the connecting arm and the components of the mechanical arm device.
  • Fig. 6 is a schematic view from a second perspective before assembly of the connecting arm and components in the mechanical arm device of the first embodiment of the present invention.
  • Fig. 7 is a schematic diagram of the first embodiment of the present invention after assembly of the connecting arm and the components of the mechanical arm device.
  • Fig. 8 is a schematic view from a second perspective of the assembly of the connecting arm and the components in the mechanical arm device of the first embodiment of the present invention.
  • Fig. 9 is a schematic diagram of a module of the main control unit in the robot arm device according to the first embodiment of the present invention.
  • Fig. 10 is a schematic diagram of the three-dimensional structure of the base of the robot arm device according to the first embodiment of the present invention.
  • Fig. 11 is a schematic diagram of the three-dimensional structure of the robot arm device according to the first embodiment of the present invention.
  • Fig. 12 is a schematic diagram of a three-dimensional structure of a mechanical arm device in a modified embodiment of the present invention.
  • the first embodiment of the present invention provides a mechanical arm device 1, which includes a connecting arm 11, a component 12, and a main control unit 13.
  • the connecting arm 11 is elongated, and the component 12 is Spherical, any two of the connecting arm 11, the component 12 and the main control unit 13 are detachably connected, and the main control unit 13 controls the connecting arm 11 and the main control unit 13 connected to the main control unit 13
  • the component 12 moves relative to the main control unit 13;
  • the component 12 includes a first component end 122 and a second component end 123, the first component end 122 and the second component end 123 are rotatably connected;
  • the main After the control unit 13 is connected to any one of the first component end 122 and the second component end 123, it can control the relative rotation of the first component end 122 and the second component end 123, so that the main control unit 13 Exercise on the basis of at least 2 degrees of freedom and interact with users.
  • the component 12 may also have other shapes, such as cylindrical, square, or rhombus, etc., as long as the component 12 can have two relatively rotatable ends. Not limited.
  • the component 12 is a spherical shape for illustration, which is not a limitation to this solution.
  • connection with the main control unit 13 can be directly connected to the main control unit 13, or indirectly connected to the main control unit 13, for example, the main control unit 13, the component 12 are respectively connected to the two ends of the connecting arm 11 , The main control unit 13 and the connecting arm 11 are directly connected, and the main control unit 13 and the component 12 are indirectly connected.
  • the number of the component 12 and the connecting arm 11 can be adjusted according to user needs to assemble into different forms of machinery
  • the number of the arm device 1, the main control unit 13, the component 12, and the connecting arm 11 is not limited, and can be one or more. The larger the number, the more diverse the movement modes of the assembled robotic arm device 1 will be.
  • connection mode between the connecting arm 11, the component 12 and the main control unit 13 includes but is not limited to a snap connection, a magnetic connection, and a screw connection.
  • the connecting arm 11, the component 12 and the main control unit 13 are connected by a buckle.
  • the main control unit 13 further includes a housing 139 and a rotating member 130, and the housing 139 is rotatably connected with the rotating member 130 to adjust the orientation of the main control unit 13.
  • both ends of the length of the connecting arm 11 are provided with a first connecting structure 111
  • the surface 113 of the component 12 is provided with at least two second connecting structures 121
  • the main control The unit 13 is provided with a main control connection structure 131.
  • the first connection structure 111, the second connection structure 121 and the main control connection structure 131 are detachably connected by snapping.
  • the second connection structure 121, the main control connection The structures 131 are all the same as the structure of the first connecting structure 111.
  • the surface 113 of the component 12 is provided with four second connecting structures 121, and the surfaces 113 of the first component end 122 and the second component end 123 are each provided with two second connecting structures 121, so that one component
  • the piece 12 can be connected with four connecting arms 11 or four main control units 13.
  • the first connecting structure 111 includes two first connecting pieces 1111, two second connecting pieces 1112, and a base 1113.
  • the base 1113 is circular, and the two first connecting pieces 1111 is centrally symmetrically arranged on the base 1113, two second connecting members 1112 are centrally symmetrically arranged on the base 1113, and the first connecting member 1111 is provided with a buckling groove 1114 facing the direction of the center of the circle ,
  • the second connecting member 1112 is provided with a buckling block 1115 away from the center of the circle.
  • the connecting line of the two first connecting pieces 1111 is perpendicular to the connecting line of the two second connecting pieces 1112, and the side of the two first connecting pieces 1111 close to the center of the circle is arc-shaped, arc-shaped A positioning slot 1116 is provided in the center;
  • the two second connecting pieces 1112 are arc-shaped on one side away from the center of the circle, a positioning block 1117 is arranged in the middle of the arc shape, and the inner diameter of the first connecting piece 1111 is adapted to the outer diameter of the second connecting piece 1112 At the same time, the positioning block 1117 can be accommodated in the positioning groove 1116, so that the first connection structure 111, the second connection structure 121, and the main control connection structure 131 can be connected and positioned.
  • first connection piece in the first connection structure 111 as A1, the second connection piece as A2, and the positioning block Is A3, the positioning groove is A4, the buckling block is A5, and the buckling groove is A6; define the first connecting piece in the second connecting structure 121 as B1, the second connecting piece as B2, the positioning block as B3, and the positioning groove as B4, the buckle block is B5, and the buckle groove is B6.
  • the positions of the first connecting structure 111 and the second connecting structure 121 are aligned, the position of the first connecting piece A1 is aligned with the position of the second connecting piece B2, and the positioning groove A4 and the second connecting piece A1 in the first connecting piece A1 are ensured.
  • the positioning block B3 in the connecting piece B2 is aligned.
  • the positioning block A3 in the second connecting piece A2 is aligned with the positioning slot B4 in the first connecting piece B1.
  • the first connecting structure 111 and the second connecting structure 121 are brought into contact, and the component 12 and the connecting arm 11 are pressed, so that the positioning block B3 in the second connecting member B2 slides in the direction of the positioning groove A4 in the first connecting member A1 In the same way, the positioning block A3 in the first connecting member A2 slides in the direction of the positioning groove B4 in the second connecting member B1.
  • the buckling block B5 in the second connecting piece B2 sinks into the buckling groove A6 in the first connecting piece A1
  • the connection of the first connecting structure 111 and the second connecting structure 121 can be completed.
  • the buckling block A5 in a connecting piece A2 sinks into the buckling groove B6 in the second connecting piece B1, so as to prevent the component 12 and the connecting arm 11 from being separated by the cooperation of the buckling groove and the buckling block.
  • first connection structure 111, the second connection structure 121, and the main control connection structure 131 are all provided with conductive contact pins 1118. After the first connection structure 111, the second connection structure 121 and the main control connection structure 131 are connected , The respective conductive contact pins 1118 can be connected, so that the component 12 and the connecting arm 11 can be controlled by the main control unit 13.
  • the robot arm device 1 is assembled by combining the main control unit 13 with the connecting arm 11 and the component 12, and the number and assembly method of the component 12 and the connecting arm 11 can be adjusted according to user needs to make the assembled robot arm device 1 Shows different forms.
  • the first component end 122 and the second component end 123 that are rotatably connected in the component 12 are matched, so that the mechanical arm device 1 can be further adjusted by rotating the first component end 122 and the second component end 123 in different forms.
  • the shape of the robot arm device 1, therefore, the motion modes of the robot arm device 1 are more diverse for the user to interact with the robot arm device 1.
  • the interaction methods include voice interaction, morphological interaction, facial expression interaction, etc.
  • Voice interaction means voice dialogue with the user, morphological interaction means showing different forms to the user, and facial expression interaction means showing different expressions to the user.
  • the main control unit 13 is provided with a power supply module 132 and a control module 133.
  • the power supply module 132 is electrically connected to the control module 133. After the connecting arm 11 and the component 12 are connected to the main control unit 13, The power supply module 132 can supply power to the connecting arm 11 and the component 12, that is, supply power to the connecting arm 11 and the component 12 through the conductive contact pin 1118, so that the first component end 122 and the second component end 123 are energized, and After the first component end 122 and the second component end 123 are energized, the control module 133 controls the relative rotation of the first component end 122 and the second component end 123, so that the mechanical arm device 1 exhibits different forms.
  • the main control unit 13 further includes a display screen 134 and a camera 135.
  • the display screen 134 and the camera 135 are both arranged on the housing.
  • the main control connection structure 131 is arranged on the rotating member 130 for the first connection structure 111 and the second connection structure.
  • 121 is connected to the main control connecting structure 131 on the rotating part, so that the display screen 134 and the camera 135 rotate relative to the rotating part 130 even if the main control unit 13 faces different directions.
  • the power supply module 132 is electrically connected to the display screen 134 and the camera 135 to supply power to the display screen 134 and the camera 135.
  • the camera 135 detects the user’s facial expressions or actions, and displays the screen interacting with the user on the display screen 134.
  • the module 133 controls the relative rotation of the first component end 122 and the second component end 123, so that the robot arm device 1 exhibits different forms.
  • the main control unit 13 is also provided with a sensor module 136, which is electrically connected to the control module 133, and the power supply module 132 is electrically connected to the sensor module 136 to provide power to the sensor module 136.
  • the sensor module 136 is used to sense and communicate with the user. After the contact action, the trigger control module 133 controls the first component end 122 and the second component end 123, so that the robotic arm device 1 performs preset interactive actions, such as performing dancing actions, imitating pet actions, etc. It can be understood that the sensor module 136 is a contact sensor, so that after the user makes contact with the main control unit 13, the sensor module 136 senses the contact action.
  • the main control unit 13 is provided with a speaker 138, which is electrically connected to the power supply module 132. After the main control unit 13 receives a user's voice instruction, it makes the speaker 138 play a set voice, such as playing a serious voice or Play playful voices, etc.
  • the connecting arm 11 includes two end surfaces 112 and a surface 113 connected to the end surface 112.
  • the first connecting structure 111 is disposed on the end surface 112, and at least one end surface 112 is connected to the surface.
  • 113 is set at an angle, so that both ends of the connecting arm 11 can be connected to the main control unit 13 or to the component 12, thereby increasing the style of assembling the robotic arm device 1 and allowing the robotic arm to be in different styles. Exercise in a different way, with greater flexibility.
  • the two end surfaces 112 are symmetrically arranged, and both of the two end surfaces 112 form an angle of 45 degrees with the surface 113. After the component 12 and the main control unit 13 are connected to the connecting arm 11, they can form an angle with the connecting arm 11 to facilitate interaction with the user.
  • the shape of the connecting arm 11 may be a cylindrical shape, a quadrangular prism shape, or a pentagonal prism shape.
  • the shape of the connecting arm 11 is cylindrical, the length L is 100mm-150mm, and the diameter is 30mm-40mm.
  • the length of the connecting arm 11 in the robot arm device 1 is moderate, and the component 12, the main control unit 13 and the connecting arm 11 can be connected, so that the robot arm device 1 can move to show different forms. If the length is too long, the torque caused by the movement of the robot arm device 1 will be too long, which is not conducive to the movement of the robot arm device 1. If the length of the connecting arm 11 is too short, the overall length of the robot arm device 1 is too short, and the robot arm device 1 can show The fewer forms.
  • a lamp body 114 is provided on the surface 113.
  • the power supply module 132 can supply power to the connecting arm 11 to make the lamp body 114 emit light, thereby achieving the splicing indication function.
  • the user can judge whether the connecting arm 11 is connected through the lamp body 114 Failure, it can be understood that after the connecting arm 11 fails, the first component end 122 or the second component end 123 connected to the connecting arm 11 cannot rotate relative to each other or rotate abnormally.
  • the robotic arm device 1 further includes a base 14.
  • the base 14 is provided with an accommodating groove 142 for accommodating the component 12, and the accommodating groove 142 is provided with a base 14 for connection Structure, after the component 12 is accommodated in the receiving groove 142, it is detachably connected by the second connecting structure 121 and the connecting structure of the base 14;
  • the base 14 is a cylindrical shape with a taper and is provided with The diameter of one side of the receiving groove 142 is smaller than the diameter of the opposite side (ie, the placement surface).
  • the placement surface is the side on which the base 14 is placed stably, and the connection structure of the base 14 is the same as the structure of the first connection structure 111, so that the component 12 is connected to the base 14 and the component 12 is connected to the connecting arm 11 and the main body.
  • the method of the control unit 13 is the same.
  • the diameter of the placement surface is larger than the diameter on the side of the receiving groove 142, so that the robotic arm device 1 can be placed on the desktop or the ground more stably, so that one end of the robotic arm device 1 is positioned on an external object through the base 14, and the opposite end For the free end, to achieve interaction with users.
  • the number of components 12 in the mechanical arm device 1 is at least two, the number of connecting arms 11 is one, the number of main control units 13 is one, and the number of bases 14 is one.
  • the number of component 12 is described as two, and they are named component P and component Q respectively.
  • the first component end of component P is P1, the second component end is P2, and the first component of component Q is P1.
  • the component end is Q1, the second component end is Q2,
  • connection method is that the first component terminal P1 is connected to the base 14, the second component terminal P2 is connected to one end of the connecting arm 11, the first component terminal Q1 is connected to the other end of the connecting arm 11, and the second component terminal Q2 is connected to the main control unit 13. connection.
  • the main control unit 13 controls the rotation of the component P, it can drive the connecting arm 11, the component Q and the main control unit 13 to rotate together, that is, rotate with the axis X1 in FIG. 11 as the rotation axis to adjust the direction of the mechanical arm device 1;
  • the main control unit 13 controls the rotation of the component Q
  • the main control unit 13 can be rotated, that is, the main control unit 13 can be rotated with the axis X2 in FIG. 11 as the rotation axis to adjust the direction of the main control unit 13.
  • the connecting arm 11 has no degree of freedom
  • one component 12 has one degree of freedom.
  • the degree of freedom is one, that is, it rotates clockwise and counterclockwise around the axis X1.
  • the degree of freedom when the component Q rotates with the axis X2 as the rotation axis is one, that is, it rotates clockwise and counterclockwise around the axis X2. Therefore, the degree of freedom of movement of the mechanical arm device 1 is two.
  • the two axes X1 and X2 of the rotation of the two component parts P and the component part Q are orthogonal.
  • the number of components 12 used in the robotic arm device 1 is the number of degrees of freedom of movement of the robotic arm device 1. For example, when the number of components 12 is 3, the number of freedom of movement of the robotic arm device 1 is 3, and the component 12 When the number of is 4, the degree of freedom of movement of the robotic arm device 1 is 4, and so on, the more degrees of freedom of movement of the robotic arm device 1 are, the more forms it can display, which is more conducive to interacting with the user.
  • the number of the component 12 is 4, the two ends of the connecting arm 11 are respectively connected to the two components 12, and every two components 12 are connected in series in sequence , Of the two components 12 that are connected away from the connecting arm 11, one of them is connected to the main control unit 13, and the other is connected to the base 14, so that the mechanical arm device 1 can operate in 4 degrees of freedom There are more ways to exercise.
  • the number of the component 12 can also be 5, 6, or more, as long as a plurality of the component 12 can be separately provided at both ends of the connecting arm 11, and either end of the connecting arm 11 is connected
  • the components 12 are serially connected in sequence, so that the multiple components 12 include mutually perpendicular and/or parallel degrees of freedom, which will not be repeated here.
  • B corresponding to A means that B is associated with A, and B can be determined according to A.
  • determining B based on A does not mean that B is determined only based on A, and B can also be determined based on A and/or other information.
  • one embodiment or “an embodiment” mentioned throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the present invention. Therefore, the appearances of "in one embodiment” or “in an embodiment” in various places throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. Those skilled in the art should also know that the embodiments described in the specification are optional embodiments, and the actions and modules involved are not necessarily required by the present invention.
  • the mechanical arm device of the present invention has the following advantages:
  • the first connection structure, the second connection structure, and the main control connection structure are respectively arranged on the connecting arm, the component and the main control unit, so that the three can be connected by a snap and at the same time, it is convenient for the user to disassemble the connected three.
  • the design is more humane.
  • At least one end face of the connecting arm is arranged at an angle to the surface, and the first connecting structure is arranged on the two end faces, so that the main control unit, the components and the connecting arm are connected to form a mechanical arm device.
  • a lamp body is arranged on the surface of the connecting arm. After the main control unit is connected to the connecting arm, the lamp body emits light. The lamp body can further determine whether the connecting arm in the mechanical arm device is damaged, which is convenient for users to troubleshoot.
  • the length of the connecting arm is 100mm-150mm, and the diameter is 30mm-40mm, so that the length of the connecting arm in the robot arm device is moderate, and the components, the main control unit and the connecting arm can be connected, which is convenient for the robot arm device. Exercise to show different forms.
  • the first connecting structure is set in the form of the first connecting piece and the second connecting piece, and the second connecting structure, the main control connecting structure and the first connecting structure have the same structure to facilitate the connection of the arm, the component and the main control
  • the three units can be connected in any combination.
  • the base allows the robotic arm device to be stably placed on the ground or desktop, so that the user can interact with the robotic arm device.

Abstract

一种机械臂装置（1），其包括连接臂（11）、组成件（12）及主控单元（13），所述连接臂（11）呈长条形，所述组成件（12）呈球形，所述连接臂（11）、组成件（12）及主控单元（13）任意两者之间可拆卸连接，所述组成件（12）包括第一组成端（122）和第二组成端（123），所述第一组成端（122）和所述第二组成端（123）转动连接；所述主控单元（13）与所述第一组成端（122）、第二组成端（123）中任一者连接后，可控制所述第一组成端（122）和第二组成端（123）相对转动，从而使机械（11）臂装置展现出不同的形态，并且在组成件（12）的转动下带动连接臂（11）或主控单元（13）运动，进一步使机械臂装置（1）展现出不同的形态，灵活性更高。

Description

一种机械臂装置 【技术领域】
本发明涉及模块化机器人技术领域，尤其涉及一种机械臂装置。
【背景技术】
目前的模块化机器人都是通过多个模块单元组装形成，用户通过对不同的模块单元进行组装，可使模块化机器人展现出不同的形态，如用户可将模块化机器人组装为机械臂结构，以与用户互动。而组装成机械臂结构的模块化机器人中，其模块单元只有唯一的组装方式，因此组装后的机械臂结构样式单一，因此会对机械臂结构的运动方式造成限制，灵活性较低。
【发明内容】
为克服现有技术存在的问题，本发明提供一种机械臂装置。
本发明解决技术问题的方案是提供一种机械臂装置，用于与用户进行互动，其包括连接臂、组成件及主控单元，所述连接臂呈长条形，所述组成件与所述连接臂的结构不同；所述连接臂、组成件及主控单元任意两者之间可拆卸连接，所述组成件包括第一组成端和第二组成端，所述第一组成端和所述第二组成端转动连接；所述主控单元与所述第一组成端、第二组成端中任一者连接后，可控制所述第一组成端和第二组成端相对 转动。
优选地，所述连接臂长度方向的两端各设置有一第一连接结构，所述组成件的表面设置有至少两个第二连接结构，所述主控单元设置有一主控连接结构，所述第一连接结构、第二连接结构及主控连接结构的结构相同。
优选地，所述主控单元进一步包括壳体、转动件及显示屏，所述显示屏设置于所述壳体上，所述组成件、连接臂均可与所述转动件可拆卸连接，所述壳体与所述转动件转动连接。
优选地，所述机械臂装置进一步包括一底座，所述底座定位于外部物体上；所述组成件的数量至少为两个，其中至少一个所述组成件的第一组成端和第二组成端分别连接所述连接臂的一端和所述底座；另一个所述组成件的第一组成端和第二组成端分别连接所述连接臂的另一端和所述主控单元；所述主控单元控制所述至少两个组成件各自的第一组成端和第二组成端相对转动，以使所述主控单元在至少2个自由度基础上运动，并与用户互动。
优选地，所述至少两个组成件依次串联，至少两个所述组成件各自转动的两个轴线呈正交或平行。
优选地，所述主控单元上设置有摄像头。
优选地，所述主控单元内设有感应模块，所述感应模块用于感应与用户的接触动作后，并使所述机械臂装置进行预设的互动动作。
优选地，所述主控单元内设有扬声器，所述主控单元接收到用户的声音指令后，使所述扬声 器播放设定的语音。
优选地，所述主控单元内设有控制模块，所述控制模块用于接收控制指令，以使所述第一组成端和所述第二组成端运动。
优选地，所述连接臂包括两个端面和一个与所述端面连接的表面，至少一个端面与所述表面呈角度设置，所述主控单元、组成件均可与两个所述端面连接。
优选地，两个所述端面对称设置，两个所述端面均与所述表面呈角度设置。
优选地，所述表面设有灯体，所述主控单元与所述连接臂连接后，所述灯体发光。
优选地，所述组成件为球形或圆柱形。
优选地，所述机械臂装置进一步包括一底座，所述底座设有容纳槽，所述组成件置于所述容纳槽，通过所述第二连接结构与所述底座可拆卸连接。
优选地，所述底座设有所述容纳槽一侧的直径小于相对侧的直径。
与现有技术相比，本发明的机械臂装置具有以下优点：
1.通过连接臂、组成件及主控单元三者之间任意组合，以组装成机械臂装置，从而使机械臂装置展现出不同的形态，并且在组成件的转动下带动连接臂或主控单元运动，进一步使机械臂装置展现出不同的形态，灵活性更高。
2.连接臂、组成件及主控单元三者上分别设置第一连接结构、第二连接结构、主控连接结构，以使三者卡合连接，同时便于用户对连接后的三 者进行拆卸，设计更加人性化。
3.将连接臂的至少一个端面与表面呈角度设置，第一连接结构设置于两个所述端面上，以便于主控单元、组成件与连接臂连接形成机械臂装置。
4.连接臂的表面设置灯体，主控单元与所述连接臂连接后，灯体发光，能够通过灯体进一步判断机械臂装置中的连接臂是否损坏，便于用户排查故障。
5.连接臂的长度尺寸为100mm-150mm，直径为30mm-40mm，以至于连接臂在机械臂装置中的长度尺寸适中，并且能够使组成件、主控单元与连接臂连接，便于机械臂装置运动，以展示不同的形态。
6.第一连接结构设置为第一连接件和第二连接件的形式，并使第二连接结构、主控连接结构与第一连接结构的结构相同，以便于连接臂、组成件及主控单元三者之间可任意组合连接。
7.通过底座使机械臂装置可平稳的放置于地面或桌面上，以便于用户与机械臂装置进行互动。
【附图说明】
图1是本发明第一实施例机械臂装置的立体结构示意图。
图2是本发明第一实施例机械臂装置中连接臂的第一视角结构示意图。
图3是本发明第一实施例机械臂装置中连接臂的第二视角结构示意图。
图4是图3中的R处放大图。
图5是本发明第一实施例机械臂装置中连接臂和组成件组装前的第一视角示意图。
图6是本发明第一实施例机械臂装置中连接臂和组成件组装前的第二视角示意图。
图7是本发明第一实施例机械臂装置中连接臂和组成件组装后的第一视角示意图。
图8是本发明第一实施例机械臂装置中连接臂和组成件组装后的第二视角示意图。
图9是本发明第一实施例机械臂装置中主控单元的模块示意图。
图10是本发明第一实施例机械臂装置中底座的立体结构示意图。
图11是本发明第一实施例机械臂装置的立体结构示意图。
图12是本发明变形实施例机械臂装置的立体结构示意图。
附图标识说明：
1、机械臂装置；11、连接臂；12、组成件；13、主控单元；14、底座；111、第一连接结构；112、端面；113、表面；114、灯体；1111、第一连接件、1112、第二连接件；1113、基座；1114、扣合槽；1115、扣合块；1116、定位槽；1117、定位块；1118、导电触针；121、第二连接结构；122、第一组成端；123、第二组成端；131、主控连接结构；132、供电模块；133、控制模块；134、显示屏；135、摄像头；136、感应模块；138、扬声器；139、壳体；130、转动件；141、底座连接结构；142、容纳槽。
【具体实施方式】
为了使本发明的目的，技术方案及优点更加清楚明白，以下结合附图及实施实例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
请参阅图1，本发明第一实施例提供一种机械臂装置1，其包括连接臂11、组成件12及主控单元13，所述连接臂11呈长条形，所述组成件12呈球形，所述连接臂11、组成件12及主控单元13任意两者之间可拆卸连接，并通过所述主控单元13控制与所述主控单元13连接的所述连接臂11、组成件12相对所述主控单元13运动；所述组成件12包括第一组成端122和第二组成端123，所述第一组成端122和所述第二组成端123转动连接；所述主控单元13与所述第一组成端122、第二组成端123中任一者连接后，可控制所述第一组成端122和第二组成端123相对转动，以使所述主控单元13在至少2个自由度基础上运动，并与用户互动。
可选地，作为一种实施例，所述组成件12还可以为其他形状，例如圆柱形、方形或菱形等，只要可以使所述组成件12具有可相对转动的两端即可，在此不做限定。在本实施例中，以所述组成件12为球形进行示例说明，不作为对本方案的限制。
可以理解，与主控单元13连接的形式可以为直接与主控单元13连接，也可以为间接与主控单元13连接，如主控单元13、组成件12分别与连接臂11的两端连接，则主控单元13与连接臂11为直 接连接，主控单元13与组成件12为间接连接，其中组成件12和连接臂11的数量可根据用户需要自行调整，以组装成不同形态的机械臂装置1，主控单元13、组成件12及连接臂11的数量不做限定，可以是一个或多个，其数量越多，则组装的机械臂装置1的运动方式更多样。
连接臂11、组成件12及主控单元13之间的连接方式包括但不限于卡扣连接、磁吸连接、螺钉连接。在本实施例中，连接臂11、组成件12及主控单元13通过卡扣连接。
进一步地，主控单元13还包括壳体139和转动件130，所述壳体139与所述转动件130转动连接，以调整主控单元13的朝向。
请参阅图2-图3，所述连接臂11长度方向的两端各设置有一第一连接结构111，所述组成件12的表面113设置有至少两个第二连接结构121，所述主控单元13设置有一主控连接结构131，所述第一连接结构111、第二连接结构121及主控连接结构131之间通过卡合实现可拆卸连接，所述第二连接结构121、主控连接结构131均与所述第一连接结构111的结构相同。在本实施例中，组成件12的表面113设置有四个第二连接结构121，第一组成端122和第二组成端123的表面113各设置两个第二连接结构121，以使一个组成件12可以与四个连接臂11或四个主控单元13连接。
请参阅图4，所述第一连接结构111包括两个第一连接件1111、两个第二连接件1112及基座1113，所述基座1113呈圆形，两个所述第一连接件1111呈中心对称设置于所述基座1113上，两个 所述第二连接件1112呈中心对称设置于所述基座1113上，第一连接件1111上设有朝向圆心方向的扣合槽1114，第二连接件1112上设置有远离圆心方向的扣合块1115。
两个所述第一连接件1111的连线垂直于两个所述第二连接件1112的连线，且两个所述第一连接件1111靠近圆心的一侧呈圆弧形，弧形的中心设置有定位槽1116；
两个所述第二连接件1112远离圆心的一侧呈弧形，圆弧形的中间设置有定位块1117，所述第一连接件1111内径与所述第二连接件1112的外径适配，同时，所述定位块1117可容纳于所述定位槽1116内，以使第一连接结构111、第二连接结构121、主控连接结构131三者之间进行连接和定位。
请参阅图5-图8，以第一连接结构111和第二连接结构121的连接过程为例，定义第一连接结构111中的第一连接件为A1，第二连接件为A2，定位块为A3，定位槽为A4,扣合块为A5，扣合槽为A6；定义第二连接结构121中的第一连接件为B1，第二连接件为B2，定位块为B3，定位槽为B4,扣合块为B5，扣合槽为B6。
首先，将第一连接结构111和第二连接结构121的位置对应，使第一连接件A1的位置与第二连接件B2的位置对齐，保证第一连接件A1中的定位槽A4和第二连接件B2中的定位块B3对齐，同理，第二连接件A2中的定位块A3和第一连接件B1中的定位槽B4对齐。
然后，使第一连接结构111和第二连接结构121接触，并按压组成件12和连接臂11，使第二连 接件B2中的定位块B3沿第一连接件A1中的定位槽A4方向滑动，同理，第一连接件A2中的定位块A3沿第二连接件B1中的定位槽B4方向滑动。
最后，当第二连接件B2中的扣合块B5陷入第一连接件A1中的扣合槽A6中时，即可完成第一连接结构111和第二连接结构121的连接，同理，第一连接件A2中的扣合块A5陷入第二连接件B1中的扣合槽B6中，从而通过扣合槽与扣合块的配合，防止组成件12和连接臂11脱离。
进一步地，第一连接结构111、第二连接结构121及主控连接结构131内均设置有导电触针1118，所述第一连接结构111、第二连接结构121及主控连接结构131连接后，可使各自的导电触针1118接通，从而可通过主控单元13对组成件12、连接臂11进行控制。
通过主控单元13与连接臂11、组成件12结合的形式组装形成机械臂装置1，且组成件12和连接臂11的数量和组装方式可根据用户需要进行调整，以使组装的机械臂装置1展现出不同的形态。同时，配合组成件12中可转动连接的第一组成端122和第二组成端123，以使机械臂装置1在不同形态下，通过转动第一组成端122和第二组成端123，进一步调整机械臂装置1的形态，因此，机械臂装置1的运动方式更多样，以供用户与机械臂装置1进行互动。
其中，互动方式包括语音互动、形态互动、表情互动等，语音互动即为与用户进行语音对话，形态互动即为向用户展示不同的形态，表情互动即为向用户展示不同的表情。
请参阅图9，所述主控单元13设有供电模块132和控制模块133，供电模块132与控制模块133电连接，所述连接臂11、组成件12与所述主控单元13连接后，所述供电模块132可对所述连接臂11、组成件12供电，即通过导电触针1118对连接臂11、组成件12供电，以使第一组成端122和第二组成端123通电，并在第一组成端122和第二组成端123通电后，通过控制模块133控制第一组成端122和第二组成端123相对转动，进而使机械臂装置1展示不同的形态。
主控单元13还包括显示屏134和摄像头135，显示屏134与摄像头135均设置于壳体上，主控连接结构131设置于转动件130上，以供第一连接结构111、第二连接结构121与转动件上的主控连接结构连接131，进而使显示屏134、摄像头135相对转动件130转动，即使主控单元13朝向不同的方向。
供电模块132与显示屏134、摄像头135电连接，以对显示屏134和摄像头135进行供电，通过摄像头135检测用户的表情或动作，并在显示屏134上显示与用户互动的画面，同时通过控制模块133控制第一组成端122和第二组成端123相对转动，以使机械臂装置1展现不同的形态。
主控单元13内还设有感应模块136，感应模块136与控制模块133电连接，同时供电模块132与感应模块136电连接，以为感应模块136进行供电，所述感应模块136用于感应与用户的接触动作后，触发控制模块133对第一组成端122和第二组成端123进行控制，以使所述机械臂装置1进行预设的互动动作，如进行跳舞的动作、模仿宠物的动作 等，可以理解，感应模块136为接触式感应，以在用户与主控单元13产生接触之后，感应模块136感应接触动作。
主控单元13内设有扬声器138，扬声器138与供电模块132电连接，所述主控单元13接收到用户的声音指令后，使所述扬声器138播放设定的语音，如播放正经的语音或播放俏皮的语音等。
可以理解，上述功能均为本领域产品的通用功能，各个模块之间的电连接关系及其工作原理在此不做赘述。
请重新参阅图2-图3，所述连接臂11包括两个端面112和一个与所述端面112连接的表面113，第一连接结构111设置于端面112上，至少一个端面112与所述表面113呈角度设置，以使连接臂11的两端均可与主控单元13连接，或者与组成件12连接，从而增加组装成机械臂装置1的样式，并且可使机械臂在不同样式下，以不同的方式进行运动，灵活性更高。
进一步地，两个所述端面112对称设置，两个所述端面112均与所述表面113呈45度夹角。以使组成件12、主控单元13中的任一种与连接臂11连接之后，可以使其与连接臂11之间形成角度，以便于与用户进行互动。
所述连接臂11的形状可以为圆柱形、四棱柱形、五棱柱形。在本实施例中，所述连接臂11的形状为圆柱形，其长度尺寸L为100mm-150mm，直径为30mm-40mm。以至于连接臂11在机械臂装置1中的长度尺寸适中，并且能够使组成件12、主控单元13与连接臂11连接，便于机械臂装置1运动， 以展示不同的形态，若连接臂11长度过长，则机械臂装置1运动使的力矩会过长，不利于机械臂装置1运动，如果连接臂11长度过短，则机械臂装置1的整体长度过短，机械臂装置1能够展现的形态越少。
进一步地，所述表面113上设置有灯体114。主控单元13与连接臂11连接之后，可通过供电模块132对连接臂11进行供电，以使灯体114发光，从而达到拼接指示作用，同时还可供用户通过灯体114判断连接臂11是否故障，可以理解，当连接臂11故障之后，与连接臂11连接的第一组成端122或第二组成端123无法相对转动或相对转动异常等。
请参阅图10并结合图1，所述机械臂装置1进一步包括一底座14，所述底座14上设置有容纳所述组成件12的容纳槽142，所述容纳槽142内设置有底座14连接结构，所述组成件12容纳于所述容纳槽142之后，通过所述第二连接结构121和所述底座14连接结构可拆卸连接；所述底座14为带有锥度的圆柱形，且设有容纳槽142一侧的直径小于相对侧(即放置面)的直径。
其中，放置面即为供底座14平稳放置的一面，底座14连接结构与第一连接结构111的结构相同，以供组成件12连接于底座14的方法与组成件12连接于连接臂11、主控单元13的方法相同。并且放置面的直径大于容纳槽142一侧的直径，以使机械臂装置1能够更稳定的放置在桌面或地面上，使得所述机械臂装置1一端通过底座14定位于外部物体上，相对一端为自由端，实现与用户的互动。
请参阅图11，机械臂装置1中的组成件12的数量至少为两个，连接臂11的数量为一个，主控单元13的数量为一个，底座14的数量为一个。以组成件12的数量为两个进行说明，并分别命名为组成件P和组成件Q，组成件P中的第一组成端为P1,第二组成端为P2，组成件Q中的第一组成端为Q1，第二组成端为Q2，
其连接方式为，第一组成端P1与底座14连接，第二组成端P2与连接臂11一端连接，第一组成端Q1与连接臂11另一端连接，第二组成端Q2与主控单元13连接。
主控单元13控制组成件P转动时，可带动连接臂11、组成件Q及主控单元13一同转动，即以图11中轴线X1为转轴进行转动，以调整机械臂装置1的方向；
主控单元13控制组成件Q转动时，可使主控单元13转动，即以图11中轴线X2为转轴进行转动，以调整主控单元13的方向。
可以理解，连接臂11无自由度，一个组成件12的自由度为1个，如组成件P以轴线X1为转轴进行转动时的自由度为1个，即绕轴线X1做顺时针转动和逆时针转动，组成件Q以轴线X2为转轴进行转动时的自由度为1个，即绕轴线X2做顺时针转动和逆时针转动。因此机械臂装置1的运动自由度为2个，在本实施例中，两个组成件P和组成件Q各自转动的两个轴线X1和X2呈正交。机械臂装置1中采用的组成件12数量即为机械臂装置1的运动自由度的数量，如组成件12的数量为3个时，机械臂装置1的运动自由度为3个，组成件12的数量为4 个时，机械臂装置1的运动自由度为4个，依次类推，机械臂装置1的运动自由度越多，其可以展示的形态则越多，更利于与用户进行互动。
请参阅图12,在其他实施例中，组成件12的数量为4个，所述连接臂11的两端各连接两个所述组成件12，每两个所述组成件12之间依次串联，远离所述连接臂11连接的两个所述组成件12中，其中一个与所述主控单元13连接，另一个与所述底座14连接，以使机械臂装置1可在4个自由度上运动，运动方式更多样。
可以理解，所述组成件12的数量还可以为5个、6个或者多个，只要可以使多个所述组成件12分设于所述连接臂11的两端，且连接臂11任一端连接的组成件12之间依次串联，使得多个组成件12之间包括相互垂直和/或平行的自由度即可，在此不再赘述。
在本发明所提供的实施例中，应理解，“与A对应的B”表示B与A相关联，根据A可以确定B。但还应理解，根据A确定B并不意味着仅仅根据A确定B，还可以根据A和/或其他信息确定B。
应理解，说明书通篇中提到的“一个实施例”或“一实施例”意味着与实施例有关的特定特征、结构或特性包括在本发明的至少一个实施例中。因此，在整个说明书各处出现的“在一个实施例中”或“在一实施例中”未必一定指相同的实施例。此外，这些特定特征、结构或特性可以以任意适合的方式结合在一个或多个实施例中。本领域技术人员也应该知悉，说明书中所描述的实施例均属于可选实施例，所涉及的动作和模块并不一定是本发明所必须的。
在本发明的各种实施例中，应理解，上述各过程的序号的大小并不意味着执行顺序的必然先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本发明实施例的实施过程构成任何限定。
与现有技术相比，本发明的机械臂装置具有以下优点：
1.通过连接臂、组成件及主控单元三者之间任意组合，以组装成机械臂装置，从而使机械臂装置展现出不同的形态，并且在组成件的转动下带动连接臂或主控单元运动，进一步使机械臂装置展现出不同的形态，灵活性更高。
2.连接臂、组成件及主控单元三者上分别设置第一连接结构、第二连接结构、主控连接结构，以使三者卡合连接，同时便于用户对连接后的三者进行拆卸，设计更加人性化。
3.将连接臂的至少一个端面与表面呈角度设置，第一连接结构设置于两个所述端面上，以便于主控单元、组成件与连接臂连接形成机械臂装置。
4.连接臂的表面设置灯体，主控单元与所述连接臂连接后，灯体发光，能够通过灯体进一步判断机械臂装置中的连接臂是否损坏，便于用户排查故障。
5.连接臂的长度尺寸为100mm-150mm，直径为30mm-40mm，以至于连接臂在机械臂装置中的长度尺寸适中，并且能够使组成件、主控单元与连接臂连接，便于机械臂装置运动，以展示不同的形态。
6.第一连接结构设置为第一连接件和第二连 接件的形式，并使第二连接结构、主控连接结构与第一连接结构的结构相同，以便于连接臂、组成件及主控单元三者之间可任意组合连接。
7.通过底座使机械臂装置可平稳的放置于地面或桌面上，以便于用户与机械臂装置进行互动。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的原则之内所作的任何修改，等同替换和改进等均应包含本发明的保护范围之内。

Claims (15)

  1. 一种机械臂装置，用于与用户进行互动，其特征在于：其包括连接臂、组成件及主控单元，所述连接臂呈长条形，所述组成件与所述连接臂的结构不同；
    所述连接臂、组成件及主控单元任意两者之间可拆卸连接，所述组成件包括第一组成端和第二组成端，所述第一组成端和所述第二组成端转动连接；
    所述主控单元与所述第一组成端、第二组成端中任一者连接后，可控制所述第一组成端和第二组成端相对转动。
  2. 如权利要求1所述的机械臂装置，其特征在于：所述连接臂长度方向的两端各设置有一第一连接结构，所述组成件的表面设置有至少两个第二连接结构，所述主控单元设置有一主控连接结构，所述第一连接结构、所述第二连接结构及所述主控连接结构之间卡合连接；所述第一连接结构、第二连接结构及主控连接结构的结构相同。
  3. 如权利要求2所述的机械臂装置，其特征在于：所述主控单元进一步包括壳体、转动件及显示屏，所述显示屏设置于所述壳体上，所述组成件、连接臂均可与所述转动件可拆卸连接，所述壳体与所述转动件转动连接。
  4. 如权利要求1所述的机械臂装置，其特征在于：所述机械臂装置进一步包括一底座，所述底座定位于外部物体上；
    所述组成件的数量至少为两个，其中至少一个所述组成件的第一组成端和第二组成端分别连 接所述连接臂的一端和所述底座；另一个所述组成件的第一组成端和第二组成端分别连接所述连接臂的另一端和所述主控单元；
    所述主控单元控制所述至少两个组成件各自的第一组成端和第二组成端相对转动，以使所述主控单元在至少2个自由度基础上运动，并与用户互动。
  5. 如权利要求4所述的机械臂装置，其特征在于：所述至少两个组成件依次串联，所述至少两个组成件各自转动的两个轴线呈正交或平行。
  6. 如权利要求1所述的机械臂装置，其特征在于：所述主控单元上设置有摄像头。
  7. 如权利要求1所述的机械臂装置，其特征在于：所述主控单元内设有感应模块，所述感应模块用于感应与用户的接触动作后，并使所述机械臂装置进行预设的互动动作。
  8. 如权利要求1所述的机械臂装置，其特征在于：所述主控单元内设有扬声器，所述主控单元接收到用户的声音指令后，使所述扬声器播放设定的语音。
  9. 如权利要求1所述的机械臂装置，其特征在于：所述主控单元内设有控制模块，所述控制模块用于接收控制指令，以使所述第一组成端和所述第二组成端运动。
  10. 如权利要求1所述的机械臂装置，其特征在于：所述连接臂包括两个端面和一个与所述端面连接的表面，至少一个端面与所述表面呈角度设置，所述主控单元、组成件均可与两个所述端面连接。
  11. 如权利要求10所述的机械臂装置，其特征在于：两个所述端面对称设置，两个所述端面均与所述表面呈角度设置。
  12. 如权利要求10所述的机械臂装置，其特征在于：所述表面设有灯体，所述主控单元与所述连接臂连接后，所述灯体发光。
  13. 如权利要求1所述的机械臂装置，其特征在于：所述组成件为球形或圆柱形。
  14. 如权利要求2所述的机械臂装置，其特征在于：所述机械臂装置进一步包括一底座，所述底座设有容纳槽，所述组成件置于所述容纳槽，通过所述第二连接结构与所述底座可拆卸连接。
  15. 如权利要求14所述的机械臂装置，其特征在于：所述底座设有所述容纳槽一侧的直径小于相对侧的直径。
PCT/CN2020/106314 2020-01-07 2020-07-31 一种机械臂装置 WO2021139145A1 (zh)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202020023073.3 2020-01-07
CN202010012375.5A CN111152262A (zh) 2020-01-07 2020-01-07 一种机械臂装置
CN202010012375.5 2020-01-07
CN202020023073.3U CN212170390U (zh) 2020-01-07 2020-01-07 一种机械臂装置

Publications (1)

Publication Number Publication Date
WO2021139145A1 true WO2021139145A1 (zh) 2021-07-15

Family

ID=76787739

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/106314 WO2021139145A1 (zh) 2020-01-07 2020-07-31 一种机械臂装置

Country Status (1)

Country Link
WO (1) WO2021139145A1 (zh)

Citations (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102026781A (zh) * 2008-05-15 2011-04-20 波音公司 包括可折叠机械臂的机器人系统
EP2444207A1 (en) * 2010-10-21 2012-04-25 Università di Pisa Variable stiffness actuator
US20120279343A1 (en) * 2009-09-22 2012-11-08 The U.S.A. As Represented by the Admisnistrator of the National Aeronautics and Space Administration Rotary series elastic actuator
US20120308355A1 (en) * 2011-06-03 2012-12-06 Seiko Epson Corporation Motor, robot hand, and robot
CN104290098A (zh) * 2014-08-15 2015-01-21 东莞市均利自动化科技有限公司 一种基于多轴联动的自动化控制方法及多轴控制装置
US20160151920A1 (en) * 2014-11-28 2016-06-02 Mitaka Kohki Co., Ltd. Tool holding articulated arm
KR20160083595A (ko) * 2014-12-31 2016-07-12 현대중공업 주식회사 수술로봇의 로봇 암 구조
US20170361469A1 (en) * 2016-06-17 2017-12-21 Schaeffler Technologies AG & Co. KG Modular articulating assembly of a robotic system
CN107787207A (zh) * 2015-06-19 2018-03-09 柯惠Lp公司 利用双向耦接控制机器人手术器械
CN208557584U (zh) * 2018-07-26 2019-03-01 上海和旭自动化股份有限公司 六轴机器人
CN208854663U (zh) * 2018-07-26 2019-05-14 华南理工大学 一种应用于导游机器人的360度旋转机械手臂
CN208990243U (zh) * 2018-07-25 2019-06-18 江南大学 一种益智玩具
CN109895133A (zh) * 2019-03-01 2019-06-18 达闼科技（北京）有限公司 一种机械手及机器人
CN110238876A (zh) * 2019-07-15 2019-09-17 钱海燕 一种机械手
JP2019206058A (ja) * 2018-05-29 2019-12-05 株式会社アールティ 多関節ロボット
CN111152262A (zh) * 2020-01-07 2020-05-15 北京可以科技有限公司 一种机械臂装置

Patent Citations (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102026781A (zh) * 2008-05-15 2011-04-20 波音公司 包括可折叠机械臂的机器人系统
US20120279343A1 (en) * 2009-09-22 2012-11-08 The U.S.A. As Represented by the Admisnistrator of the National Aeronautics and Space Administration Rotary series elastic actuator
EP2444207A1 (en) * 2010-10-21 2012-04-25 Università di Pisa Variable stiffness actuator
US20120308355A1 (en) * 2011-06-03 2012-12-06 Seiko Epson Corporation Motor, robot hand, and robot
CN104290098A (zh) * 2014-08-15 2015-01-21 东莞市均利自动化科技有限公司 一种基于多轴联动的自动化控制方法及多轴控制装置
US20160151920A1 (en) * 2014-11-28 2016-06-02 Mitaka Kohki Co., Ltd. Tool holding articulated arm
KR20160083595A (ko) * 2014-12-31 2016-07-12 현대중공업 주식회사 수술로봇의 로봇 암 구조
CN107787207A (zh) * 2015-06-19 2018-03-09 柯惠Lp公司 利用双向耦接控制机器人手术器械
US20170361469A1 (en) * 2016-06-17 2017-12-21 Schaeffler Technologies AG & Co. KG Modular articulating assembly of a robotic system
JP2019206058A (ja) * 2018-05-29 2019-12-05 株式会社アールティ 多関節ロボット
CN208990243U (zh) * 2018-07-25 2019-06-18 江南大学 一种益智玩具
CN208557584U (zh) * 2018-07-26 2019-03-01 上海和旭自动化股份有限公司 六轴机器人
CN208854663U (zh) * 2018-07-26 2019-05-14 华南理工大学 一种应用于导游机器人的360度旋转机械手臂
CN109895133A (zh) * 2019-03-01 2019-06-18 达闼科技（北京）有限公司 一种机械手及机器人
CN110238876A (zh) * 2019-07-15 2019-09-17 钱海燕 一种机械手
CN111152262A (zh) * 2020-01-07 2020-05-15 北京可以科技有限公司 一种机械臂装置

Similar Documents

Publication Publication Date Title
CN108326841B (zh) 模块化机器人及其系统、控制方法、构建提示方法及构建模块化机器人的校正方法
Romanishin et al. 3D M-Blocks: Self-reconfiguring robots capable of locomotion via pivoting in three dimensions
ES2620450T3 (es) Sistema de construcción de un juguete
US20090207239A1 (en) Artificial eye system with drive means inside the eye-ball
US7815485B2 (en) Pose and play dolls
US11243557B2 (en) Remote control
CN212410942U (zh) 防抖反射模块、镜头模组、摄像装置及电子设备
WO2015172620A1 (zh) 磁性连接的积木块
US8113907B2 (en) Simulated eye for toy
US20210205983A1 (en) Self-reconfigurable robot module and self-reconfigurable robot
KR20220083899A (ko) 스마트 큐브
WO2021139145A1 (zh) 一种机械臂装置
US6437703B1 (en) Level/position sensor and related electronic circuitry for interactive toy
JP2021094369A (ja) ジョイスティック、入力デバイス、およびゲーム機
CN111152262A (zh) 一种机械臂装置
CN212170390U (zh) 一种机械臂装置
TW202220730A (zh) 多方向輸入裝置和遊戲機
JPWO2018092649A1 (ja) アクチュエータ及びカメラ装置
CN209196463U (zh) 一种手持环稳定器
KR20160125088A (ko) 조립유닛 및 이를 포함하는 조립완구
US11897123B2 (en) Animated robots having varying degrees of autonomy and anthropomorphism
KR20180009834A (ko) 피지컬 컴퓨팅 학습을 위한 조립 키트
KR20130094896A (ko) 다자유도 구동장치
JP2009076215A (ja) ユニバーサルコネクタ機構
US20230075924A1 (en) Manipulator, robot, and manipulator driving method and apparatus

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20912558

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

NENP Non-entry into the national phase

Ref country code: JP

122 Ep: pct application non-entry in european phase

Ref document number: 20912558

Country of ref document: EP

Kind code of ref document: A1