Mechanical arm and double-arm robot

Abstract

The invention relates to a mechanical arm and a double-arm robot. The mechanical arm comprises a supporting body, a shoulder structure, a large arm, an elbow structure, a small arm and a wrist structure. The shoulder structure comprises a shoulder differential assembly, a shoulder rope driving assembly and a shoulder joint, and the shoulder joint has three degrees of freedom and comprises a shoulder rotating seat fixedly arranged on the shoulder differential assembly and a shoulder adapter which is pivoted to the shoulder rotating seat, fixedly arranged at the first end of the big arm and in transmission connection with the shoulder rope driving assembly; the wrist structure comprises a wrist fixing support, a wrist rope differential assembly, a wrist rotation driving assembly and a wrist joint, and the wrist joint has three degrees of freedom and comprises a wrist rotation support pivoted to the wrist fixing support and a wrist deflection support which is in transmission connection with the power output end of the wrist rope differential assembly and pivoted to the wrist rotation support; the wrist rotation driving assembly is installed on the wrist deflection support and used for being in transmission connection with the tail end mechanical arm. The shoulder joint and the wrist joint of the mechanical arm are small in mass and inertia.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a mechanical arm and a dual-arm robot. Background Art

[0002] With the development of robotics technology, the performance and application scenarios of robotic arms are constantly expanding. Whether in military or civilian scenarios, higher requirements are placed on the response speed of robotic arms and the safety of human-machine interaction. People hope that the robot's arm has the characteristics of small mass, small inertia, fast speed, and strong dexterity. Among them, a humanoid robot is a robot that looks similar to humans and has certain human-machine interaction and movement capabilities.

[0003] In the related art, the mechanical arm of a humanoid robot is basically set up with reference to the structure of an industrial robot, using multiple independent joint motors in series to form shoulder joints and wrist joints respectively; there are also the following shortcomings: the motor and other driving components are mainly arranged at the shoulder joints and wrist joints, resulting in large mass and inertia of the shoulder joints and wrist joints. Summary of the invention

[0004] One of the purposes of the present invention is to provide a mechanical arm for solving the technical problem that the driving components such as motors are mainly arranged at the shoulder joint and the wrist joint in the related art, resulting in large mass and inertia of the shoulder joint and the wrist joint.

[0005] The present invention provides a mechanical arm, comprising a supporting body, a shoulder structure, an upper arm, an elbow structure, a lower arm and a wrist structure connected in sequence;

[0006] The shoulder structure includes a shoulder differential assembly, a shoulder rope drive assembly and a shoulder joint, wherein the shoulder differential assembly and the shoulder rope drive assembly are both mounted on the support body, and the shoulder joint has three degrees of freedom, wherein the shoulder joint includes a shoulder rotating seat and a shoulder adapter seat, wherein the shoulder rotating seat is fixedly mounted on the power output end of the shoulder differential assembly, and the shoulder adapter seat is pivotally connected to the shoulder rotating seat, fixedly mounted on the first end of the upper arm and transmission-connected to the power output end of the shoulder rope drive assembly;

[0007] The wrist structure includes a wrist fixed bracket, a wrist rope differential assembly, a wrist rotation drive assembly and a wrist joint, the wrist fixed bracket is fixed to the first end of the forearm, the wrist rope differential assembly is installed on the upper arm or the forearm, the wrist joint has three degrees of freedom, the wrist joint includes a wrist rotation bracket and a wrist deflection bracket, the wrist rotation bracket is pivoted to the wrist fixed bracket, the wrist deflection bracket is transmission-connected to the power output end of the wrist rope differential assembly and is pivoted to the wrist rotation bracket, the wrist rotation drive assembly is installed on the wrist deflection bracket, and is used for transmission connection to the end manipulator.

[0008] Optionally, the shoulder differential assembly includes a shoulder driven bevel gear assembly and a shoulder differential drive assembly;

[0009] The shoulder driven bevel gear assembly includes a shoulder first driven bevel gear, a shoulder planetary bevel gear and a shoulder planetary bracket, the shoulder first driven bevel gear has two and both are rotatably arranged around vertical axes extending in the up-down direction, the shoulder planetary bevel gears are respectively meshed with the two shoulder first driven bevel gears, and the shoulder rotating seat is fixedly arranged on the shoulder planetary bevel gears; the shoulder planetary bracket is a U-shaped structure, the side wall of the shoulder planetary bracket is pivotally connected to the shoulder first driven bevel gear, the bottom wall of the shoulder planetary bracket is pivotally connected with a transverse shaft, and the shoulder planetary bevel gear is fixedly arranged on the transverse shaft;

[0010] The shoulder differential drive assembly has two groups and its power output ends are respectively connected to the first driven bevel gear of the shoulder, and are configured to: drive the shoulder rotating seat to pitch around a transverse axis extending in the left and right directions, and / or drive the shoulder rotating seat to deflect around a vertical axis extending in the up and down directions.

[0011] Optionally, the shoulder differential drive assembly has two groups, each of which includes a shoulder differential motor, a shoulder differential motor mounting seat, a shoulder active bevel gear, a shoulder vertical shaft and a shoulder second driven bevel gear; the shoulder differential motor mounting seat includes a shoulder differential motor mounting plate and a shoulder bevel gear mounting plate, the shoulder differential motor mounting plate is fixed to the support body, and the shoulder differential motor is installed on the shoulder differential motor mounting plate; the shoulder active bevel gear is transmission-connected to the shoulder differential motor, and the shoulder second driven bevel gear is meshed with the shoulder active bevel gear; the shoulder bevel gear mounting plate is vertically fixed to the shoulder differential motor mounting plate, the shoulder vertical shaft is pivotally connected to the shoulder bevel gear mounting plate, and the shoulder second driven bevel gear and the shoulder first driven bevel gear are both fixed to the shoulder vertical shaft.

[0012] Optionally, the shoulder rope drive assembly comprises a shoulder rope drive motor, a shoulder rope drive mounting seat, a shoulder rope transmission shaft, a shoulder first rope, a shoulder second rope and a shoulder rope pulley, the shoulder rope drive mounting seat is fixed on the support body, the shoulder rope drive motor is mounted on the shoulder rope drive mounting seat, the shoulder rope transmission shaft is drivingly connected to the shoulder rope drive motor, the shoulder rope transmission shaft has a spiral rope groove along its outer wall surface, the shoulder rope pulley is fixed on the shoulder adapter, and the shoulder rope pulley has a shoulder first rope groove and a shoulder second rope groove;

[0013] The shoulder planetary bevel gear and the shoulder rotating seat both have rope channels;

[0014] The first end of the first rope of the shoulder is fixed to the spiral rope groove and is wound around the spiral rope groove in a clockwise direction, and the second end passes through the rope channel and is wound around the clockwise direction and is fixed to the first rope groove of the shoulder; the first end of the second rope of the shoulder is fixed to the spiral rope groove and is wound around the spiral rope groove in a counterclockwise direction, and the second end passes through the rope channel and is wound around the counterclockwise direction and is fixed to the second rope groove of the shoulder.

[0015] Optionally, the shoulder rope drive mounting seat is located above or below the shoulder differential motor mounting seat; the shoulder second driven bevel gear, the shoulder vertical shaft and the shoulder first driven bevel gear all have the rope channel; the second end of the shoulder first rope and the second end of the shoulder second rope pass through the shoulder second driven bevel gear, the shoulder vertical shaft, the shoulder first driven bevel gear, the shoulder planetary bevel gear and the rope channel of the shoulder rotating seat respectively;

[0016] And / or, the shoulder rotating seat is a U-shaped shoulder rotating seat, the U-shaped shoulder rotating seat includes a shoulder vertical plate and a shoulder connecting plate, the shoulder connecting plate has two and is arranged in parallel and spaced apart, the shoulder connecting plates are both fixed to the shoulder vertical plates, the shoulder vertical plate is fixed with the transverse axis, the end of the transverse axis is fixed to the shoulder planetary bevel gear; the shoulder adapter seat is a U-shaped shoulder adapter seat, the U-shaped shoulder adapter seat includes a shoulder adapter plate and a shoulder side plate, the shoulder side plates have two and are arranged in parallel and spaced apart, the shoulder side plates are both fixed to the shoulder adapter plate, and the shoulder side plates are both pivotally connected to the shoulder connecting plate; the shoulder pulley is located between the two shoulder side plates, and the shoulder pulley is fixed to the shoulder adapter plate.

[0017] Optionally, the shoulder rope drive mounting seat is fixed with a shoulder rope transmission support seat, and the shoulder rope transmission shaft is pivotally connected to the shoulder rope transmission support seat; the shoulder rope transmission support seat is provided with a shoulder first rope joint and a shoulder second rope joint, and the shoulder first rope joint and the shoulder second rope joint are arranged at intervals; the shoulder rotating seat is provided with a shoulder third rope joint and a shoulder fourth rope joint, and the shoulder third rope joint and the shoulder fourth rope joint are arranged at intervals; the shoulder first rope passes through the shoulder first rope joint, the rope channel and the shoulder third rope joint; the shoulder second rope passes through the shoulder second rope joint, the rope channel and the shoulder fourth rope joint;

[0018] And / or, the shoulder rope pulley has a flat portion, the flat portion is fixedly arranged on the shoulder adapter plate, the flat portion has the first rope groove and the shoulder second rope groove; the shoulder adapter plate has a shoulder third rope groove and a shoulder fourth rope groove on one side facing the flat portion; the space enclosed by the shoulder first rope groove and the shoulder third rope groove is used to accommodate the shoulder first rope, and the space enclosed by the shoulder second rope groove and the shoulder fourth rope groove is used to accommodate the shoulder second rope; one of the shoulder adapter plate and the flat portion is threadedly connected with a fastener, and the fastener is configured to: limit the movement of the shoulder first rope along the length direction of the shoulder third rope groove; and limit the movement of the shoulder second rope along the length direction of the shoulder fourth rope groove.

[0019] Optionally, the wrist rope differential assembly includes a wrist rope differential drive assembly and a wrist driven bevel gear, and the wrist rope differential drive assembly includes a wrist first active bevel gear and a wrist second active bevel gear, both of which are pivotally connected to the wrist fixed bracket;

[0020] The wrist driven bevel gear is fixed to the wrist deflection bracket, and the wrist driven bevel gear is transmission-connected to the wrist first active bevel gear and the wrist second active bevel gear.

[0021] Optionally, the wrist driven bevel gear comprises a first wrist driven bevel gear and a second wrist driven bevel gear, and the first wrist driven bevel gear and the second wrist driven bevel gear are both fixedly mounted on the wrist deflection bracket;

[0022] The wrist rope differential drive assembly includes an external wrist drive shaft and an internal wrist drive shaft, the external wrist drive shaft is pivoted to the wrist fixed bracket, the upper end of the external wrist drive shaft is transmission-connected with the external wrist drive motor, and the lower end is fixed to the first active bevel gear of the wrist; the internal wrist drive shaft is pivoted to the wrist fixed bracket, the internal wrist drive shaft is penetrated by the external wrist drive shaft and the upper end of the internal wrist drive shaft protrudes from the upper end of the external wrist drive shaft, the upper end of the internal wrist drive shaft is transmission-connected with the power output end of the internal wrist drive motor, and the lower end is fixed to the second active bevel gear of the wrist.

[0023] Optionally, the wrist rope differential drive assembly also includes a wrist external line transmission shaft, a first wrist external drive line, a second wrist external drive line and a wrist external line wheel, wherein the wrist external line transmission shaft is transmission-connected to the wrist external drive motor; the wrist external line wheel is fixedly mounted on the upper end of the wrist external drive shaft; the first end of the first wrist external drive line is fixedly mounted on the wrist external line transmission shaft and is wound around the outer wall surface of the wrist external line transmission shaft in a clockwise direction, and the second end is fixedly mounted on the wrist external line wheel and is wound around the outer wall surface of the wrist external line wheel in a clockwise direction; the first end of the second wrist external drive line is fixedly mounted on the wrist external line transmission shaft and is wound around the outer wall surface of the wrist external line transmission shaft in a counterclockwise direction, and the second end is fixedly mounted on the wrist external line wheel and is wound around the outer wall surface of the wrist external line wheel in a counterclockwise direction;

[0024] The wrist rope differential drive assembly also includes a wrist inner wire transmission shaft, a first wrist inner drive wire, a second wrist inner drive wire and a wrist inner wire wheel, wherein the wrist inner wire transmission shaft is transmission-connected to the wrist inner drive motor; the wrist inner wire wheel is fixedly mounted at the upper end of the wrist inner drive shaft; the first end of the first wrist inner drive wire is fixedly mounted on the wrist inner wire transmission shaft and is wound around the outer wall surface of the wrist inner wire transmission shaft in a clockwise direction, and the second end is fixedly mounted on the wrist inner wire wheel and is wound around the outer wall surface of the wrist inner wire wheel in a clockwise direction; the first end of the second wrist inner drive wire is fixedly mounted on the wrist inner wire transmission shaft and is wound around the outer wall surface of the wrist inner wire transmission shaft in a counterclockwise direction, and the second end is fixedly mounted on the wrist inner wire wheel and is wound around the outer wall surface of the wrist inner wire wheel in a counterclockwise direction.

[0025] Optionally, the axis direction of the wrist external drive motor is perpendicular to the axis direction of the wrist external drive shaft; the wrist rope differential drive assembly also includes a first wrist external guide wheel and a second wrist external guide wheel respectively pivoted to the wrist fixed bracket, the axis directions of the first wrist external guide wheel and the second wrist external guide wheel are perpendicular to the axis direction of the wrist external drive shaft, the first wrist external drive wire is wound around a part of the outer wall surface of the first wrist external guide wheel; the second wrist external drive wire is wound around a part of the outer wall surface of the second wrist external guide wheel;

[0026] The axial direction of the wrist inner drive motor is perpendicular to the axial direction of the wrist inner drive shaft; the wrist rope differential drive assembly also includes a first wrist inner guide wheel and a second wrist inner guide wheel respectively pivoted to the wrist fixed bracket, and the axial directions of the first wrist inner guide wheel and the second wrist inner guide wheel are both perpendicular to the axial direction of the wrist inner drive shaft, the first wrist inner drive wire is wound around a portion of the outer wall surface of the first wrist inner guide wheel, and the second wrist inner drive wire is wound around a portion of the outer wall surface of the second wrist inner guide wheel.

[0027] Optionally, the wrist rotating bracket is fixedly provided with a wrist rotating shaft, and the first wrist driven bevel gear and the second wrist driven bevel gear are respectively pivotally connected to the wrist rotating shaft;

[0028] Alternatively, the wrist rotating bracket is pivotally connected to a wrist rotating shaft, and the first wrist driven bevel gear and the second wrist driven bevel gear are respectively fixed to the wrist rotating shaft.

[0029] Optionally, the wrist rotating bracket is fixed with a wrist rotating shaft, and the wrist rotating shaft is a T-shaped wrist rotating shaft, and the T-shaped wrist rotating shaft includes a wrist transverse axis and a wrist vertical axis, and the wrist vertical axis is vertically connected to the wrist transverse axis, and the upper end of the wrist vertical axis is pivoted to the inner wall surface of the driving shaft in the wrist, the first driven bevel gear of the wrist is pivoted to the first end of the wrist transverse axis, and the second driven bevel gear of the wrist is pivoted to the second end of the wrist transverse axis;

[0030] And / or, the wrist external drive motor and the wrist internal drive motor are respectively installed at the first end of the upper arm; the elbow structure includes an elbow joint, the elbow joint includes an elbow first rope pulley, an elbow second rope pulley and an elbow connecting frame, the first end of the elbow connecting frame is pivoted to the second end of the upper arm, the second end of the elbow connecting frame is pivoted to the second end of the forearm, the elbow first rope pulley is pivoted to the first end of the elbow connecting frame, and the elbow second rope pulley is pivoted to the second end of the elbow connecting frame; the elbow first rope pulley has an elbow first The second rope wheel of the elbow has a second rope groove of the elbow; the first outer driving wire of the wrist and the first inner driving wire of the wrist are respectively wound around the first rope groove of the elbow and the second rope groove of the elbow in an "S" shape in a clockwise direction; the second outer driving wire of the wrist and the second inner driving wire of the wrist are respectively wound around the first rope groove of the elbow and the second rope groove of the elbow in an "S" shape in a counterclockwise direction; wherein the first outer driving wire of the wrist, the second outer driving wire of the wrist, the first inner driving wire of the wrist and the second inner driving wire of the wrist are staggered and arranged at intervals.

[0031] Optionally, the middle part of the wrist transverse axis has a connecting portion; the wrist deflection bracket includes a wrist deflection plate and a wrist connecting side plate, the wrist deflection plate is pivotally connected to the wrist rotation bracket, the wrist connecting side plates have and are relatively spaced, the upper ends of the wrist connecting side plates are fixed to the wrist deflection plate, and the lower ends of the wrist connecting side plates are fixed to the connecting portion; a gear accommodating space is formed between the wrist deflection plate and the wrist connecting side plate, for accommodating the first active bevel gear of the wrist and the second active bevel gear of the wrist; the first driven bevel gear of the wrist and the second driven bevel gear of the wrist are respectively fixed to the wrist connecting side plates;

[0032] And / or, the elbow structure also includes an elbow rope drive assembly, which includes an elbow drive motor, an elbow rope transmission shaft, a first elbow drive rope, a second elbow drive rope and an elbow guide wheel, the elbow drive motor is installed at the first end of the upper arm, the elbow rope transmission shaft is transmission-connected to the elbow drive motor, and the elbow rope transmission shaft has a spiral groove; the elbow guide wheel is pivotally connected to the upper arm and is located at one end of the first elbow rope wheel away from the second elbow rope wheel; the first end of the first elbow drive rope is fixed and wound around the elbow rope transmission shaft in a clockwise direction the spiral groove of the shaft; the first drive rope of the elbow is wound around the elbow guide wheel and the first rope sheave of the elbow in an "S" shape along the clockwise direction, the second end of the first drive rope of the elbow is fixedly arranged on the second rope sheave of the elbow, and the first rope sheave of the elbow and the second rope sheave of the elbow are both located on the same side of the first drive rope of the elbow; the second drive rope of the elbow is wound around the elbow guide wheel and the first rope sheave of the elbow in an "S" shape along the counterclockwise direction, the second end of the second drive rope of the elbow is fixedly arranged on the second rope sheave of the elbow, and the first rope sheave of the elbow and the second rope sheave of the elbow are both located on the same side of the second drive rope of the elbow.

[0033] Optionally, the elbow rope drive assembly also includes a first elbow linkage rope and a second elbow linkage rope, and the first elbow linkage rope and the second elbow linkage rope are respectively wound around the first elbow rope wheel and the second elbow rope wheel in an "S" shape in opposite directions, and the first end of the first elbow linkage rope and the first end of the second elbow linkage rope are fixed to one of the first elbow rope wheel and the second elbow rope wheel, and the second ends of the first elbow linkage rope and the second elbow linkage rope are fixed to the other of the first elbow rope wheel and the second elbow rope wheel.

[0034] The present invention provides a mechanical arm, which has at least the following beneficial technical effects:

[0035] First, the shoulder differential assembly and the rope drive assembly are both installed on the support body and are far away from the shoulder joint, which can reduce the weight of the shoulder joint, thereby reducing the inertia of the shoulder joint, making the robot arm more stable during movement, improving the accuracy and stability of the robot arm movement, enabling the robot arm to quickly respond to control commands, and reducing the impact on surrounding personnel when the robot arm is powered off, thereby improving the safety of human-machine interaction;

[0036] Secondly, the wrist adopts a combination of wrist rope differential drive and wrist rotation drive, which can reduce the structural size of the wrist, thereby increasing the range of motion of the end manipulator and increasing the flexibility of the robotic arm. The wrist rope differential drive assembly is set away from the wrist joint, which can reduce the weight of the wrist joint, thereby reducing the inertia of the wrist joint, making the end manipulator more stable during movement, and improving the accuracy and stability of the end mechanical axis movement;

[0037] Thirdly, the shoulder joint and wrist joint each have three degrees of freedom and are capable of flexible movement.

[0038] The present invention also provides a dual-arm robot, characterized in that it comprises the robotic arm described in any one of claims 1 to 14, wherein there are two robotic arms, which are respectively located on both sides of the supporting body along the left-right direction.

[0039] The dual-arm robot provided by the present invention has at least the following beneficial technical effects:

[0040] The dual-arm robot has two of the above-mentioned robotic arms. Accordingly, the dual-arm robot has all the advantages of the above-mentioned robotic arms, which will not be described one by one here. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A schematic diagram of an assembly structure of a mechanical arm provided by an embodiment of the present invention;

[0042] Figure 2 A partially enlarged structural schematic diagram of a shoulder structure in a robotic arm provided by an embodiment of the present invention;

[0043] FIG. 3( a ) and FIG. 3( b ) are transmission principle diagrams of a shoulder differential assembly in a mechanical arm provided in an embodiment of the present invention;

[0044] Figure 4 A schematic diagram of the front view of a shoulder structure in a robotic arm provided by an embodiment of the present invention;

[0045] Figure 5 A schematic diagram of a top view of a shoulder structure in a robotic arm provided by an embodiment of the present invention;

[0046] Figure 6 for Figure 5 Schematic diagram of the AA section structure;

[0047] Figure 7 A schematic diagram of an axonometric structure of a shoulder structure in a mechanical arm provided by an embodiment of the present invention;

[0048] Figure 8 A schematic diagram of a local structure of a shoulder joint in a robotic arm provided by an embodiment of the present invention;

[0049] Fig. 9 for Figure 2 A schematic diagram of the partially enlarged structure of the circled portion at D in the middle;

[0050] Fig.10 A schematic diagram of the left-side structure of a shoulder joint in a robotic arm provided by an embodiment of the present invention;

[0051] Fig.11 for Fig.10 Schematic diagram of the structure of the middle BB section;

[0052] Fig.12 for Fig.10 Schematic diagram of the CC cross-section structure;

[0053] Fig.13 A schematic diagram of the three-dimensional structure of a wrist structure in a robotic arm provided by an embodiment of the present invention;

[0054] FIG. 14( a ) and FIG. 14( b ) are transmission principles of a wrist differential assembly in a robotic arm provided by an embodiment of the present invention. Figure 1 ;

[0055] FIG. 15( a ) and FIG. 15( b ) are transmission principles of a wrist differential assembly in a robotic arm provided by an embodiment of the present invention. Figure 2 ;

[0056] Fig.16 A schematic diagram of a top view of a wrist structure in a robotic arm provided by an embodiment of the present invention;

[0057] Fig.17 for Fig.16 Schematic diagram of the FF cross-section structure;

[0058] Fig.18 A schematic diagram of the structure of a mechanical arm provided by an embodiment of the present invention;

[0059] Fig.19 A schematic diagram of winding of each driving rope and each linkage rope in a mechanical arm provided by an embodiment of the present invention;

[0060] Fig. 20 for Fig.13 A schematic diagram of the partially enlarged structure of the circled portion at E in the middle;

[0061] Fig.21 A schematic diagram of the partial structure of a first external drive line of a wrist in a robotic arm provided by an embodiment of the present invention;

[0062] Fig. 22 A schematic diagram of a portion of the structure of a wrist rope differential drive assembly in a robotic arm provided by an embodiment of the present invention;

[0063] Fig.23 for Fig.18 A schematic diagram of the partially enlarged structure of the circled part at G in the middle;

[0064] Fig.24 A schematic diagram of the structure of an elbow joint in a robotic arm provided by an embodiment of the present invention;

[0065] Fig.25 A schematic diagram of the local structure of a pre-tightening block in an elbow joint in a mechanical arm provided by an embodiment of the present invention;

[0066] Fig.26 for Fig.25 Schematic diagram of the KK section structure;

[0067] Fig. 27 A schematic diagram of a partially exploded structure of an elbow joint in a robotic arm provided by an embodiment of the present invention Figure 1 ;

[0068] Fig.28 A schematic diagram of a partially exploded structure of an elbow joint in a robotic arm provided by an embodiment of the present invention Figure 2 ;

[0069] Fig.29 A schematic diagram of the assembly structure of a dual-arm robot provided in an embodiment of the present invention.

[0070] Description of reference numerals:

[0071] 1. Robotic arm; 2. Dual-arm robot;

[0072] 10. Support the main body;

[0073] 20. Shoulder structure; 210. Shoulder differential assembly; 220. Shoulder driven bevel gear assembly; 221. Shoulder first driven bevel gear; 222. Shoulder planetary bevel gear; 223. Shoulder planetary bracket; 230. Shoulder differential drive assembly; 231. Shoulder differential motor; 232. Shoulder differential motor mounting seat; 2321. Shoulder motor mounting plate; 2322. Shoulder bevel gear mounting plate; 233. Shoulder active bevel gear; 234. Shoulder vertical shaft; 235. Shoulder second driven bevel gear; 240. Shoulder rope drive assembly; 241. Shoulder rope drive motor; 242. Shoulder rope drive mounting seat; 243. Shoulder rope transmission shaft ; 244, first rope of shoulder; 245, second rope of shoulder; 246, rope pulley of shoulder; 2461, first rope groove of shoulder; 2462, second rope groove of shoulder; 2463, flat part; 247, rope transmission support seat of shoulder; 2471, first rope joint of shoulder; 2472, second rope joint of shoulder; 250, shoulder joint; 260, rotating seat of shoulder; 261, vertical plate of shoulder; 2611, third rope joint of shoulder; 2612, fourth rope joint of shoulder; 262, connecting plate of shoulder; 270, adapter seat of shoulder; 271, adapter plate of shoulder; 272, lateral plate of shoulder; 2711, third rope groove of shoulder; 2712, fourth rope groove of shoulder;

[0074] 30. Upper arm;

[0075] 40. Elbow structure; 401. Rope head; 410. Elbow joint; 420. First rope wheel of elbow; 421. First rope wheel one of elbow; 422. First rope wheel two of elbow; 423. First rope wheel three of elbow; 424. First rope wheel four of elbow; 425. First rope wheel five of elbow; 426. First groove; 427. First boss; 430. Second rope wheel of elbow; 431. Second rope wheel one of elbow; 432. Second rope wheel two of elbow; 433. Second rope wheel three of elbow; 434. Second rope wheel four of elbow; 435. Second rope wheel five of elbow; 436. Second groove; 437. Second boss; 440. Elbow connecting frame; 450. Elbow rope drive assembly; 451. Elbow drive motor ; 452, elbow rope transmission shaft; 453, elbow first drive rope; 454, elbow second drive rope; 455, elbow guide wheel; 456, elbow first linkage rope; 457, elbow second linkage rope; 460, pressure block; 461, crimping part; 462, first connecting part; 463, first linkage rope through rope hole; 464, second linkage rope through rope hole; 465, first limiting hole; 466, second limiting hole; 470, rope pre-tightening block; 471, pre-tightening part; 472, second connecting part; 473, rope pre-tightening hole; 4731, first linkage rope pre-tightening hole; 4732, second linkage rope pre-tightening hole; 4733, first drive rope pre-tightening hole; 4734, second drive rope pre-tightening hole;

[0076] 50. Forearm;

[0077] 60. Wrist structure; 610. Wrist fixing bracket; 611. Wrist supporting horizontal plate; 612. Wrist supporting side plate; 613. First outer guide wheel of wrist; 614. Second outer guide wheel of wrist; 615. First inner guide wheel of wrist; 616. Second inner guide wheel of wrist; 617. Wrist wheel support; 620. Wrist rope differential assembly; 630. Wrist rope differential drive assembly; 631. First active bevel gear of wrist; 632. Second active bevel gear of wrist; 633. Wrist outer drive shaft; 634. Wrist inner drive shaft; 635. Wrist outer drive motor; 636. Wrist inner drive motor; 637. Wrist outer line transmission shaft; 638. First outer drive line of wrist; 638 1. External line connector; 639, second external drive line of wrist; 640, external line wheel of wrist; 6401, external pre-tightening hole; 641, internal line transmission shaft of wrist; 642, first internal drive line of wrist; 643, second internal drive line of wrist; 644, internal line wheel of wrist; 6441, internal pre-tightening hole; 650, driven bevel gear of wrist; 651, first driven bevel gear of wrist; 652, second driven bevel gear of wrist; 660, wrist rotation drive assembly; 670, wrist joint; 671, wrist rotation bracket; 672, wrist deflection bracket; 6721, wrist deflection plate; 6722, wrist connecting side plate; 673, wrist rotation axis; 6731, wrist horizontal axis; 6732, wrist vertical axis;

[0078] 70. End manipulator;

[0079] 80. Base;

[0080] 90. Pillar;

[0081] 100. Walking component. DETAILED DESCRIPTION

[0082] In order to make the above-mentioned objects, features and advantages of the present invention more clearly understood, the following Figure 1-29 The specific embodiments of the present invention are described in detail.

[0083] In the present invention, the terms "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure.

[0084] In the present invention, terms such as "inside", "outside", "upper", and "lower" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0085] Please refer to Figure 4 As shown, the front, rear, left, right, top, and bottom directions are defined with the shoulder structure 20 as a reference. Among them, the height direction of the shoulder is the up-down direction, which is the Y direction shown in the figure, and correspondingly, the length direction of the shoulder is the left-right direction, which is the X direction shown in the figure, and the thickness direction of the shoulder is the front-back direction, which is the Z direction shown in the figure.

[0086] The embodiment of the present invention provides a mechanical arm, see the attached Figure 1 The mechanical arm includes a supporting body 10, a shoulder structure 20, a large arm 30, an elbow structure 40, a small arm 50 and a wrist structure 60 which are connected in sequence; the shoulder structure 20 includes a shoulder differential assembly 210, a shoulder rope drive assembly 240 and a shoulder joint 250, the shoulder differential assembly 210 and the rope drive assembly are both installed on the supporting body 10, the shoulder joint 250 has three degrees of freedom, the shoulder joint 250 includes a shoulder rotating seat 260 and a shoulder adapter seat 270, the shoulder rotating seat 260 is fixedly arranged at the power output end of the shoulder differential assembly 210, the shoulder adapter seat 270 is pivotally connected to the shoulder rotating seat 260, fixedly arranged at the first end of the large arm 30 and transmission-connected to the power output end of the shoulder rope drive assembly 240; the wrist The structure 60 includes a wrist fixed bracket 610, a wrist rope differential assembly 620, a wrist rotation drive assembly 660 and a wrist joint 670. The wrist fixed bracket 610 is fixed to the first end of the forearm 50. The wrist rope differential assembly 620 is installed on the upper arm 30 or the forearm 50. The wrist joint 670 has three degrees of freedom. The wrist joint 670 includes a wrist rotation bracket 671 and a wrist deflection bracket 672. The wrist rotation bracket 671 is pivotally connected to the wrist fixed bracket 610. The wrist deflection bracket 672 is transmission-connected to the power output end of the wrist rope differential assembly 620 and is pivotally connected to the wrist rotation bracket 671. The wrist rotation drive assembly 660 is fixed to the wrist deflection bracket 672, and is used for transmission connection to the end manipulator 70.

[0087] The working principle of a robotic arm provided by an embodiment of the present invention is as follows: the shoulder differential assembly 210 is transmission-connected to the shoulder rotating seat 260, and is used to drive the shoulder rotating seat 260 to perform pitch motion around a transverse axis extending in the left-right direction, and / or, to drive the shoulder rotating seat 260 to perform deflection motion around a vertical axis extending in the up-down direction; the shoulder rope drive assembly 240 is transmission-connected to the shoulder adapter seat 270, and is used to drive the shoulder adapter seat 270 to perform rotational motion relative to the shoulder rotating seat 260 around a longitudinal axis extending in the front-back direction; the wrist rope differential assembly 620 is transmission-connected to the wrist deflection bracket 672, and is used to drive the wrist deflection bracket 672 to achieve pitch motion around the transverse axis and / or deflection motion around the vertical axis; and the wrist rotation drive assembly 660 is installed on the wrist deflection bracket 672, and is used to drive the end manipulator 70 to deflect around the vertical axis.

[0088] A robotic arm provided by an embodiment of the present invention, in the first aspect, a shoulder differential assembly 210 and a rope drive assembly are both installed on a support body 10 and arranged away from a shoulder joint 250, which can reduce the weight of the shoulder joint 250, thereby reducing the inertia of the shoulder joint 250, making the robotic arm more stable during movement, improving the accuracy and stability of the robotic arm movement, enabling the robotic arm to quickly respond to control instructions, and making the robotic arm less impactful on surrounding personnel in the event of a power outage, thereby improving the safety of human-machine interaction; in the second aspect, a wrist structure 60 adopts a combination of a wrist rope differential drive and a wrist rotation drive, which can reduce the structural size of the wrist, thereby increasing the range of motion of an end manipulator 70 and increasing the flexibility of the robotic arm, and setting the wrist rope differential drive assembly 630 away from a wrist joint 670, which can reduce the weight of the wrist joint 670, thereby reducing the inertia of the wrist joint 670, making the end manipulator 70 more stable during movement, and improving the accuracy and stability of the end mechanical axis movement; in the third aspect, the shoulder joint 250 and the wrist joint 670 respectively have three degrees of freedom and have flexible movement capabilities.

[0089] Please see attached Figure 2In the embodiment of the present invention, the shoulder differential assembly 210 includes a shoulder driven bevel gear assembly 220 and a shoulder differential drive assembly 230; the shoulder driven bevel gear assembly 220 includes a shoulder first driven bevel gear 221, a shoulder planetary bevel gear 222 and a shoulder planetary bracket 223, the shoulder first driven bevel gear 221 has two vertical axes extending in the up-down direction and are rotatably arranged, the shoulder planetary bevel gears 222 are respectively meshed with the two shoulder first driven bevel gears 221, and the shoulder rotating seat 260 is fixed to the shoulder planetary bevel gears 222; the shoulder planetary gears 222 are respectively meshed with the two shoulder first driven bevel gears 221, and the shoulder rotating seat 260 is fixed to the shoulder planetary bevel gears 222; The bracket 223 is a U-shaped structure, the side wall of the shoulder planetary bracket 223 is pivotally connected to the first driven bevel gear 221 of the shoulder, the bottom wall of the shoulder planetary bracket 223 is pivotally connected to a transverse shaft, and the shoulder planetary bevel gear 222 is fixed on the transverse shaft; the shoulder differential drive assembly 230 has 2 groups and its power output ends are respectively connected to the first driven bevel gear 221 of the shoulder, and are configured to: drive the shoulder rotating seat 260 to pitch around a transverse axis extending in the left and right directions, and / or, to drive the shoulder rotating seat 260 to deflect around a vertical axis extending in the up and down directions. Specifically, the shoulder differential drive assembly 230 drives the shoulder planetary bevel gear 222 to move in the opposite direction and at the same speed through the shoulder first driven bevel gear 221, and the shoulder planetary bevel gear 222 drives the shoulder rotating seat 260 to rotate around the transverse axis to realize the pitch movement of the shoulder rotating seat 260, wherein the reverse in the reverse and same speed movement refers to: from the direction from the small end of the shoulder planetary bevel gear 222 to the large end, the shoulder planetary bevel gear 222 is driven by the corresponding shoulder first driven bevel gear 221. The direction or rotation trend direction, as shown by the arrow a in Figure 3 (a), the shoulder planetary bevel gear 222 rotates in the clockwise direction and counterclockwise direction respectively; the shoulder differential drive assembly 230 drives the shoulder planetary bevel gear 222 to move in the same direction and at the same speed through two shoulder first driven bevel gears 221, and the shoulder planetary bevel gear 2 22 drives the shoulder rotating seat 260 to rotate around the vertical axis to realize the deflection movement of the shoulder rotating seat 260, wherein the same-direction movement in the same-direction and same-speed movement refers to: looking from the direction from the small end of the shoulder planetary bevel gear 222 to the large end, the rotation direction or rotation trend direction of the shoulder planetary bevel gear 222 under the driving action of the corresponding shoulder first driven bevel gear 221 is as shown by the direction of arrow b in Figure 3 (b), and the shoulder planetary bevel gears 222 rotate in the clockwise direction or in the counterclockwise direction; when the shoulder differential drive assembly 230 drives the shoulder planetary bevel gears 222 to move at different speeds through two shoulder first driven bevel gears 221, the shoulder planetary bevel gears 222 drive the shoulder rotating seat 260 to rotate around the longitudinal axis and the vertical axis at the same time, that is, the pitch and deflection movement of the shoulder rotating seat 260 is realized at the same time.With such an arrangement, the pitch movement and / or yaw movement of the shoulder rotating seat 260 is realized through the bevel gear differential transmission to the shoulder rotating seat 260; since the tooth line of the bevel gear is a curve, at least two teeth are engaged at the same time, which reduces the impact and makes the pitch movement and / or yaw movement of the shoulder joint 250 smoother and with less noise; the bevel gear differential transmission has a compact structure and saves space, thereby reducing the size of the shoulder joint 250; in addition, the bevel gear differential transmission has a good load-bearing capacity and can withstand a large load.

[0090] Please see attached Figure 2 , Figure 4 , Figure 6 and Figure 7In the embodiment of the present invention, the shoulder differential drive assembly 230 has two groups, each of which includes a shoulder differential motor 231, a shoulder differential motor mounting seat 232, a shoulder active bevel gear 233, a shoulder vertical shaft 234 and a shoulder second driven bevel gear 235; the shoulder differential motor mounting seat 232 includes a shoulder differential motor mounting plate 2321 and a shoulder bevel gear mounting plate 2322, the shoulder differential motor mounting plate 2321 is fixedly arranged on the support body 10, and the shoulder differential motor The machine 231 is installed on the shoulder differential motor mounting plate 2321; the shoulder driving bevel gear 233 is transmission-connected to the shoulder differential motor 231, and the shoulder second driven bevel gear 235 is meshed with the shoulder driving bevel gear 233; the shoulder bevel gear mounting plate 2322 is vertically fixed to the shoulder differential motor mounting plate 2321, the shoulder vertical shaft 234 is pivotally connected to the shoulder bevel gear mounting plate 2322, and the shoulder second driven bevel gear 235 and the shoulder first driven bevel gear 221 are both fixed to the shoulder vertical shaft 234. In this arrangement, if the two shoulder differential motors 231 move in the same direction and at the same speed, they will respectively drive the shoulder planetary bevel gear 222 to move in the same direction and at the same speed through the shoulder active bevel gear 233, the shoulder second driven bevel gear 235 and the shoulder first driven bevel gear 221, that is, the shoulder planetary bevel gear 222 is driven to drive the shoulder rotating seat 260 to rotate around its own transverse axis, thereby realizing the flexion or extension of the shoulder joint 250, that is, the pitching movement of the shoulder joint 250, wherein the same direction movement in the above-mentioned same direction and same speed movement refers to: looking from the direction from the small end of the shoulder planetary bevel gear 222 to the large end, the rotation direction or rotation trend direction of the shoulder planetary bevel gear 222 under the driving action of the corresponding shoulder first driven bevel gear 221 is the direction shown by the arrow b in Figure 3 (b), and the shoulder planetary bevel gear 222 rotates in the clockwise direction or in the counterclockwise direction; if the two shoulder differential motors 231 move in the opposite direction The shoulder planetary bevel gear 222 is driven to move in the opposite direction at the same speed through the shoulder active bevel gear 233, the shoulder second driven bevel gear 235 and the shoulder first driven bevel gear 221 respectively, so that the shoulder planetary bevel gear 222 is locked to the two shoulder first driven bevel gears 221, and the shoulder planetary bevel gear 222 is driven to drive the shoulder rotating seat 260 to revolve around the vertical axis of the shoulder first driven bevel gear 221, thereby realizing the internal rotation or external rotation of the shoulder joint 250, that is, the deflection movement of the shoulder joint 250, wherein the reverse movement in the reverse same speed movement refers to: from the direction from the small end of the shoulder planetary bevel gear 222 to the large end, the rotation direction or rotation trend of the shoulder planetary bevel gear 222 under the driving action of the corresponding shoulder first driven bevel gear 221, as shown by the direction of arrow a in Figure 3 (a), the shoulder planetary bevel gear 222 rotates in the clockwise direction or counterclockwise direction respectively.

[0091] In the embodiment of the present invention, the shoulder differential motor 231 may be a disc motor, a flange shaft is fixedly provided at the power output end of the disc motor, and the shoulder driving bevel gear 233 is fixedly provided on the flange shaft.

[0092] Please see attached Figure 4 , Figure 6-Figure 9 In the embodiment of the present invention, the shoulder rope drive assembly 240 includes a shoulder rope drive motor 241, a shoulder rope drive mounting seat 242, a shoulder rope transmission shaft 243, a shoulder first rope 244, a shoulder second rope 245 and a shoulder rope pulley 246. The shoulder rope drive mounting seat 242 is fixed on the support body 10, the shoulder rope drive motor 241 is installed on the shoulder rope drive mounting seat 242, the shoulder rope transmission shaft 243 is transmission-connected to the shoulder rope drive motor 241, the shoulder rope transmission shaft 243 has a spiral rope groove along its outer wall surface, and the shoulder rope pulley 246 is fixed on the shoulder adapter Seat 270, the shoulder rope pulley 246 has a shoulder first rope groove 2461 and a shoulder second rope groove 2462; the shoulder planetary bevel gear 222 and the shoulder rotating seat 260 both have rope channels; the first end of the shoulder first rope 244 is fixedly arranged in the spiral rope groove and is wound around the spiral rope groove in a clockwise direction, and the second end passes through the rope channel and is wound around the clockwise direction and is fixedly arranged in the shoulder first rope groove 2461; the first end of the shoulder second rope 245 is fixedly arranged in the spiral rope groove and is wound around the spiral rope groove in a counterclockwise direction, and the second end passes through the rope channel and is wound around the counterclockwise direction and is fixedly arranged in the shoulder second rope groove 2462. With such arrangement, on the one hand, the shoulder rope drive motor 241 is controlled to rotate forward or reverse, and the first shoulder rope 244 and the second shoulder rope 245 are controlled to be wound around or released in the spiral rope groove of the shoulder rope transmission shaft 243, so that the first shoulder rope 244 and the second shoulder rope 245 pull the shoulder rope pulley 246 to drive the shoulder adapter seat 270 to rotate relative to the shoulder rotating seat 260 around the longitudinal axis extending in the front-to-back direction, thereby realizing the abduction or adduction of the shoulder joint 250, that is, realizing the rotational movement of the shoulder joint 250.

[0093] Please see attached Figure 6 and Figure 7In the embodiment of the present invention, the shoulder rope driving mounting seat 242 is located above or below the shoulder differential motor mounting seat 232; the shoulder second driven bevel gear 235, the shoulder vertical shaft 234 and the shoulder first driven bevel gear 221 all have rope passages; the second end of the shoulder first rope 244 and the second end of the shoulder second rope 245 respectively pass through the rope passages of the shoulder second driven bevel gear 235, the shoulder vertical shaft 234, the shoulder first driven bevel gear 221, the shoulder planetary bevel gear 222 and the shoulder rotating seat 260. In this way, the shoulder first rope 244 and the shoulder second rope 245 pass through the internal space of the shoulder driven bevel gear assembly 220, and the internal space of the shoulder is reasonably utilized, thereby avoiding increasing the size of the shoulder; in addition, the shoulder first rope 244 and the shoulder second rope 245 can be protected.

[0094] In the embodiment of the present invention, the second shoulder driven bevel gear 235 , the first shoulder driven bevel gear 221 and the shoulder planetary bevel gear 222 all have a hollow portion, and the hollow portion is a rope channel.

[0095] In the embodiment of the present invention, at least two wire holes are provided in the middle of the shoulder vertical shaft 234, which are rope passages for respectively passing the shoulder first rope 244 and the shoulder second rope 245. Specifically, the middle of the shoulder vertical shaft 234 has a partition, and the wire holes are provided in the partition.

[0096] Please see attached Figure 7-Figure 12 In the embodiment of the present invention, the shoulder rope driving mounting seat 242 is fixed with a shoulder rope transmission support seat 247, and the shoulder rope transmission shaft 243 is pivoted to the shoulder rope transmission support seat 247; the shoulder rope transmission support seat 247 is provided with a shoulder first rope joint 2471 and a shoulder second rope joint 2472, and the shoulder first rope joint 2471 and the shoulder second rope joint 2472 are arranged at intervals; the shoulder rotating seat 260 is provided with a shoulder third rope joint 2611 and a shoulder fourth rope joint 2612, and the shoulder third rope joint 2611 and the shoulder fourth rope joint 2612 are arranged at intervals; the shoulder first rope 244 passes through the shoulder first rope joint 2471, the rope channel and the shoulder third rope joint 2611; the shoulder second rope 245 passes through the shoulder second rope joint 2472, the rope channel and the shoulder fourth rope joint 2612. In this way, multiple rope joints provide guidance and support for the shoulder first rope 244 and the shoulder second rope 245.

[0097] In the embodiment of the present invention, the first shoulder rope joint 2471 and the second shoulder rope joint 2472 are respectively threadedly connected to the shoulder rope transmission support seat 247; the third shoulder rope joint 2611 and the fourth shoulder rope joint 2612 are respectively threadedly connected to the transverse axis of the shoulder rotating seat 260.

[0098] Please see attached Figure 7 and Figure 8 In the embodiment of the present invention, the shoulder rotating seat 260 is a U-shaped shoulder rotating seat, which includes a shoulder vertical plate 261 and a shoulder connecting plate 262. The shoulder connecting plates 262 have two and are arranged in parallel and spaced apart. The shoulder connecting plates 262 are fixed to the shoulder vertical plates 261. The shoulder vertical plates 261 are fixed with a transverse shaft, and the end of the transverse shaft is fixed to the shoulder planetary bevel gear 222; the shoulder adapter seat 270 is The U-shaped shoulder adapter seat includes a shoulder adapter plate 271 and a shoulder side plate 272. The shoulder side plates 272 have two and are arranged in parallel and spaced apart. The shoulder side plates 272 are both fixed to the shoulder adapter plate 271, and the shoulder side plates 272 are both pivotally connected to the shoulder connecting plate 262; the shoulder pulley 246 is located between the two shoulder side plates 272, and the shoulder pulley 246 is fixed to the shoulder adapter plate 271.

[0099] Please see attached Figure 9-12 In the embodiment of the present invention, the shoulder rope pulley 246 has a flat portion 2463, the flat portion 2463 is fixed to the shoulder adapter plate 271, and the flat portion 2463 has a shoulder first rope groove 2461 and a shoulder second rope groove 2462; the shoulder adapter plate 271 has a shoulder third rope groove 2711 and a shoulder fourth rope groove 2712 on one side facing the flat portion 2463; the space enclosed by the shoulder first rope groove 2461 and the shoulder third rope groove 2711 is used to accommodate the shoulder rope. The space enclosed by the first rope 244, the second shoulder rope groove 2462 and the fourth shoulder rope groove 2712 is used to accommodate the second shoulder rope 245; a fastener is threadedly connected to one of the shoulder adapter plate 271 and the flat portion 2463, and the fastener is configured to: limit the movement of the first shoulder rope 244 along the length direction of the third shoulder rope groove 2711; and limit the movement of the second shoulder rope 245 along the length direction of the fourth shoulder rope groove 2712. Such a configuration facilitates the fixing of the shoulder rope wheel 246 and the shoulder adapter plate 271, and facilitates the fixing of the first shoulder rope 244 and the second shoulder rope 245.

[0100] Please see attached Fig.13In the embodiment of the present invention, the wrist rope differential assembly 620 includes a wrist rope differential drive assembly 630 and a wrist driven bevel gear 650, the wrist rope differential drive assembly 630 includes a wrist first active bevel gear 631 and a wrist second active bevel gear 632, both of which are pivotally connected to the wrist fixed bracket 610; the wrist driven bevel gear 650 is fixed to the wrist deflection bracket 672, and the wrist driven bevel gear 650 is transmission-connected to the wrist first active bevel gear 631 and the wrist second active bevel gear 632.With such arrangement, as shown in FIG. 14( a) and FIG. 15( a), if the wrist first active bevel gear 631 and the wrist second active bevel gear 632 drive the wrist driven bevel gear 650 to move in the same direction and at the same speed, the wrist driven bevel gear 650 will drive the wrist deflection bracket 672 to move around the vertical axis of the wrist fixed bracket 610, that is, the wrist deflection bracket 672 is deflected relative to the wrist fixed bracket 610, wherein the same direction movement in the above-mentioned same direction and same speed movement refers to: when viewed from the direction from the small end of the wrist driven bevel gear 650 to the large end, the wrist driven bevel gear 650 moves in the direction from the small end of the wrist driven bevel gear 631 to the large end of the wrist driven bevel gear 650. The rotation direction or rotation trend direction under the driving action of the second active bevel gear 632 is the direction indicated by the arrow a in FIG. 14( a) and the directions indicated by the arrow a and arrow b in FIG. 15( a). The wrist driven bevel gear 650 rotates in the clockwise direction or in the counterclockwise direction. As shown in FIG. 14( b) and FIG. 15( b), if the wrist first active bevel gear 631 and the second active bevel gear 632 drive the wrist driven bevel gear 650 to move in opposite directions at the same speed, the wrist driven bevel gear 650 drives the wrist deflection bracket 672 to rotate around the transverse axis, that is, the wrist deflection bracket 672 is rotated relative to the wrist fixed bracket 610. Pitching motion, wherein the reverse motion in the reverse same speed motion refers to: from the direction from the small end of the wrist driven bevel gear 650 to the large end, the rotation direction or rotation trend direction of the wrist driven bevel gear 650 under the driving action of the corresponding active bevel gear is as shown by the arrow a in FIG14(b), and the directions shown by the arrows a and b in FIG15(b), the wrist driven bevel gear 650 rotates in the clockwise direction and the counterclockwise direction respectively; if the wrist first active bevel gear 631 and the wrist second active bevel gear 632 drive the wrist driven bevel gear 650 to move at different speeds, the wrist driven bevel gear 650 will drive the wrist The deflection bracket 672 moves around the vertical axis of the wrist fixed bracket 610, and at the same time drives the wrist deflection bracket 672 to rotate around the transverse axis, that is, the wrist deflection bracket 672 deflects and pitches relative to the wrist fixed bracket 610; it can be seen that the wrist driven bevel gear 650 is driven by the wrist first active bevel gear 631 and the wrist second active bevel gear 632 of the wrist rope differential drive assembly 630 to realize rotation in two directions relative to the vertical axis and the transverse axis, thereby driving the wrist deflection bracket 672 to deflect relative to the vertical axis of the wrist fixed bracket 610 and pitch around the transverse axis.

[0101] Please see attached Fig.13 and Fig.17In the embodiment of the present invention, the wrist driven bevel gear 650 includes a first wrist driven bevel gear 651 and a second wrist driven bevel gear 652, and the first wrist driven bevel gear 651 and the second wrist driven bevel gear 652 are fixed to the wrist deflection bracket 672; the wrist rope differential drive assembly 630 includes a wrist outer drive shaft 633 and a wrist inner drive shaft 634, and the wrist outer drive shaft 633 is pivotally connected to the wrist fixed bracket 610, and the upper end of the wrist outer drive shaft 633 is transmitted It is dynamically connected to an external wrist drive motor 635, and its lower end is fixed to the first active bevel gear 631 of the wrist; the internal wrist drive shaft 634 is pivotally connected to the wrist fixed bracket 610, the internal wrist drive shaft 634 is passed through the external wrist drive shaft 633 and the upper end of the internal wrist drive shaft 634 protrudes from the upper end of the external wrist drive shaft 633, the upper end of the internal wrist drive shaft 634 is transmission-connected to the power output end of the internal wrist drive motor 636, and the lower end is fixed to the second active bevel gear 632 of the wrist. With such arrangement, the wrist external drive motor 635 transmits power to the first driven bevel gear 651 of the wrist via the wrist external drive shaft 633 and the first active bevel gear 631 of the wrist, and the wrist internal drive motor 636 transmits power to the second driven bevel gear 652 of the wrist via the wrist internal drive shaft 634 and the second active bevel gear 632 of the wrist; as shown in FIG15(a), if the wrist external drive motor 635 and the wrist internal drive motor 636 move in the same direction and at the same speed, the first driven bevel gear 651 of the wrist and the second driven bevel gear 652 of the wrist are driven to move in the same direction and at the same speed via the first active bevel gear 631 of the wrist and the second active bevel gear 632 of the wrist, the wrist deflection bracket 672 is locked to the wrist rotation bracket 671, and the first driven bevel gear 651 of the wrist and the second driven bevel gear 652 of the wrist are driven The wrist deflection bracket 672 rotates around the vertical axis of the wrist fixed bracket 610, that is, the wrist deflection bracket 672 performs a deflection motion relative to the wrist fixed bracket 610, wherein the same-direction motion in the same-direction and same-speed motion refers to: the direction from the small end of the first wrist driven bevel gear 651 to the large end and the direction from the small end of the second wrist driven bevel gear 652 to the large end, the rotation direction or rotation trend direction of the first wrist driven bevel gear 651 and the second wrist driven bevel gear 652 under the driving action of the corresponding first wrist driving bevel gear 631 and the second wrist driving bevel gear 632, as shown by the directions of arrows a and b in FIG. 15(a), the first wrist driven bevel gear 651 and the second wrist driven bevel gear 652 both rotate in the clockwise direction or in the counterclockwise direction;As shown in Figure 15(b), if the wrist external drive motor 635 and the wrist internal drive motor 636 move in opposite directions at the same speed, the wrist first active bevel gear 631 and the wrist second active bevel gear 632 drive the wrist first driven bevel gear 651 and the wrist second driven bevel gear 652 to move in opposite directions at the same speed, and the wrist first driven bevel gear 651 and the wrist second driven bevel gear 652 drive the wrist deflection bracket 672 to rotate around the transverse axis, that is, the wrist deflection bracket 672 is made to pitch relative to the wrist fixed bracket 610, wherein the reverse movement in the reverse and same speed movement refers to: the direction from the small end of the wrist first driven bevel gear 651 to the large end and the direction from the small end of the wrist second driven bevel gear 652 to the large end, and the wrist first driven bevel gear 651 and the wrist second driven bevel gear 652 are at the corresponding wrist first active bevel gear 631 and wrist second active bevel gear 632. The rotation direction or rotation tendency direction under the driving action of the active bevel gear 632 is as shown by arrows a and b in FIG. 15( b ), one of the wrist first driven bevel gear 651 and the wrist second driven bevel gear 652 moves in the clockwise direction, and the other moves in the counterclockwise direction; if the wrist external drive motor 635 and the wrist internal drive motor 636 move at different speeds, the wrist first active bevel gear 631 and the wrist second active bevel gear 632 respectively drive the wrist first driven bevel gear 651 and the wrist second driven bevel gear 652 to move at different speeds, and the wrist first driven bevel gear 651 and the wrist second driven bevel gear 652 drive the wrist deflection bracket 672 to move around the vertical axis and around the transverse axis at the same time, that is, the wrist deflection bracket 672 is deflected and pitched relative to the wrist fixed bracket 610. ;

[0102] Please see attached Fig.17 and Fig.18 In the embodiment of the present invention, the wrist rope differential drive assembly 630 also includes a wrist external line transmission shaft 637, a wrist first external drive line 638, a wrist second external drive line 639 and a wrist external line wheel 640. The wrist external line transmission shaft 637 is connected to the wrist external drive motor 635 in a transmission manner; the wrist external line wheel 640 is fixedly arranged at the upper end of the wrist external drive shaft 633; ​​the first end of the wrist first external drive line 638 is fixedly arranged at the wrist external line transmission shaft 637 and ... line transmission shaft 637 and is connected to the wrist external line transmission shaft 637 and is connected to the The first end of the wrist second external drive line 639 is fixed to the wrist external line transmission shaft 637 and is wound around the outer wall of the wrist external line transmission shaft 637 in a clockwise direction, and the second end is fixed to the wrist external line wheel 640 and is wound around the outer wall of the wrist external line wheel 640 in a clockwise direction; the first end of the wrist second external drive line 639 is fixed to the wrist external line transmission shaft 637 and is wound around the outer wall of the wrist external line transmission shaft 637 in a counterclockwise direction, and the second end is fixed to the wrist external line wheel 640 and is wound around the outer wall of the wrist external line wheel 640 in a counterclockwise direction;

[0103] The wrist rope differential drive assembly 630 also includes a wrist inner line transmission shaft 641, a wrist first inner drive line 642, a wrist second inner drive line 643 and a wrist inner line wheel 644. The wrist inner line transmission shaft 641 is connected to the wrist inner drive motor 636; the wrist inner line wheel 644 is fixed to the upper end of the wrist inner drive shaft 634; the first end of the wrist first inner drive line 642 is fixed to the wrist inner line transmission shaft 641 and rotates in a clockwise direction. It is wound around the outer wall surface of the wrist inner wire transmission shaft 641, and the second end is fixedly mounted on the wrist inner wire wheel 644 and wound around the outer wall surface of the wrist inner wire wheel 644 in a clockwise direction; the first end of the wrist second inner driving wire 643 is fixedly mounted on the wrist inner wire transmission shaft 641 and wound around the outer wall surface of the wrist inner wire transmission shaft 641 in a counterclockwise direction, and the second end is fixedly mounted on the wrist inner wire wheel 644 and wound around the outer wall surface of the wrist inner wire wheel 644 in a counterclockwise direction. With such arrangement, on the one hand, by the forward or reverse rotation of the wrist external drive motor 635, the first wrist external drive wire 638 and the second wrist external drive wire 639 are controlled to be wound around or released on the wrist external wire transmission shaft 637 and the wrist external wire wheel 640, so that the first wrist external drive wire 638 and the second wrist external drive wire 639 pull the wrist external wire wheel 640 to drive the wrist external drive shaft 633 to rotate, and then the wrist external drive shaft 633 drives the first wrist active bevel gear 631 to rotate; by the forward or reverse rotation of the wrist internal drive motor 636, the first wrist internal drive wire 642 and the second wrist internal drive wire 643 are controlled to be wound around or released on the wrist internal wire transmission shaft 641 and the wrist internal wire wheel 644, so that the first wrist internal drive wire 642 and the second wrist internal drive wire 643 drive the wrist internal drive shaft 634 to rotate, and then the wrist internal drive shaft 634 drives the second active bevel gear 632 of the wrist to rotate; that is, the rotation of the first active bevel gear 631 and the second active bevel gear 632 of the wrist is realized through linear drive, and then the driven bevel gear 650 of the wrist is driven to rotate, so as to realize the single-direction or two-direction freedom of the wrist joint 670; on the other hand, through linear drive, the external drive motor 635 of the wrist and the internal drive motor 636 of the wrist can be arranged on the upper arm 30 or the lower arm 50 away from the wrist, so as to reduce the mass of the wrist and thus reduce the inertia of the wrist, so that the end manipulator 70 is more stable during the movement, and the accuracy and stability of the movement of the end manipulator 70 are improved; so that the end manipulator 70 has a smaller inertia during the movement and can respond quickly to control instructions; in addition, the structural size of the wrist can be reduced, so that the structure of the wrist is compact.

[0104] See attached Figure 17-Figure 19In the embodiment of the present invention, the axis direction of the wrist external drive motor 635 is perpendicular to the axis direction of the wrist external drive shaft 633; ​​the wrist rope differential drive assembly 630 also includes a wrist first external guide wheel 613 and a wrist second external guide wheel 614 respectively pivotally connected to the wrist fixed bracket 610, the axis directions of the first wrist external guide wheel 613 and the second wrist external guide wheel 614 are perpendicular to the axis direction of the wrist external drive shaft 633, the first wrist external drive line 638 is wound around a part of the outer wall surface of the first wrist external guide wheel 613; the second wrist external drive line 639 is wound around a part of the outer wall surface of the second wrist external guide wheel 614;

[0105] The axial direction of the internal wrist drive motor 636 is perpendicular to the axial direction of the internal wrist drive shaft 634; the wrist rope differential drive assembly 630 also includes a first wrist inner guide wheel 615 and a second wrist inner guide wheel 616 respectively pivoted to the wrist fixed bracket 610, and the axial directions of the first wrist inner guide wheel 615 and the second wrist inner guide wheel 616 are both perpendicular to the axial direction of the internal wrist drive shaft 634, the first wrist inner drive line 642 is wound around a portion of the outer wall surface of the first wrist inner guide wheel 615, and the second wrist inner drive line 643 is wound around a portion of the outer wall surface of the second wrist inner guide wheel 616. Such a configuration is used to change the directions of the first outer wrist drive line 638, the second outer wrist drive line 639, the first inner wrist drive line 642 and the second inner wrist drive line 643, that is, the first outer wrist drive line 638 and the second outer wrist drive line 639 wound on the wrist outer line wheel 640 can be wound around the wrist outer line transmission shaft 637 via the first outer wrist guide wheel 613 and the second outer wrist guide wheel 614 respectively; the second inner wrist drive line 643 and the second inner wrist drive line 643 wound on the wrist inner line wheel 644 can be wound around the wrist inner line transmission shaft 641 via the first inner wrist guide wheel 615 and the second inner wrist guide wheel 616 respectively.

[0106] See attached Fig.13 and Fig.19 In the embodiment of the present invention, the wrist fixing bracket 610 is a U-shaped structure, and the wrist fixing bracket 610 includes a wrist supporting horizontal plate 611 and a wrist supporting side plate 612. The wrist supporting side plates 612 have two parallel and spaced fixed on the wrist supporting horizontal plate 611, and the wrist rotating bracket 671 is pivotally connected to the wrist supporting horizontal plate 611; the first outer wrist guide wheel 613 and the second outer wrist guide wheel 614 are both pivotally connected to the wrist supporting side plate 612; the first inner wrist guide wheel 615 and the second inner wrist guide wheel 616 are both pivotally connected to the wrist supporting side plate 612.

[0107] See attached Fig.19In the embodiment of the present invention, the wrist supporting side plate 612 has a plurality of wrist wheel supports 617 arranged at intervals, and the wrist wheel supports 617 protrude from the inner surface of the wrist supporting side plate 612 in a direction close to the wrist outer line wheel 640, and the first wrist outer guide wheel 613, the second wrist outer guide wheel 614, the first wrist inner guide wheel 615 and the second wrist inner guide wheel 616 are respectively pivotally connected to the corresponding wrist wheel supports 617.

[0108] See attached Fig.18 and Fig.19 In the embodiment of the present invention, the wrist outer wire transmission shaft 637 has a first wrist outer wire groove, and the first ends of the wrist first outer driving wire 638 and the wrist second outer driving wire 639 are respectively wound and fixed in the wrist first outer wire groove; the outer wall surface of the wrist outer wire wheel 640 has a wrist second outer wire groove, and the second ends of the wrist first outer driving wire 638 and the wrist second outer driving wire 639 are respectively wound and fixed in the wrist second outer wire groove; the wrist inner wire transmission shaft 641 has a wrist first inner wire groove, and the first ends of the wrist first inner driving wire 642 and the wrist second inner driving wire 643 are respectively wound and fixed in the wrist first inner wire groove; the outer wall surface of the wrist inner wire wheel 644 has a wrist second inner wire groove, and the second ends of the wrist first inner driving wire 642 and the wrist second inner driving wire 643 are respectively wound and fixed in the wrist second inner wire groove. With such an arrangement, the first outer wire groove of the wrist, the second outer wire groove of the wrist, the first inner wire groove of the wrist and the second inner wire groove of the wrist, the first outer driving wire 638 of the wrist, the second outer driving wire 639 of the wrist, the first inner driving wire 642 of the wrist and the second inner driving wire 643 of the wrist can be neatly arranged respectively, thereby reducing the friction between adjacent driving wires, thereby alleviating wear and extending the service life of each driving wire.

[0109] See attached Fig. 20 and Fig.21 In the embodiment of the present invention, the second ends of the first wrist external drive line 638 and the second wrist external drive line 639 are both provided with an external line connector 6381; the upper end surface and the lower end surface of the wrist external line wheel 640 are both recessed to form an external pre-tightening hole 6401, and the external pre-tightening hole 6401 is connected to the second wrist external line groove; the external line connector 6381 and the external pre-tightening hole 6401 are provided with a limiting portion, and the limiting portion is used to limit the movement of the external line connector 6381 along the circumferential direction of the external pre-tightening hole 6401; the external line connector 6381 is threadedly connected with a fastener, and the fastener can abut against the end surface of the external pre-tightening hole 6401, and is configured as follows: tightening the fastener drives the external line connector 6381 to move along the axial direction of the external pre-tightening hole 6401 to tension the first wrist external drive line 638 and / or the second wrist external drive line 639;

[0110] The second ends of the first inner driving line 642 of the wrist and the second inner driving line 643 of the wrist are both provided with inner wire joints, and the structures of the inner wire joints and the outer wire joints 6381 are the same; the upper end surface and the lower end surface of the inner wire wheel 644 of the wrist are both recessed to form an inner pre-tightening hole 6441, and the inner pre-tightening hole 6441 is connected to the second inner wire groove of the wrist; the inner wire joint and the inner pre-tightening hole 6441 are provided with a limiting portion, and the limiting portion is used to limit the movement of the inner wire joint along the circumferential direction of the inner pre-tightening hole 6441; the inner wire joint is threadedly connected with a fastener, and the fastener can abut against the end surface of the inner pre-tightening hole 6441, and is configured as follows: tightening the fastener drives the inner wire joint to move along the axial direction of the inner pre-tightening hole 6441 to tension the first inner driving line 642 of the wrist and / or the second inner driving line 643 of the wrist. With such a configuration, the operator adjusts the depth of the fastener screwed into the outer wire connector 6381 by tightening the fastener, and the fastener drives the outer wire connector 6381 to move along the axial direction of the outer pre-tightening hole 6401, and adjusts the contact length between the outer wire connector 6381 and the outer pre-tightening hole 6401, thereby respectively pre-tightening the first outer driving wire 638 of the wrist and the second outer driving wire 639 of the wrist; and adjusts the depth of the fastener screwed into the inner wire connector, and the fastener drives the inner wire connector to move along the axial direction of the inner pre-tightening hole 6441, and adjusts the contact length between the inner wire connector and the inner pre-tightening hole 6441, thereby respectively pre-tightening the first inner driving wire 642 of the wrist and the second inner driving wire 643 of the wrist.

[0111] Please see attached Fig. 20 In the embodiment of the present invention, the cross-sectional shape of the outer wall of the external wire connector 6381 can be various. Specifically, the cross-sectional shape of the outer wall of the external wire connector 6381 can be a triangle, a quadrilateral, a pentagon, a hexagon, a convex shape or a concave shape. Please refer to the accompanying drawings. The cross-sectional shape of the outer wall of the external wire connector 6381 is a hexagon. It should be noted that the cross-sectional shape of the outer wall of the mating section of the external pre-tightening hole 6401 matches that of the outer wall of the external wire connector 6381. In this way, the cross-sectional shape of the outer wall of the external wire connector 6381 and the outer pre-tightening hole 6401 is a polygon, thereby forming a limit portion to limit the movement of the external wire connector 6381 along the circumferential direction of the external pre-tightening hole 6401.

[0112] In the embodiment of the present invention, the cross-sectional shape of the outer wall of the inner wire joint can be various, specifically, the cross-sectional shape of the outer wall of the inner wire joint can be a triangle, a quadrilateral, a pentagon, a hexagon, a convex shape or a concave shape. It should be noted that the cross-sectional shape of the outer wall of the inner pre-tightening hole 6441 matches the cross-sectional shape of the outer wall of the matching section of the inner wire joint. In this way, the cross-sectional shape of the outer wall of the inner wire joint and the inner pre-tightening hole 6441 is a polygon, thereby forming a limit portion to limit the movement of the inner wire joint along the circumferential direction of the inner pre-tightening hole 6441.

[0113] In the embodiment of the present invention, the wrist shaft 673 and the first wrist driven bevel gear 651 and the second wrist driven bevel gear 652 can be connected in various ways, as follows:

[0114] Please see attached Fig.17 In the first case, the wrist rotating bracket 671 is fixed with a wrist rotating shaft 673, and the first wrist driven bevel gear 651 and the second wrist driven bevel gear 652 are pivotally connected to the wrist rotating shaft 673 respectively.

[0115] In the second case, the wrist rotating bracket 671 is pivotally connected to the wrist rotating shaft 673 , and the first wrist driven bevel gear 651 and the second wrist driven bevel gear 652 are respectively fixed to the wrist rotating shaft 673 .

[0116] In the embodiment of the present invention, for the first situation mentioned above, please refer to the attached Fig.17 The wrist rotating bracket 671 is fixed with a wrist rotating shaft 673, and the wrist rotating shaft 673 is a T-shaped wrist rotating shaft. The T-shaped wrist rotating shaft includes a wrist horizontal axis 6731 and a wrist vertical axis 6732. The wrist vertical axis 6732 is vertically connected to the wrist horizontal axis 6731, and the upper end of the wrist vertical axis 6732 is pivoted to the inner wall surface of the wrist inner driving shaft 634, the wrist first driven bevel gear 651 is pivoted to the first end of the wrist horizontal axis 6731, and the wrist second driven bevel gear 652 is pivoted to the second end of the wrist horizontal axis 6731.

[0117] Please see attached Fig.13 In the embodiment of the present invention, the middle part of the wrist transverse axis 6731 has a connecting part; the wrist deflection bracket 672 includes a wrist deflection plate 6721 and a wrist connecting side plate 6722, the wrist deflection plate 6721 is pivotally connected to the wrist rotating bracket 671, the wrist connecting side plate 6722 has a plurality of relatively spaced apart arrangements, the upper ends of the wrist connecting side plates 6722 are fixedly arranged on the wrist deflection plate 6721, and the lower ends of the wrist connecting side plates 6722 are fixedly arranged on the connecting part; a gear accommodating space is formed between the wrist deflection plate 6721 and the wrist connecting side plates 6722, for accommodating the first active bevel gear 631 of the wrist and the second active bevel gear 632 of the wrist; the first driven bevel gear 651 of the wrist and the second driven bevel gear 652 of the wrist are respectively fixedly arranged on the wrist connecting side plates 6722. Such an arrangement improves the stability of the connection between the wrist deflection bracket 672 and the wrist rotating shaft 673.

[0118] Please see attached Fig.18 and Fig.19In the embodiment of the present invention, the wrist external drive motor 635 and the wrist internal drive motor 636 are respectively installed at the first end of the upper arm 30; the elbow structure 40 includes an elbow joint 410, and the elbow joint 410 includes an elbow first rope wheel 420, an elbow second rope wheel 430 and an elbow connecting frame 440, the first end of the elbow connecting frame 440 is pivoted to the second end of the upper arm 30, the second end of the elbow connecting frame 440 is pivoted to the second end of the forearm 50, the first elbow rope wheel 420 is pivoted to the first end of the elbow connecting frame 440, and the second elbow rope wheel 430 is pivoted to the second end of the elbow connecting frame 440; the elbow The first rope wheel 420 has a first rope groove at the elbow, and the second rope wheel 430 at the elbow has a second rope groove at the elbow; the first outer driving line 638 at the wrist and the first inner driving line 642 at the wrist are respectively wound around the first rope groove and the second rope groove at the elbow in an "S" shape in a clockwise direction; the second outer driving line 639 at the wrist and the second inner driving line 643 at the wrist are respectively wound around the first rope groove and the second rope groove at the elbow in an "S" shape in a counterclockwise direction; wherein the first outer driving line 638 at the wrist, the second outer driving line 639 at the wrist, the first inner driving line 642 at the wrist and the second inner driving line 643 at the wrist are staggered and arranged at intervals. With such arrangement, the elbow connecting frame 440 ensures that the center distance between the first elbow rope pulley 420 and the second elbow rope pulley 430 remains unchanged; each wrist driving line is wound in an "S" shape in the elbow first rope groove of the first elbow rope pulley 420 and the elbow second rope groove of the second elbow rope pulley 430. When the angle of the elbow joint 410 changes, the length of each wrist driving line wound around the first elbow rope pulley 420 and the second elbow rope pulley 430 does not change, thereby achieving decoupling of wrist drive.

[0119] See attached Fig.18 and Fig.19In the embodiment of the present invention, the elbow structure 40 also includes an elbow rope drive assembly 450, which includes an elbow drive motor 451, an elbow rope transmission shaft 452, a first elbow drive rope 453, a second elbow drive rope 454 and an elbow guide wheel 455. The elbow drive motor 451 is installed at the first end of the upper arm 30, and the elbow rope transmission shaft 452 is transmission-connected to the elbow drive motor 451. The elbow rope transmission shaft 452 has a spiral groove; the elbow guide wheel 455 is pivotally connected to the upper arm 30 and is located at one end of the first elbow rope wheel 420 away from the second elbow rope wheel 430; the first end of the first elbow drive rope 453 is fixed and wound around the elbow in a clockwise direction. The spiral groove of the rope transmission shaft 452 of the elbow; the first driving rope 453 of the elbow is wound around the elbow guide wheel 455 and the first rope sheave 420 of the elbow in an "S" shape in the clockwise direction, and the second end of the first driving rope 453 of the elbow is fixedly provided on the second rope sheave 430 of the elbow, and the first rope sheave 420 of the elbow and the second rope sheave 430 of the elbow are both located on the same side of the first driving rope 453 of the elbow; the second driving rope 454 of the elbow is wound around the elbow guide wheel 455 and the first rope sheave 420 of the elbow in an "S" shape in the counterclockwise direction, and the second driving rope 454 of the elbow is fixedly provided on the second rope sheave 430 of the elbow, and the first rope sheave 420 of the elbow and the second rope sheave 430 of the elbow are both located on the same side of the second driving rope 454 of the elbow. With such arrangement, on the one hand, the elbow drive motor 451 is installed on the upper arm 30 away from the elbow joint 410 through the elbow rope drive, thereby reducing the weight of the elbow joint 410, thereby reducing the inertia of the elbow joint 410 and improving the accuracy and stability of the robot arm movement; on the other hand, the size of the elbow joint 410 is reduced, and the structure of the elbow joint 410 is compact.

[0120] See attached Fig.19 and Fig.23 In the embodiment of the present invention, the elbow rope drive assembly 450 also includes a first elbow linkage rope 456 and a second elbow linkage rope 457, the first end of the first elbow linkage rope 456 and the first end of the second elbow linkage rope 457 are fixed to one of the first elbow rope wheel 420 and the second elbow rope wheel 430, and the second ends of the first elbow linkage rope 456 and the second elbow linkage rope 457 are fixed to the other of the first elbow rope wheel 420 and the second elbow rope wheel 430; the first elbow linkage rope 456 and the second elbow linkage rope 457 are respectively wound around the first elbow rope wheel 420 and the second elbow rope wheel 430 in an "S" shape in opposite directions, and are configured to limit the pure rolling of one of the first elbow rope wheel 420 and the second elbow rope wheel 430 around the outer wall surface of the other. In this way, the first linkage rope 456 and the second linkage rope 457 of the elbow are wound around the first rope wheel 420 and the second rope wheel 430 of the elbow in an "S" shape, and the tension of the first linkage rope and the second linkage rope ensures the pure rolling of the first rope wheel 420 and the second rope wheel 430 of the elbow.

[0121] See attached Fig.19 and Fig.23 In the embodiment of the present invention, the elbow first rope wheel 420 has multiple and coaxially arranged side by side, and the elbow first rope wheel 420 includes an elbow first rope wheel 1 421, an elbow first rope wheel 2 422, an elbow first rope wheel 3 423, an elbow first rope wheel 4 424 and an elbow first rope wheel 5 425 arranged in sequence, and the elbow first rope wheel 1 421, the elbow first rope wheel 2 422, the elbow first rope wheel 3 423, the elbow first rope wheel 4 424 and the elbow first rope wheel 5 425 are all pivotally connected to the first end of the elbow connecting frame 440;

[0122] The elbow second rope wheel 430 has multiple and coaxially arranged side by side, and the elbow second rope wheel 430 includes an elbow second rope wheel 1 431, an elbow second rope wheel 2 432, an elbow second rope wheel 3 433, an elbow second rope wheel 434 and an elbow second rope wheel 5 435 arranged in sequence, and the elbow second rope wheel 1 431, the elbow second rope wheel 2 432, the elbow second rope wheel 3 433, the elbow second rope wheel 434 and the elbow second rope wheel 5 435 are all pivotally connected to the second end of the elbow connecting frame 440;

[0123] The first outer driving wire 638 of the wrist is wound around the first rope groove of the elbow of the first rope wheel 421 of the elbow and the second rope groove of the elbow of the second rope wheel 431 of the elbow in an "S" shape in the clockwise direction; the second outer driving wire 639 of the wrist is wound around the first rope groove of the elbow of the first rope wheel 422 of the elbow and the second rope groove of the elbow of the second rope wheel 432 of the elbow in an "S" shape in the counterclockwise direction; the first inner driving wire 642 of the wrist is wound around the first rope groove of the elbow of the first rope wheel 425 of the elbow and the second rope groove of the elbow of the second rope wheel 435 of the elbow in an "S" shape in the clockwise direction; the second inner driving wire 643 of the wrist is wound around the first rope groove of the elbow of the first rope wheel 424 of the elbow and the second rope groove of the elbow of the second rope wheel 434 of the elbow in an "S" shape in the counterclockwise direction;

[0124] The first drive rope 453 of the elbow is wound around the elbow guide wheel 455 and the first rope wheel 3 423 of the elbow in an "S" shape in the clockwise direction, and the second end of the first drive rope 453 of the elbow is fixedly arranged on the second rope wheel 3 433 of the elbow, and the first rope wheel 3 423 of the elbow and the second rope wheel 3 433 of the elbow are both located on the same side of the first drive rope 453 of the elbow; the second drive rope 454 of the elbow is wound around the elbow guide wheel 455 and the first rope wheel 3 423 of the elbow in an "S" shape in the counterclockwise direction, and the second end of the second drive rope 454 of the elbow is fixedly arranged on the second rope wheel 3 433 of the elbow, and the first rope wheel 3 423 of the elbow and the second rope wheel 3 433 of the elbow are both located on the same side of the second drive rope 454 of the elbow;

[0125] The first elbow linkage rope 456 and the second elbow linkage rope 457 are respectively wound around the first elbow rope wheel 3 423 and the second elbow rope wheel 3 433 in an "S" shape in opposite directions. The first end of the first elbow linkage rope 456 and the first end of the second elbow linkage rope 457 are fixed to one of the first elbow rope wheel 3 423 and the second elbow rope wheel 3 433, and the second end of the first elbow linkage rope 456 and the second elbow linkage rope 457 are fixed to the other of the first elbow rope wheel 3 423 and the second elbow rope wheel 3 433. In this way, each drive line of the wrist is connected to the corresponding rope wheel, each drive rope of the elbow is connected to the corresponding rope wheel, and each drive line of the wrist and each drive rope of the elbow are staggered and arranged, so as to realize the decoupling of wrist drive and elbow drive at the elbow joint 410.

[0126] Please see attached Fig.23 and Fig.24 In the embodiment of the present invention, the second rope wheel 433 of the elbow is installed with a rope pre-tightening block 470, and the rope pre-tightening block 470 has a plurality of rope pre-tightening holes 473. The second ends of the first linkage rope 456 of the elbow, the second linkage rope 457 of the elbow, the first driving rope 453 of the elbow and the second driving rope 454 of the elbow all have rope heads, and the structure of the rope heads is the same as that of the external pre-tightening hole 6381. The rope heads and the corresponding rope pre-tightening holes 473 have a limiting portion, and the limiting portion is used to limit the movement of the rope heads along the circumferential direction of the rope pre-tightening holes 473; the rope heads are threadedly connected with fasteners, and the fasteners can abut against the end faces of the rope pre-tightening holes 473, and are configured as follows: tightening or loosening the fasteners drives each rope head to move along the axial direction of the corresponding rope pre-tightening holes 473 to respectively tighten or loosen the first linkage rope 456 of the elbow, the second linkage rope 457 of the elbow, the first driving rope 453 of the elbow and the second driving rope 454 of the elbow. With such arrangement, the operator tightens the fastener to adjust the depth of the fastener screwed into the rope head. The fastener drives the rope head to move along the axial direction of the rope pre-tightening hole 473, and adjusts the contact length between the rope head and the rope pre-tightening hole 473, thereby pre-tightening the first linkage rope 456 of the elbow, the second linkage rope 457 of the elbow, the first driving rope 453 of the elbow and the second driving rope 454 of the elbow respectively. The pre-tightening operation is simple.

[0127] Please see attached Fig.23 , Fig.24 and Fig.25In the embodiment of the present invention, specifically, the rope pre-tightening hole 473 includes a first linkage rope pre-tightening hole 4731, a second linkage rope pre-tightening hole 4732, a first drive rope pre-tightening hole 4733, and a second drive rope pre-tightening hole 4734, wherein the first linkage rope pre-tightening hole 4731 and the second linkage rope pre-tightening hole 4732 are arranged in opposite directions; the first drive rope pre-tightening hole 4733 and the second drive rope pre-tightening hole 4734 are arranged in opposite directions; the rope head includes a first linkage rope head, a second linkage rope head, a first drive rope head and a second drive rope head, the first linkage rope head is inserted into the first linkage rope pre-tightening hole 4731, the second linkage rope head is inserted into the second linkage rope pre-tightening hole 4732, the first drive rope head is inserted into the first drive rope pre-tightening hole 4733, and the second drive rope head is inserted into the second drive rope pre-tightening hole 4734.

[0128] In the embodiment of the present invention, the cross-sectional shape of the outer wall of the rope head can be various, specifically, the cross-sectional shape of the outer wall of the rope head can be a triangle, a quadrilateral, a pentagon, a hexagon, a convex shape or a concave shape, that is, the cross-sectional shape of the outer wall of the first linkage rope head, the second linkage rope head, the first driving rope head and the second driving rope head can be a triangle, a quadrilateral, a pentagon, a hexagon, a convex shape or a concave shape. In this way, the cross-sectional shape of the outer wall of the rope head and the rope pre-tightening hole 473 is a polygon, thereby forming a limit portion to limit the movement of the rope head along the circumferential direction of the rope pre-tightening hole 473.

[0129] Please see attached Fig. 27 and Fig.28 In the embodiment of the present invention, the elbow second rope wheel 3 433 has a second groove 436, and the depth direction of the second groove 436 extends radially inwardly of the second rope wheel 3; the pre-tightening block includes a pre-tightening portion 471, the pre-tightening portion 471 is fixedly arranged in the second groove 436, and the rope pre-tightening hole 473 is arranged in the pre-tightening portion 471. Such an arrangement provides space for the installation of the pre-tightening block.

[0130] Please see attached Fig. 27 and Fig.28 In the embodiment of the present invention, the second groove 436 is provided with a second boss 437, the pre-tightening portion 471 is fixedly connected with the second connecting portion 472, and the second connecting portion 472 is fixed to the second boss 437. In this way, the pre-tightening block and the second rope wheel 3 433 of the elbow are fixed.

[0131] Please see attached Fig. 27 and Fig.28In the embodiment of the present invention, a pressure block 460 is installed on the first rope wheel 423 of the elbow, and the pressure block 460 has a first linkage rope through hole 463, a second linkage rope through hole 464, a first limiting hole 465 and a second limiting hole 466. The first end of the first linkage rope 456 of the elbow is inserted into the first linkage rope through hole 463, the first limiting hole 465 is connected to the first linkage rope through hole 463, and the axial direction of the first limiting hole 465 is set at an angle to the axial direction of the first linkage rope through hole 463. A locking fastener is connected to the inner thread of the first limiting hole 465. The configuration is used to limit the movement of the first link rope 456 of the elbow along the axial direction of the first link rope through the rope hole 463; the first end of the second link rope 457 of the elbow is inserted into the second link rope through the rope hole 464, the second limiting hole 466 is connected to the second link rope through the rope hole 464, and the axial direction of the second limiting hole 466 is set at an angle to the axial direction of the second link rope through the rope hole 464, and the second limiting hole 466 is internally threaded with a locking fastener, and is configured to limit the movement of the second link rope 457 of the elbow along the axial direction of the second link rope through the rope hole 464. In this way, the first ends of the first link rope 456 and the second link rope 457 of the elbow are fixed respectively, and the installation is simple; in addition, the structure is simple and easy to manufacture.

[0132] Please see attached Fig. 27 and Fig.28 In the embodiment of the present invention, the elbow first rope wheel 3 423 has a first groove 426, and the depth direction of the first groove 426 extends radially inwardly of the elbow first rope wheel 3 423; the pressing block 460 includes a crimping portion 461, which is crimped to the first groove 426; the first linkage rope passing hole 463, the second linkage rope passing hole 464, the first limiting hole 465 and the second limiting hole 466 are all provided in the crimping portion 461. Such a configuration provides space for the installation of the pressing block 460.

[0133] Please see attached Fig. 27 and Fig.28 In the embodiment of the present invention, a first boss 427 is provided in the first groove 426; the crimping portion 461 is fixedly connected with a first connecting portion 462, and the first connecting portion 462 is fixedly provided on the first boss 427. In this way, the pressing block 460 and the first rope pulley 3 423 of the elbow are fixed.

[0134] Please see attached Fig.29 An embodiment of the present invention further provides a dual-arm robot, including the above-mentioned robotic arm 1, wherein the robotic arm 1 has two arms, which are respectively located on both sides of the supporting body 10 along the left-right direction.

[0135] Please see attached Fig.29In the embodiment of the present invention, the dual-arm robot 2 also includes a base 80, a column 90 and a walking assembly 100. The walking assembly 100 is installed at the bottom of the base 80, the lower end of the column 90 is fixed on the base 80, and the support body 10 is fixed at the upper end of the column 90.

[0136] Please see attached Fig.29 In the embodiment of the present invention, the walking assembly 100 includes a plurality of universal wheels which are arranged at intervals.

[0137] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. A robotic arm, characterized in that: It comprises a supporting body (10), a shoulder structure (20), an upper arm (30), an elbow structure (40), a lower arm (50) and a wrist structure (60) which are connected in sequence; The shoulder structure (20) comprises a shoulder differential assembly (210), a shoulder rope drive assembly (240) and a shoulder joint (250), wherein the shoulder differential assembly (210) and the shoulder rope drive assembly (240) are both mounted on the support body (10), and the shoulder joint (250) has three degrees of freedom, and the shoulder joint (250) comprises a shoulder rotating seat (260) and a shoulder adapter seat (270), wherein the shoulder rotating seat (260) is fixedly mounted on the power output end of the shoulder differential assembly (210), and the shoulder adapter seat (270) is pivotally connected to the shoulder rotating seat (260), fixedly mounted on the first end of the upper arm (30), and transmission-connected to the power output end of the shoulder rope drive assembly (240); The wrist structure (60) comprises a wrist fixing bracket (610), a wrist rope differential assembly (620), a wrist rotation drive assembly (660) and a wrist joint (670), wherein the wrist fixing bracket (610) is fixedly arranged at the first end of the forearm (50), the wrist rope differential assembly (620) is installed at the upper arm (30) or the forearm (50), and the wrist joint (670) has three degrees of freedom, and the wrist joint (670) comprises a wrist The invention relates to a wrist rotating bracket (671) and a wrist deflection bracket (672), wherein the wrist rotating bracket (671) is pivotally connected to the wrist fixed bracket (610), the wrist deflection bracket (672) is transmission-connected to the power output end of the wrist rope differential assembly (620) and is pivotally connected to the wrist rotating bracket (671), and the wrist rotating drive assembly (660) is installed on the wrist deflection bracket (672) for transmission connection to the end manipulator (70).

2. The robotic arm according to claim 1, characterized in that: The shoulder differential assembly (210) comprises a shoulder driven bevel gear assembly (220) and a shoulder differential drive assembly (230); The shoulder driven bevel gear assembly (220) comprises a shoulder first driven bevel gear (221), a shoulder planetary bevel gear (222) and a shoulder planetary bracket (223); the shoulder first driven bevel gear (221) has two vertical axes that are both rotatable around vertically extending axes; the shoulder planetary bevel gears (222) are respectively meshed with the two shoulder first driven bevel gears (221); the shoulder rotating seat (260) is fixedly mounted on the shoulder planetary bevel gears (222); the shoulder planetary bracket (223) is a U-shaped structure; the side wall of the shoulder planetary bracket (223) is pivotally connected to the shoulder first driven bevel gear (221); the bottom wall of the shoulder planetary bracket (223) is pivotally connected to a transverse shaft; the shoulder planetary bevel gear (222) is fixedly mounted on the transverse shaft; The shoulder differential drive assembly (230) has two groups of power output ends which are respectively connected to the shoulder first driven bevel gear (221) in a transmission manner, and is configured to: drive the shoulder rotating seat (260) to perform a pitching motion around a transverse axis extending in the left-right direction, and / or drive the shoulder rotating seat (260) to perform a deflection motion around a vertical axis extending in the up-down direction.

3. The robotic arm according to claim 2, characterized in that: The shoulder differential drive assembly (230) has two groups, each of which comprises a shoulder differential motor (231), a shoulder differential motor mounting seat (232), a shoulder active bevel gear (233), a shoulder vertical shaft (234) and a shoulder second driven bevel gear (235); the shoulder differential motor mounting seat (232) comprises a shoulder differential motor (231) mounting plate and a shoulder bevel gear mounting plate (2322); the shoulder differential motor (231) mounting plate is fixedly arranged on the support body (10); the shoulder differential motor (231) is mounted on the shoulder The shoulder differential motor (231) mounting plate is connected to the shoulder differential motor (231); the shoulder driving bevel gear (233) is drivingly connected to the shoulder differential motor (231), and the shoulder second driven bevel gear (235) is meshed with the shoulder driving bevel gear (233); the shoulder bevel gear mounting plate (2322) is vertically fixed to the shoulder differential motor (231) mounting plate, the shoulder vertical shaft (234) is pivotally connected to the shoulder bevel gear mounting plate (2322), and the shoulder second driven bevel gear (235) and the shoulder first driven bevel gear (221) are both fixed to the shoulder vertical shaft (234).

4. The robotic arm according to claim 3, characterized in that: The shoulder rope drive assembly (240) comprises a shoulder rope drive motor (241), a shoulder rope drive mounting seat (242), a shoulder rope transmission shaft (243), a shoulder first rope (244), a shoulder second rope (245) and a shoulder rope wheel (246); the shoulder rope drive mounting seat (242) is fixedly mounted on the support body (10); the shoulder rope drive motor (241) is mounted on the shoulder rope drive mounting seat (242); the shoulder rope transmission shaft (243) is transmission-connected to the shoulder rope drive motor (241); the shoulder rope transmission shaft (243) has a spiral rope groove along its outer wall surface; the shoulder rope wheel (246) is fixedly mounted on the shoulder adapter seat (270); the shoulder rope wheel (246) has a shoulder first rope groove (2461) and a shoulder second rope groove (2462); The shoulder planetary bevel gear (222) and the shoulder rotating seat (260) both have a rope channel; The first end of the first rope (244) on the shoulder is fixed to the spiral rope groove and is wound around the spiral rope groove in a clockwise direction, and the second end passes through the rope channel and is wound around the clockwise direction and is fixed to the first rope groove (2461) on the shoulder; the first end of the second rope (245) on the shoulder is fixed to the spiral rope groove and is wound around the spiral rope groove in a counterclockwise direction, and the second end passes through the rope channel and is wound around the counterclockwise direction and is fixed to the second rope groove (2462) on the shoulder.

5. The robotic arm according to claim 4, characterized in that: The shoulder rope drive mounting seat (242) is located above or below the shoulder differential motor mounting seat (232); the shoulder second driven bevel gear (235), the shoulder vertical shaft (234) and the shoulder first driven bevel gear (221) all have the rope channel; the second end of the shoulder first rope (244) and the second end of the shoulder second rope (245) respectively pass through the shoulder second driven bevel gear (235), the shoulder vertical shaft (234), the shoulder first driven bevel gear (221), the shoulder planetary bevel gear (222) and the rope channel of the shoulder rotating seat (260); And / or, the shoulder rotating seat (260) is a U-shaped shoulder rotating seat, the U-shaped shoulder rotating seat comprises a shoulder vertical plate (261) and a shoulder connecting plate (262), the shoulder connecting plates (262) have two and are arranged in parallel and spaced apart, the shoulder connecting plates (262) are fixedly mounted on the shoulder vertical plates (261), the shoulder vertical plates (261) are fixedly mounted with the transverse shaft, and the end of the transverse shaft is fixedly mounted on the shoulder planetary bevel gear (222); the shoulder adapter seat (270) is a U-shaped shoulder The U-shaped shoulder adapter seat comprises a shoulder adapter plate (271) and a shoulder side plate (272), the shoulder side plates (272) having two and arranged in parallel and spaced apart, the shoulder side plates (272) are fixedly arranged on the shoulder adapter plate (271), and the shoulder side plates (272) are pivotally connected to the shoulder connecting plate (262); the shoulder rope pulley (246) is located between the two shoulder side plates (272), and the shoulder rope pulley (246) is fixedly arranged on the shoulder adapter plate (271).

6. The robotic arm according to claim 5, characterized in that: The shoulder rope drive mounting seat (242) is fixedly provided with a shoulder rope transmission support seat (247), and the shoulder rope transmission shaft (243) is pivotally connected to the shoulder rope transmission support seat (247); the shoulder rope transmission support seat (247) is provided with a shoulder first rope joint (2471) and a shoulder second rope joint (2472), and the shoulder first rope joint (2471) and the shoulder second rope joint (2472) are arranged at intervals; the shoulder rotating seat (260) is provided with a shoulder third rope joint (2471) and a shoulder third rope joint (2472). A rope joint (2611) and a fourth rope joint (2612) at the shoulder, wherein the third rope joint (2611) at the shoulder and the fourth rope joint (2612) at the shoulder are arranged at intervals; the first rope (244) at the shoulder passes through the first rope joint (2471) at the shoulder, the rope channel and the third rope joint (2611) at the shoulder; the second rope (245) at the shoulder passes through the second rope joint (2472) at the shoulder, the rope channel and the fourth rope joint (2612) at the shoulder; And / or, the shoulder rope pulley (246) has a flat portion (2463), the flat portion (2463) is fixed to the shoulder adapter plate (271), the flat portion (2463) has the shoulder first rope groove (2461) and the shoulder second rope groove (2462); the shoulder adapter plate (271) has a shoulder third rope groove (2711) and a shoulder fourth rope groove (2712) on one side facing the flat portion (2463); the space enclosed by the shoulder first rope groove (2461) and the shoulder third rope groove (2711) is used to accommodate the The space enclosed by the first shoulder rope (244), the second shoulder rope groove (2462) and the fourth shoulder rope groove (2712) is used to accommodate the second shoulder rope (245); one of the shoulder adapter plate (271) and the flat portion (2463) is threadedly connected with a fastener, and the fastener is configured to: limit the movement of the first shoulder rope (244) along the length direction of the third shoulder rope groove (2711); and limit the movement of the second shoulder rope (245) along the length direction of the fourth shoulder rope groove (2712).

7. The robotic arm according to any one of claims 1 to 6, characterized in that: The wrist rope differential assembly (620) comprises a wrist rope differential drive assembly (630) and a wrist driven bevel gear (650), and the wrist rope differential drive assembly (630) comprises a wrist first active bevel gear (631) and a wrist second active bevel gear (632), both of which are pivotally connected to the wrist fixed bracket (610); The wrist driven bevel gear (650) is fixed to the wrist deflection bracket (672), and the wrist driven bevel gear (650) is transmission-connected to the wrist first active bevel gear (631) and the wrist second active bevel gear (632).

8. The robot arm according to claim 7, characterized in that: The wrist driven bevel gear (650) comprises a first wrist driven bevel gear (651) and a second wrist driven bevel gear (652), and the first wrist driven bevel gear (651) and the second wrist driven bevel gear (652) are both fixedly mounted on the wrist deflection bracket (672); The wrist rope differential drive assembly (630) comprises a wrist external drive shaft (633) and a wrist internal drive shaft (634), wherein the wrist external drive shaft (633) is pivotally connected to the wrist fixed bracket (610), the upper end of the wrist external drive shaft (633) is transmission-connected to the wrist external drive motor (635), and the lower end is fixedly arranged on the wrist first active bevel gear (631); the wrist internal drive shaft (634) is pivotally connected to the wrist fixed bracket (610), the wrist internal drive shaft (634) is penetrated by the wrist external drive shaft (633) and the upper end of the wrist internal drive shaft (634) protrudes from the upper end of the wrist external drive shaft (633), the upper end of the wrist internal drive shaft (634) is transmission-connected to the power output end of the wrist internal drive motor (636), and the lower end is fixedly arranged on the wrist second active bevel gear (632).

9. The robot arm according to claim 8, characterized in that: The wrist rope differential drive assembly (630) further comprises a wrist external line transmission shaft (637), a wrist first external drive line (638), a wrist second external drive line (639) and a wrist external line wheel (640), wherein the wrist external line transmission shaft (637) is transmission-connected to the wrist external drive motor (635); the wrist external line wheel (640) is fixedly mounted on the upper end of the wrist external drive shaft (633); the first end of the wrist first external drive line (638) is fixedly mounted on the wrist external line transmission shaft (637) and rotates in a clockwise direction. The first end of the wrist second external drive line (639) is fixedly mounted on the wrist external line transmission shaft (637) and is wound around the outer wall surface of the wrist external line transmission shaft (637) in a clockwise direction, and the second end is fixedly mounted on the wrist external line wheel (640) and is wound around the outer wall surface of the wrist external line wheel (640) in a clockwise direction; the first end of the wrist second external drive line (639) is fixedly mounted on the wrist external line transmission shaft (637) and is wound around the outer wall surface of the wrist external line transmission shaft (637) in a counterclockwise direction, and the second end is fixedly mounted on the wrist external line wheel (640) and is wound around the outer wall surface of the wrist external line wheel (640) in a counterclockwise direction; The wrist rope differential drive assembly (630) further comprises a wrist inner wire transmission shaft (641), a wrist first inner drive wire (642), a wrist second inner drive wire (643) and a wrist inner wire wheel (644); the wrist inner wire transmission shaft (641) is transmission-connected to the wrist inner drive motor (636); the wrist inner wire wheel (644) is fixedly mounted on the upper end of the wrist inner drive shaft (634); the first end of the wrist first inner drive wire (642) is fixedly mounted on the wrist inner wire transmission shaft (641) and rotates in a clockwise direction. The first end of the second inner drive line (643) of the wrist is fixedly arranged on the inner wire transmission shaft (641) of the wrist and is wound around the outer wall surface of the inner wire transmission shaft (641) of the wrist in a clockwise direction, and the second end is fixedly arranged on the inner wire wheel (644) of the wrist and is wound around the outer wall surface of the inner wire wheel (644) of the wrist in a clockwise direction; the first end of the second inner drive line (643) of the wrist is fixedly arranged on the inner wire transmission shaft (641) of the wrist and is wound around the outer wall surface of the inner wire transmission shaft (641) of the wrist in a counterclockwise direction, and the second end is fixedly arranged on the inner wire wheel (644) of the wrist and is wound around the outer wall surface of the inner wire wheel (644) of the wrist in a counterclockwise direction.

10. The robot arm according to claim 9, characterized in that: The axial direction of the wrist external drive motor (635) is perpendicular to the axial direction of the wrist external drive shaft (633); the wrist rope differential drive assembly (630) further comprises a wrist first external guide wheel (613) and a wrist second external guide wheel (614) respectively pivotally connected to the wrist fixed bracket (610), the axial directions of the first wrist external guide wheel (613) and the second wrist external guide wheel (614) are perpendicular to the axial direction of the wrist external drive shaft (633), the first wrist external drive line (638) is wound around a portion of the outer wall surface of the first wrist external guide wheel (613); the second wrist external drive line (639) is wound around a portion of the outer wall surface of the second wrist external guide wheel (614); The axial direction of the wrist inner drive motor (636) is perpendicular to the axial direction of the wrist inner drive shaft (634); the wrist rope differential drive assembly (630) also includes a first wrist inner guide wheel (615) and a second wrist inner guide wheel (616) respectively pivoted to the wrist fixed bracket (610), and the axial directions of the first wrist inner guide wheel (615) and the second wrist inner guide wheel (616) are both perpendicular to the axial direction of the wrist inner drive shaft (634), the first wrist inner drive line (642) is wound around a portion of the outer wall surface of the first wrist inner guide wheel (615), and the second wrist inner drive line (643) is wound around a portion of the outer wall surface of the second wrist inner guide wheel (616).

11. The robot arm according to claim 8, characterized in that: The wrist rotating bracket (671) is fixedly provided with a wrist rotating shaft (673), and the first wrist driven bevel gear (651) and the second wrist driven bevel gear (652) are respectively pivotally connected to the wrist rotating shaft (673); Alternatively, the wrist rotating bracket (671) is pivotally connected to a wrist rotating shaft (673), and the first wrist driven bevel gear (651) and the second wrist driven bevel gear (652) are respectively fixed to the wrist rotating shaft (673).

12. The robot arm according to claim 8, characterized in that: The wrist rotating bracket (671) is fixedly provided with a wrist rotating shaft (673), and the wrist rotating shaft (673) is a T-shaped wrist rotating shaft, and the T-shaped wrist rotating shaft includes a wrist transverse axis (6731) and a wrist vertical axis, and the wrist vertical axis is vertically connected to the wrist transverse axis (6731), and the upper end of the wrist vertical axis is pivotally connected to the inner wall surface of the wrist inner driving shaft (634), the wrist first driven bevel gear (651) is pivotally connected to the first end of the wrist transverse axis (6731), and the wrist second driven bevel gear (652) is pivotally connected to the second end of the wrist transverse axis (6731); And / or, the wrist external drive motor (635) and the wrist internal drive motor (636) are respectively installed at the first end of the upper arm (30); the elbow structure (40) includes an elbow joint (410), the elbow joint (410) includes an elbow first rope pulley (420), an elbow second rope pulley (430) and an elbow connecting frame (440), the first end of the elbow connecting frame (440) is pivoted to the second end of the upper arm (30), the second end of the elbow connecting frame (440) is pivoted to the second end of the forearm (50), the first elbow rope pulley (420) is pivoted to the first end of the elbow connecting frame (440), and the second elbow rope pulley (430) is pivoted to the second end of the elbow connecting frame (440). The first rope wheel (420) of the elbow has a first rope groove of the elbow, and the second rope wheel (430) of the elbow has a second rope groove of the elbow; the first outer driving wire (638) of the wrist and the first inner driving wire (642) of the wrist are respectively wound around the first rope groove of the elbow and the second rope groove of the elbow in an "S" shape in a clockwise direction; the second outer driving wire (639) of the wrist and the second inner driving wire (643) of the wrist are respectively wound around the first rope groove of the elbow and the second rope groove of the elbow in an "S" shape in a counterclockwise direction; wherein the first outer driving wire (638) of the wrist, the second outer driving wire (639) of the wrist, the first inner driving wire (642) of the wrist and the second inner driving wire (643) of the wrist are arranged at staggered intervals.

13. The robot arm according to claim 12, characterized in that: The middle part of the wrist transverse axis (6731) has a connecting portion; the wrist deflection bracket (672) includes a wrist deflection plate (6721) and a wrist connecting side plate (6722), the wrist deflection plate (6721) is pivotally connected to the wrist rotation bracket (671), the wrist connecting side plate (6722) has a plurality of relatively spaced apart arrangement, the upper ends of the wrist connecting side plates (6722) are fixedly arranged on the wrist deflection plate (6721), the The lower ends of the wrist connecting side plates (6722) are fixedly mounted on the connecting portion; a gear accommodating space is formed between the wrist deflection plate (6721) and the wrist connecting side plates (6722) for accommodating the first active bevel gear (631) of the wrist and the second active bevel gear (632) of the wrist; the first driven bevel gear (651) of the wrist and the second driven bevel gear (652) of the wrist are respectively fixedly mounted on the wrist connecting side plates (6722); And / or, the elbow structure (40) further comprises an elbow rope drive assembly (450), the elbow rope drive assembly (450) comprising an elbow drive motor (451), an elbow rope transmission shaft (452), a first elbow drive rope (453), a second elbow drive rope (454) and an elbow guide wheel (455), the elbow drive motor (451) being mounted on the first end of the upper arm (30), the elbow rope transmission shaft (452) being transmission-connected to the elbow drive motor (451), the elbow rope transmission shaft (452) having a spiral groove; the elbow guide wheel (455) being pivotally connected to the upper arm (30) and being located at one end of the first elbow rope wheel (420) away from the second elbow rope wheel (430); the first end of the first elbow drive rope (453) being fixedly arranged and being wound around the elbow rope transmission shaft (452) in a clockwise direction; The first drive rope (453) of the elbow is wound around the elbow guide wheel (455) and the first rope wheel (420) of the elbow in an "S" shape in a clockwise direction, and the second end of the first drive rope (453) of the elbow is fixedly arranged on the second rope wheel (430) of the elbow, and the first rope wheel (420) of the elbow and the second rope wheel (430) of the elbow are both located on the same side of the first drive rope (453) of the elbow; the second drive rope (454) of the elbow is wound around the elbow guide wheel (455) and the first rope wheel (420) of the elbow in an "S" shape in a counterclockwise direction, and the second drive rope (454) of the elbow is fixedly arranged on the second rope wheel (430) of the elbow, and the first rope wheel (420) of the elbow and the second rope wheel (430) of the elbow are both located on the same side of the second drive rope (454) of the elbow.

14. The robot arm according to claim 13, characterized in that: The elbow rope drive assembly (450) further includes a first elbow linkage rope (456) and a second elbow linkage rope (457), wherein the first end of the first elbow linkage rope (456) and the first end of the second elbow linkage rope (457) are fixedly arranged on one of the first elbow rope wheel (420) and the second elbow rope wheel (430), and the second ends of the first elbow linkage rope (456) and the second elbow linkage rope (457) are fixedly arranged on the other of the first elbow rope wheel (420) and the second elbow rope wheel (430); the first elbow linkage rope (456) and the second elbow linkage rope (457) are respectively wound around the first elbow rope wheel (420) and the second elbow rope wheel (430) in an "S" shape in opposite directions, and are configured to limit the pure rolling of one of the first elbow rope wheel (420) and the second elbow rope wheel (430) around the outer wall surface of the other.

15. A dual-arm robot, characterized in that: It comprises the robotic arm according to any one of claims 1 to 14, wherein there are two robotic arms, which are respectively located on both sides of the supporting body (10) along the left-right direction.

Images