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US 12,766,702 B2Granted
Robotic arms and robotic systems comprising the same
AssigneeHong Kong Centre for Logistics Robotics Limited
InventorsJianshu Zhou, Junda Huang, Yunhui Liu
Life of this patent
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Abstract
In certain embodiments, provided is a robotic arm and robotic system comprising the same. In certain embodiments, the robotic arm contains a base unit and a driving unit, wherein the base unit contains a base motor and a base, the driving unit contains a quadrilateral link mechanism, a first driving motor and a second driving motor. Other example embodiments are described herein. In certain embodiments, the robotic arm achieves both rotational and linear motion while minimizing physical footprints for easier storage and transportation.
Claims20
A robotic arm, comprising:
- a base unit and a driving unit that are operatively connected with each other,
- wherein the base unit comprises:
- a base motor that is operatively connected with the driving unit and is configured to drive the driving unit to move in at least one degree of freedom;
- and
- a base that is configured to support the base motor and the driving unit,
- wherein the driving unit comprises:
- a quadrilateral link mechanism;
- a first driving motor that is operatively connected with the quadrilateral link mechanism and is configured to drive the quadrilateral link mechanism to be switchable at least between a retracted state and an extended state;
- and
- a second driving motor that is operatively connected with the quadrilateral link mechanism and is configured to drive the quadrilateral link mechanism to be switchable at least from the extended state to at least one bending state;
- wherein the quadrilateral link mechanism comprises:
- an execution unit base, operatively connected with an end effector;
- a driving unit base, operatively connected with the base unit;
- a pair of upper cranks and a pair of lower cranks, each of which comprises a proximal portion and a distal portion;
- an upper bevel gear assembly;
- a lower bevel gear assembly;
- a first shaft and a second shaft,
- wherein the upper bevel gear assembly operatively connects the proximal portions of the pair of upper cranks with the execution unit base,
- wherein the lower bevel gear assembly operatively connects the distal portions of the pair of lower cranks with the driving unit base, and
- wherein the first shaft and the second shaft articulately connect the distal portions of the pair of upper cranks with the proximal portions of the pair of lower cranks to form a first joint and a second joint, respectively, such that an articulated, quadrilateral link mechanism is formed.
17 more elements
A robotic arm for an end effector, comprising:
- a base unit, a driving unit and an execution unit that are operatively connected with each other, wherein the base unit comprises:
- a base motor that is operatively connected with the driving unit and is configured to drive the driving unit to rotate about central axis thereof;
- and
- a base that is configured to support the base motor and the driving unit,
- wherein the driving unit comprises:
- a quadrilateral link mechanism;
- a first driving motor that is operatively connected with the quadrilateral link mechanism and is configured to drive the quadrilateral link mechanism to be switchable at least between a retracted state and an extended state;
- and
- a second driving motor that is operatively connected with the quadrilateral link mechanism and is configured to drive the quadrilateral link mechanism to be switchable at least from the extended state to at least one bending state,
- wherein the quadrilateral link mechanism comprises:
- an execution unit base for connecting with the end effector;
- a driving unit base for connecting with the base unit;
- a pair of upper cranks and a pair of lower cranks, each of which comprises a proximal portion and a distal portion;
- an upper bevel gear assembly;
- a lower bevel gear assembly;
- a first shaft and a second shaft, and
- wherein the execution unit comprises or operatively connects with an execution unit base that operatively connects with the driving unit and an end effector,
- wherein the upper bevel gear assembly operatively connects the proximal portions of the pair of upper cranks with the execution unit base,
- wherein the lower bevel gear assembly operatively connects the distal portions of the pair of lower cranks with the driving unit base,
- wherein the first shaft and the second shaft articulately connect the distal portions of the pair of upper cranks with the proximal portions of the pair of lower cranks to form a first joint and a second joint, respectively, such that an articulated, quadrilateral link mechanism is formed, and
- wherein, at the extended state, the first joint engages with the second joint to form an articulation joint such that the pair of upper cranks is rotatable relative to the pair of lower cranks about the articulation joint, thereby switching to the at least one bending state.
18 more elements
Dependencies are inferred from the claim text.