Mechanical arm and robot

Abstract

The utility model relates to a mechanical arm and a robot, the mechanical arm comprises an elbow, a first arm and a lengthening assembly, and the elbow is provided with a driver; one end of the lengthening assembly is connected with the driver, and the other end of the lengthening assembly is connected with the first arm so as to transmit motion between the elbow and the first arm; the lengthening assembly comprises a lengthening arm and a wire passing sleeve, the lengthening arm is arranged in a hollow mode, the wire passing sleeve penetrates through the lengthening arm so that wires can be arranged, a supporting structure is arranged in the lengthening arm, and the supporting structure abuts against at least two different areas of the outer ring circumferential wall of the wire passing sleeve so as to support the wire passing sleeve. The wire passing sleeve is arranged in the extension arm in a penetrating manner and is used for accommodating the wire rod, so that the shaking of the wire rod can be reduced, and the probability of frictional wear between the wire rod and other components is reduced. Furthermore, the supporting structure abuts against the peripheral wall of the outer ring of the wire passing sleeve, so that the wire passing sleeve has a stable relative position in the extension arm, the position stability of the wire is indirectly improved, and the abrasion of the wire is reduced.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robotic arm and a robot. Background Art

[0002] A robot is a device that can be used in various fields such as industrial production, logistics sorting, and clinical medicine to partially or completely replace manual work. Current robots usually include a base, a robotic arm, and an actuator. The robotic arm is roughly cantilevered, and the actuator is located at the end of the robotic arm to perform different functions. For example, the end effector of a sorting robot is used to pick up and place materials, and the end effector of a medical robot is used to carry surgical equipment.

[0003] In traditional technology, the connecting wires of the robot are usually distributed along the robot arm to electrically connect the various components of the robot (for example, to electrically connect the end effector with the main control module). When the current robot is used in different environments or for different objects, there is a need to lengthen the length of the robot arm. However, after lengthening the length of the robot arm, the overall structure of the robot arm will become complicated, and the wires on the robot arm will be prone to shaking and wear. Utility Model Content

[0004] Based on this, it is necessary to provide a robotic arm and a robot to address the problem that the connecting wires are easily worn after the length of the robotic arm is extended.

[0005] A first aspect of the present application provides a robotic arm, comprising an elbow, a first arm and an extension component, wherein the elbow is provided with a driver; one end of the extension component is connected to the driver, and the other end is connected to the first arm, so as to transmit motion between the elbow and the first arm; the extension component comprises an extension arm and a wire sleeve, the extension arm is hollow, the wire sleeve is passed through the extension arm for wire laying, a support structure is provided inside the extension arm, and the support structure abuts against at least two different areas of the outer circumferential wall of the wire sleeve to support the wire sleeve.

[0006] In one embodiment, the support structure includes a plurality of support plates, which are connected to the inner wall of the extension arm and arranged at intervals along the circumferential direction of the extension arm, and a side of each support plate close to the inner circumference is used to abut and support the wire sleeve.

[0007] In one embodiment, a contact surface is provided on one side of the support plate close to the inner circumference, and the contact surface is used to contact the wire sleeve, and the contact surface is an outward convex arc surface and contacts and abuts with the wire sleeve; and / or multiple support plates extend along the axial direction of the extension arm to enclose and form a channel, and the channel is located on the inner circumference of the extension arm relative to each support plate; the radial distance between the two support plates arranged radially opposite to each other is the inner diameter of the channel, and the inner diameters of at least some hole sections of the channel are the same.

[0008] In one embodiment, the support structure also includes a receiving ring, which is located on the inner periphery of the extension arm relative to the support plate, and the receiving ring is connected to the inner circumference of each support plate along the circumferential direction of the extension arm; the receiving ring is provided with a connecting hole for the wire, and the connecting hole connects the inner cavity of the wire sleeve located on both sides of the receiving ring.

[0009] In one embodiment, the driver is provided with a rotating part, and the extension component also includes an adapter plate. The extension arm has a first end and a second end arranged opposite to each other, and the adapter plate is transmission-connected between the first end and the driver. The side of the adapter plate facing the driver is provided with a first adapter groove that is plug-matched with the rotating part; the end of the first arm is provided with a second adapter groove that is plug-matched with the second end, and the first adapter groove and the second adapter groove have the same shape and size; the shape and size of the outer periphery of the rotating part are the same as the shape and size of the second end, so that the second adapter groove can be plug-matched with the rotating part.

[0010] In one embodiment, the driver is provided with a fixed shaft, and the robotic arm also includes a bearing sleeved on the fixed shaft. A first sleeve is provided on the side of the adapter plate facing the driver, and the first sleeve is sleeved on the outer circumference of the bearing; a second sleeve is provided at the end where the first arm is connected to the extension arm, and the second sleeve has the same shape and size as the first sleeve, so that the second sleeve can be adapted to fit the outer circumference of the bearing.

[0011] In one embodiment, the adapter plate is provided with a through hole for the wire sleeve to pass through the extension arm, and the through hole is connected to the first sleeve; and / or the adapter plate is integrated with the extension arm.

[0012] In one of the embodiments, a first opening is provided at the first end, and a positioning boss is protruded from a side of the adapter plate facing the extension arm, and the positioning boss is plugged into the first opening for positioning.

[0013] In one embodiment, there are multiple wire passing sleeves, which are arranged in sequence from beginning to end along the axial direction of the extension arm to accommodate the wire; the driver is a hollow driver, in which one end of one of the wire passing sleeves is passed through the driver, and the other end is passed through the extension component to accommodate the wire extending from the elbow to the first arm.

[0014] A second aspect of the present application also provides a robot, the robot comprising the robotic arm as described above.

[0015] In the above-mentioned robot arm, the two ends of the extension assembly are respectively connected to the first arm and the driver located at the elbow, and transmission can be achieved between the elbow and the first arm, thereby effectively increasing the arm length of the robot and making the robot have a larger working radius. In addition, since the wire sleeve is inserted into the extension arm to accommodate the wire, it can reduce the shaking of the wire and reduce the probability of friction and wear between the wire and other components. Furthermore, the support structure abuts against the outer circumferential wall of the wire sleeve, so that the wire sleeve has a stable relative position in the extension arm, thereby indirectly improving the position stability of the wire and reducing the wear of the wire. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] FIG1 is a schematic diagram of the structure of a robot provided in one embodiment of the present application.

[0017] FIG. 2 is a cross-sectional view of a robotic arm provided in an embodiment of the present application.

[0018] FIG. 3 is an axial schematic diagram of the extended arm of the mechanical arm shown in FIG. 2 .

[0019] FIG. 4 is an axial schematic diagram of the extended arm and the supporting structure of the robot arm shown in FIG. 2 .

[0020] FIG5 is a cross-sectional view of a robotic arm provided in accordance with a second aspect of an embodiment of the present application.

[0021] FIG6 is a cross-sectional view of a robotic arm provided in accordance with a third aspect of an embodiment of the present application.

[0022] FIG7 is a cross-sectional view of a robotic arm provided in accordance with a fourth aspect of an embodiment of the present application.

[0023] Figure numerals: 10, robot; 100, robot arm; 110, elbow; 111, driver; 112, rotating part; 113, fixed axis; 114, second connecting part; 115, housing; 120, first arm; 121, fourth connecting part; 122, second adapter groove; 123, second sleeve; 130, extension assembly; 131, first connecting part; 132, third connecting part; 1310, extension arm; 1311, first end; 1312, second end; 1313, first opening; 1314, support area; 1315, edge area; 1320, wire sleeve; 1321, sleeve body; 1322, connecting plate; 1330, supporting structure; 1331, supporting plate; 1332, abutting surface; 1333, channel; 1335, receiving ring; 1336, connecting hole; 1340, adapter plate; 1341, first adapter groove; 1342, first shaft sleeve; 1343, positioning boss; 140, second arm; 150, bearing; 160, sealing ring; 200, actuator; 300, rotating table; 400, base; S, inner diameter. DETAILED DESCRIPTION

[0024] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0025] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0026] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0027] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0028] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0029] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0030] In traditional technology, a robot usually includes a base, a mechanical arm and an actuator. The mechanical arm is connected between the base and the actuator. The mechanical arm is used to drive the actuator to move relative to the base to each station to achieve the expected function. The robot also includes wires, which are usually inserted into the mechanical arm to electrically connect the various components of the mechanical arm so that the various components of the mechanical arm can cooperate with each other to improve the coordination of the robot's operation. However, when the current robot is in use, there is still a need to lengthen the length of the mechanical arm. Taking the mechanical arm as an example, the mechanical arm includes an upper arm, a forearm and an elbow. The upper arm and the forearm are connected through the elbow. An extension arm can be added at the connection between the elbow and the forearm to increase the length of the forearm to increase the working radius of the robot. For the robot before lengthening, the size of the upper arm, forearm and elbow is relatively short, and the shaking of the wire in the two is relatively small when the robot is operating. For the lengthened robot, on the one hand, because the sum of the size of the forearm and the extension arm is relatively large, the wire located in the forearm and the extension arm is more likely to shake. On the other hand, the extension arm is usually cast, and its inner surface may have rough structures such as burrs and defects, which makes the wire passing through the extension arm prone to wear.

[0031] In order to solve the above problems, the present application proposes a robotic arm, in which a wire sleeve and a support structure are arranged in an extended arm, and the wire sleeve is used to accommodate the wires passing through the extended arm, thereby reducing the shaking and wear of the wires. At the same time, the support structure supports the wire sleeve, and improves the position stability of the wires in the extended arm by improving the position stability of the wire sleeve. With such a configuration, it is possible to reduce the wear on the wires while achieving the extension of the arm length of the robotic arm. The robotic arm provided by the present application and the robot including the robotic arm are described in detail below in conjunction with the specific implementation methods and the drawings in the specification.

[0032] 1 and 2 , a robot arm 100 provided in an embodiment of the present application includes an elbow 110, a first arm 120, and an extension component 130, wherein the extension component 130 is connected between the elbow 110 and the first arm 120 to extend the overall arm length of the robot arm 100. The elbow 110 is provided with a driver 111, which is used to drive the extension component 130 and the first arm 120 to move, so that the robot 10 can assume a desired posture and realize a preset function.

[0033] Further, one end of the extension component 130 is connected to the driver 111, and the other end is connected to the first arm 120 to transmit motion between the elbow 110 and the first arm 120. The extension component 130 includes an extension arm 1310 and a wire sleeve 1320. The extension arm 1310 is hollow, and the wire sleeve 1320 is passed through the extension arm 1310 for wire laying. A support structure 1330 is provided inside the extension arm 1310, and the support structure 1330 abuts against at least two different areas of the outer circumferential wall of the wire sleeve 1320 to support the wire sleeve 1320.

[0034] In the above-mentioned robot arm 100, the two ends of the extension component 130 are respectively connected to the first arm 120 and the driver 111 located at the elbow 110, and transmission can be realized between the elbow 110 and the first arm 120, thereby effectively increasing the arm length of the robot 10 and making the robot 10 have a larger working radius. In addition, since the wire sleeve 1320 is inserted into the extension arm 1310 for accommodating wires, the shaking of the wires can be reduced, and the probability of friction and wear between the wires and other components can be reduced. Further, the support structure 1330 abuts against the outer circumferential wall of the wire sleeve 1320, so that the wire sleeve 1320 has a stable relative position in the extension arm 1310, thereby indirectly improving the position stability of the wires and reducing the wear of the wires. At the same time, the wire sleeve 1320 is provided for accommodating wires, which is also convenient for threading, that is, it is convenient to pass the wires from one end of the extension arm 1310 to the other end.

[0035] Please refer to FIG. 1 . In one embodiment, the robot arm 100 further includes a second arm 140, and the second arm 140 is connected to the first arm 120 through an elbow 110. In some embodiments, the robot 10 may not be provided with an elbow 110, that is, the driver 111 is provided at the end of the second arm 140, and the extension assembly 130 is connected between the second arm 140 and the first arm 120. Of course, in other embodiments, the robot arm 100 may further include components such as a shoulder, a wrist, a third arm, and a fourth arm (not shown in the figure), which will not be described in detail here.

[0036] Please refer to FIG. 3 and FIG. 4. In one embodiment, the support structure 1330 includes a plurality of support plates 1331, which are connected to the inner wall of the extension arm 1310 and arranged at intervals along the circumferential direction of the extension arm 1310. The side of each support plate 1331 close to the inner circumference is used to abut against and support the wire sleeve 1320. Since the plurality of support plates 1331 are arranged at intervals along the circumferential direction of the extension arm 1310 and connected to the inner wall of the extension arm 1310, each support plate 1331 can abut against a plurality of different positions of the wire sleeve 1320 in the circumferential direction to improve the stability of the position of the wire sleeve 1320.

[0037] It is easy to understand that, relative to the circumferentially continuously arranged support structure 1330, the multiple support plates 1331 arranged at intervals abut against the supporting wire sleeve 1320, which can relatively reduce the overall volume size of the extension assembly 130 and reduce the weight of the robot arm 100, thereby reducing the motion load of the robot arm 100.

[0038] Please continue to refer to FIG. 4. In one embodiment, a side of the support plate 1331 close to the inner circumference is provided with a contact surface 1332, and the contact surface 1332 is used to abut the wire sleeve 1320. The contact surface 1332 is an outer convex arc surface and abuts with the wire sleeve 1320 in line contact. In this way, there is a relatively small contact area between the contact surface 1332 and the wire sleeve 1320, and the resistance of the wire sleeve 1320 when it is installed in the extension arm 1310 is smaller, which is convenient for assembly. From another perspective, compared with the support plate 1331 using surface contact to support the wire sleeve 1320, the support plate 1331 and the wire sleeve 1320 in this embodiment use line contact support, which has lower requirements on the surface accuracy of the support plate 1331 and the position accuracy between the support plates 1331, so that the processing difficulty of the extension component 130 can be reduced on the basis of achieving sufficient support, which is convenient for processing and assembly. At the same time, the support plate 1331 adopts line contact to support the wire sleeve 1320, so the structural size of the support plate 1331 can be designed to be smaller, so as to save materials, reduce costs and reduce the movement load of the robot arm 100.

[0039] Please continue to refer to FIG. 4. For the convenience of explanation, the space enclosed by each support plate 1331 for the wire sleeve 1320 to be installed is recorded as a channel 1333. The channel 1333 is located in the inner peripheral area of ​​the extension arm 1310 relative to each support plate 1331. It can be understood that since the support plates 1331 are arranged at intervals, the channel 1333 is not a closed cavity. The channel 1333 is formed by fitting the inner side edges of multiple support plates 1331, and is a columnar space that roughly matches the shape of the wire sleeve 1320. Since the support plate 1331 is in line contact with the wire sleeve 1320, when the robot arm 100 is installed, the wire sleeve 1320 can be easily inserted into the channel 1333 to complete the installation.

[0040] In one embodiment, the abutting surface 1332 may be a smooth curved surface, such as a semi-cylindrical surface, a semi-elliptical cylindrical surface, etc.

[0041] Please continue to refer to Figures 2 and 4. In one embodiment, a plurality of support plates 1331 extend along the axial direction of the extension arm 1310 to enclose and form the above-mentioned channel 1333. The radial distance between the two support plates 1331 facing each other in the radial direction is the inner diameter S of the channel 1333, and the inner diameter S of at least some sections of the channel 1333 is the same. In other words, for the channel 1333 formed by fitting the inner side edges of each support plate 1331, along the axial direction of the channel 1333, at least in a certain area, the inner diameter S of the channel 1333 remains unchanged, so the support plates 1331 in this area can stably support the wire sleeve 1320. As shown in Figure 2, the area where the inner diameter S of the channel 1333 remains unchanged is recorded as the support area 1314.

[0042] Furthermore, for the axial edge region 1315 of the support plate 1331, the dimension of the support plate 1331 protruding from the inner wall of the extension arm 1310 gradually decreases along the axial direction of the extension arm 1310 toward the end of the extension arm 1310. This arrangement allows the two ends of the channel 1333 to expand outward in a trumpet shape, so as to facilitate the insertion of the wire sleeve 1320 into the channel 1333.

[0043] As shown in FIG4 , in one embodiment, the number of support plates 1331 may be 4, and the 4 support plates 1331 are evenly spaced, that is, the angle between any two adjacent support plates 1331 is 90°. At this time, the inner diameter S of the channel 1333 refers to the radial distance between the two support plates 1331 disposed opposite to each other. Of course, the number of support plates 1331 is not limited to 4, and the support plates 1331 may also be set to 2, 3, 5, 6, 7, etc., which can be set according to actual needs and is not limited here.

[0044] In one embodiment, the abutment surface 1332 is not limited to being set as an outward convex arc surface and in line contact with the wire sleeve 1320. In some embodiments, the abutment surface 1332 can also be set as an inward concave arc surface and in surface contact with the wire sleeve 1320. In this case, two support plates 1331 set opposite to each other can be used to stably support the wire sleeve 1320.

[0045] Please refer to Figure 2 again. In one embodiment, the support structure 1330 also includes a receiving ring 1335, which is located on the inner periphery of the extension arm 1310 relative to the support plate 1331, and the receiving ring 1335 is connected to the inner circumferential sides of each support plate 1331 along the circumferential direction of the extension arm 1310 to connect each support plate 1331 together to form a structurally stable whole, thereby improving the supporting effect of the support structure 1330.

[0046] The receiving ring 1335 is provided with a connecting hole 1336 for the wire, and the connecting hole 1336 is connected to the inner cavity of the wire sleeve 1320 located on both sides of the receiving ring 1335. That is, the receiving ring 1335 can also play the role of connecting adjacent wire sleeves 1320 and compensating the length of the wire sleeve 1320 to a certain extent.

[0047] Please refer to FIG. 2 , in one embodiment, both ends of the extension assembly 130 can be connected to the first arm 120 and the elbow 110 respectively by threaded connection. That is, one of the two interconnected parts is provided with a screw or bolt, and the other is provided with a threaded hole, and the screw or bolt is threadedly engaged with the threaded hole to achieve transmission connection.

[0048] Further, referring to FIG. 1 , the extension assembly 130 is provided with a first connection portion 131 and a third connection portion 132, the driver 111 is provided with a second connection portion 114, and the first arm 120 is provided with a fourth connection portion 121. The first connection portion 131 is connected to the second connection portion 114, and the third connection portion 132 is connected to the fourth connection portion 121, so that the extension assembly 130 can be transmission-connected between the elbow 110 and the first arm 120. In addition, the first connection portion 131 and the fourth connection portion 121 have the same structure and size, and the second connection portion 114 and the third connection portion 132 have the same structure and size, that is, the second connection portion 114 can be adaptively connected to the fourth connection portion 121, so after the extension assembly 130 is removed, the first arm 120 can be directly transmission-connected to the elbow 110.

[0049] From another perspective, for the unextended robotic arm 100, it can originally be configured to be connected and cooperated by the second connection part 114 and the fourth connection part 121. The above embodiment sets the two ends of the extension component 130 to be the first connection part 131 and the third connection part 132 respectively, so that the extension component 130 can be installed and disassembled between the elbow 110 and the first arm 120 without obstacles, thereby improving the flexibility of the arm length extension.

[0050] Furthermore, the driver 111 is provided with a rotating part 112, the extension assembly 130 further includes an adapter plate 1340, the extension arm 1310 has a first end 1311 and a second end 1312 disposed opposite to each other, the adapter plate 1340 is transmission-connected between the first end 1311 and the driver 111, and a first adapting groove 1341 is provided on the side of the adapter plate 1340 facing the driver 111, which is plugged with the rotating part 112. A second adapting groove 122 is provided at the end of the first arm 120, which is plugged with the second end 1312, and the first adapting groove 1341 has the same shape and size as the second adapting groove 122. The shape and size of the outer periphery of the rotating part 112 are the same as those of the second end 1312, so that the second adapting groove 122 can be plugged with the rotating part 112. It is understandable that, as a non-extended mechanical arm 100, the first arm 120 may be connected to the rotating portion 112 through the second adapting slot 122, so as to move under the drive of the driver 111. In this embodiment, by setting the first adapting slot 1341 and the second end 1312 to have the above-mentioned shape, the extension component 130 can be installed and disassembled between the elbow 110 and the first arm 120 without obstacles, thereby improving the flexibility of the arm length extension.

[0051] Furthermore, the first adapter groove 1341 and the rotating part 112 are plug-fitted, and the outer periphery of the rotating part 112 can abut the inner circumferential wall of the first adapter groove 1341, thereby increasing the contact area between the extension component 130 and the rotating part 112 and improving the stability of the transmission. In addition, the outer periphery of the rotating part 112 abuts the inner circumferential wall of the first adapter groove 1341, which can also improve the connection strength between the two, so that the robot arm 100 has a stronger ability to resist bending moments. It is easy to understand that since the robot arm 100 is equipped with an extension component 130, its end load is increased. This arrangement in the present embodiment improves the connection strength of the robot arm 100 and reduces the risk of reduced motion accuracy due to excessive load on the robot arm 100. The second adapter groove 122 and the second end 1312 are plug-fitted in the same way, so it will not be repeated.

[0052] Furthermore, the elbow 110 further includes a shell 115 , and the shell 115 is covered outside the driver 111 .

[0053] Please refer to FIG. 2 . In one embodiment, the driver 111 is provided with a fixed shaft 113. The robot arm 100 further includes a bearing 150 sleeved on the fixed shaft 113. A first sleeve 1342 is provided on the side of the adapter plate 1340 facing the driver 111. The first sleeve 1342 is sleeved on the outer periphery of the bearing 150 to improve the stability of the movement of the extension component 130 and the first arm 120. A second sleeve 123 is provided at the end of the first arm 120 connected to the extension arm 1310. The second sleeve 123 has the same shape and size as the first sleeve 1342, so that the second sleeve 123 can fit the outer periphery of the bearing 150. Similar to the above, such a configuration enables the extension component 130 to be installed and disassembled between the elbow 110 and the first arm 120 without obstacles, thereby improving the flexibility of the arm length extension.

[0054] As shown in Fig. 2, the adapter plate 1340 and the extension arm 1310 can be separated, and the two can be detachably connected by threads. Since the adapter plate 1340 is used to connect with the driver 111, the adapter plate 1340 and the extension arm 1310 are separated, which can make the extension arm 1310 have a simpler structure and reduce its casting difficulty.

[0055] Of course, as shown in FIG. 5 , in other embodiments, the adapter plate 1340 and the extension arm 1310 may also be integrated to reduce the number of parts of the robot arm 100 and improve assembly efficiency.

[0056] In one embodiment, the driver 111 may be a reducer, and the rotating part 112 may be a rigid-flexible wheel.

[0057] Please continue to refer to Figure 2. In one embodiment, the first end 1311 is provided with an opening 1313, and a positioning boss 1343 is protruded from the side of the adapter plate 1340 facing the extension arm 1310. The positioning boss 1343 is plugged into the opening 1313 for positioning to improve the stability of the cooperation between the extension arm 1310 and the adapter plate 1340.

[0058] Please continue to refer to FIG. 2. In one embodiment, there are multiple wire sleeves 1320, and the multiple wire sleeves 1320 are arranged in sequence along the axial direction of the extension arm 1310 from head to tail to accommodate wires. For example, two wire sleeves 1320 can be inserted into the extension arm 1310, and the two wire sleeves 1320 are respectively located on both sides of the receiving ring 1335, and maintain a stable position under the support of the support structure 1330. Further, there can be four wire sleeves 1320, two of which are inserted into the extension arm, and the other two are respectively inserted into the driver 111 and the first arm 120. Of course, the wire sleeves 1320 can also be set to other numbers according to the length of the extension arm 1310.

[0059] The driver 111 is a hollow driver 111, wherein one end of a wire sleeve 1320 is passed through the driver 111, and the other end is passed through the extension component 130, so as to accommodate the wire extending from the elbow 110 to the first arm 120. It is easy to understand that since there is relative movement between the driver 111 and the extension component 130, the wire sleeve 1320 is provided in this embodiment to accommodate the wire extending from the driver 111 to the extension structure, which can reduce the probability of wear of the wire under the relative movement. Further, the wire sleeve 1320 can be passed through the fixed shaft 113, and pass through the adapter plate 1340 and extend into the extension arm 1310.

[0060] In one embodiment, the adapter plate 1340 is provided with a through hole (not shown in the figure, the same below) for the wire sleeve 1320 to pass through the extension arm 1310, and the through hole is connected to the first shaft sleeve 1342. In this way, the wire sleeve 1320 can extend from the fixed shaft 113 and pass through the extension arm 1310.

[0061] Please continue to refer to FIG. 2 . In one embodiment, a sealing ring 160 is provided at the end surface where the first arm 120 and the extension arm 1310 cooperate to improve the sealing performance at the cooperation. A sealing ring 160 is also provided at the end surface where the extension arm 1310 and the adapter plate 1340 cooperate to improve the sealing performance at the cooperation. In addition, a sealing ring 160 is also provided at the end surface where the adapter plate 1340 and the rotating part 112 cooperate to improve the sealing performance at the cooperation.

[0062] Please continue to refer to FIG. 2 . In one embodiment, the wire sleeve 1320 includes a sleeve body 1321 and a connecting plate 1322 disposed on the outer periphery of the sleeve body 1321 . For some wire sleeves 1320 that are only partially inserted into the extension arm 1310 and are not supported or insufficiently supported by the support structure 1330 , the connecting plate 1322 can be connected to the extension arm 1310 , the adapter plate 1340 or the first arm 120 , so as to achieve fixation. For example, as shown in FIG. 2 , for the wire sleeve 1320 that is inserted through the adapter plate 1340 , the connecting plate 1322 can be screwed to the adapter plate 1340 to keep it fixed to the extension assembly 130 . For the wire sleeve 1320 that is inserted through the first arm 120 , the connecting plate 1322 can be screwed to the first arm 120 to keep it fixed to the first arm 120 and the extension arm 1310 .

[0063] Furthermore, since the outer periphery of the sleeve body 1321 of the wire sleeve 1320 is provided with a connecting plate 1322, the overall appearance of the wire sleeve 1320 is not a regular sleeve-like structure, so the assembly of the wire sleeve 1320 is briefly described below. For the wire sleeve 1320 that is inserted through the fixed shaft 113, it can be inserted into the fixed shaft 113 from the extension arm 1310 through the perforation, so that the end with the connecting plate 1322 is located in the extension arm 1310. For the wire sleeve 1320 that is inserted through the first arm 120, as shown in FIG6, the wire sleeve 1320 can be first inserted into the extension arm 1310, so that the connecting plate 1322 is connected to the end of the first arm 120 facing the extension arm 1310. Alternatively, as shown in Figure 7, the first arm 120 can be first connected to the extension arm 1310, and then the wire sleeve 1320 can be passed through the end of the front wall and enter the extension arm 1310. At this time, the connecting plate 1322 is connected to the end of the first arm 120 away from the extension arm 1310.

[0064] As shown in FIG1 , an embodiment of the present application further provides a robot 10, which includes a robot arm 100, an actuator 200, a rotating platform 300 and a base 400 as described in the above embodiments, wherein the rotating platform 300 is disposed on the base 400, and the robot arm 100 is disposed on the rotating platform 300, and the rotating platform 300 is used to drive the robot arm 100 to transmit in a circumferential direction. The actuator 200 is disposed at one end of the robot arm 100 away from the rotating platform 300, that is, the actuator 200 is disposed at the end of the robot arm 100, and the robot arm 100 can drive the actuator 200 to move to different positions when it is in different motion postures to achieve different functions.

[0065] Of course, the above embodiment is only a simple example to illustrate the robot 10 having the robotic arm 100 described in the present application. In other embodiments, the robot 10 may also have other structural forms, which will not be described in detail here.

[0066] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0067] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A robotic arm, characterized in that: The robotic arm comprises: an elbow, wherein the elbow is provided with a driver; First arm; An extension component, one end of the extension component is connected to the driver, and the other end is connected to the first arm to transmit movement between the elbow and the first arm; the extension component includes an extension arm and a wire sleeve, the extension arm is hollow, the wire sleeve is passed through the extension arm for wire laying, a support structure is provided inside the extension arm, and the support structure abuts against at least two different areas of the outer circumferential wall of the wire sleeve to support the wire sleeve.

2. The robotic arm according to claim 1, characterized in that: The support structure includes a plurality of support plates, which are connected to the inner wall of the extension arm and arranged at intervals along the circumferential direction of the extension arm, and a side of each support plate close to the inner circumference is used to abut and support the wire sleeve.

3. The robotic arm according to claim 2, characterized in that: A contact surface is provided on one side of the support plate close to the inner circumference, the contact surface is used to contact the wire sleeve, the contact surface is an outer convex arc surface and contacts and contacts the wire sleeve; and / or The plurality of support plates extend axially along the extension arm to enclose a channel, and the channel is located on the inner periphery of the extension arm relative to each support plate; the radial distance between the two support plates arranged radially opposite to each other is the inner diameter of the channel, and the inner diameters of at least some hole sections of the channel are the same.

4. The robotic arm according to claim 2, characterized in that: The support structure also includes a receiving ring, which is located on the inner periphery of the extension arm relative to the support plate, and the receiving ring connects the inner periphery of each support plate along the circumferential direction of the extension arm; the receiving ring is provided with a connecting hole for the wire, and the connecting hole connects the inner cavity of the wire sleeve located on both sides of the receiving ring.

5. The robotic arm according to claim 1, characterized in that: The driver is provided with a rotating part, and the extension component also includes an adapter plate. The extension arm has a first end and a second end arranged opposite to each other, and the adapter plate is transmission-connected between the first end and the driver. The side of the adapter plate facing the driver is provided with a first adapter groove that is plug-matched with the rotating part; the end of the first arm is provided with a second adapter groove that is plug-matched with the second end, and the first adapter groove and the second adapter groove have the same shape and size; the shape and size of the outer periphery of the rotating part are the same as the shape and size of the second end, so that the second adapter groove can be plug-matched with the rotating part.

6. The robotic arm according to claim 5, characterized in that: The driver is provided with a fixed shaft, and the robotic arm also includes a bearing sleeved on the fixed shaft. A first sleeve is provided on the side of the adapter plate facing the driver, and the first sleeve is sleeved on the outer circumference of the bearing; a second sleeve is provided at the end where the first arm is connected to the extension arm, and the second sleeve has the same shape and size as the first sleeve, so that the second sleeve can be adapted to fit the outer circumference of the bearing.

7. The robot arm according to claim 6, characterized in that: The adapter plate is provided with a through hole for the wire sleeve to pass through the extension arm, and the through hole is communicated with the first shaft sleeve; and / or the adapter plate is integrated with the extension arm.

8. The robotic arm according to claim 5, characterized in that: The first end is provided with a first opening, and a positioning boss is protruded from a side of the adapter plate facing the extension arm, and the positioning boss is inserted into the first opening for positioning.

9. The robotic arm according to any one of claims 1 to 8, characterized in that: There are multiple wire passing sleeves, which are arranged in sequence from beginning to end along the axial direction of the extension arm to accommodate the wire; the driver is a hollow driver, one end of one of the wire passing sleeves is passed through the driver, and the other end is passed through the extension component to accommodate the wire extending from the elbow to the first arm.

10. A robot, characterized in that: The robot comprises a robotic arm as claimed in any one of claims 1 to 9.

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