Multiplying robotic arm and robot

Abstract

The application provides a multiplication mechanical arm and a robot, the multiplication mechanical arm comprises a first arm, a second arm and a third arm which are sequentially stacked, a first transmission assembly is arranged between the first arm and the second arm, a second transmission assembly is arranged between the second arm and the third arm, and a motion output end of the first transmission assembly is connected with a motion input end of the second transmission assembly. Under the action of the same driving piece, the second arm moves relative to the first arm, the third arm moves relative to the second arm, and the third arm generates multiplied displacement relative to the first arm, so that greater displacement can be realized under a smaller structural space.

Description

Technical Field

[0001] The present invention belongs to the field of robotics technology, and more particularly, relates to a multiplying robotic arm and a robot. Background Art

[0002] With the continuous development of robotics technology and the continuous improvement of robot functions, users' requirements for robots are also becoming higher and higher. Robots have diverse application scenarios. When the robot's end effector needs to move over long distances, whether it is a belt drive, chain drive, or rack and pinion drive, it takes up a lot of space and is not conducive to the miniaturization of the robot. Summary of the Invention

[0003] The purpose of the present invention is to provide a multiplying robot arm to solve the technical problem in the prior art that the robot occupies a large space due to the long movement distance.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: to provide a multiplying robot arm, including a first arm, a second arm and a third arm stacked in sequence, a first transmission assembly is provided between the first arm and the second arm, a second transmission assembly is provided between the second arm and the third arm, and the motion output end of the first transmission assembly is connected to the motion input end of the second transmission assembly.

[0005] In one embodiment, the first transmission assembly includes a first rack and a first gear cooperating with the first rack, the first arm is connected to the first rack, and the second arm is connected to the first gear; the second transmission assembly includes a pulley and a belt wound around the pulley, the first gear and the pulley are fixedly connected, and the third arm is connected to the belt; or, the second transmission assembly includes a sprocket and a chain wound around the sprocket, the first gear and the sprocket are fixedly connected, and the third arm is connected to the chain.

[0006] In one embodiment, the second arm is provided with a rotating shaft rotatably connected thereto, the axial direction of the rotating shaft is perpendicular to the moving direction of the second arm, and one of the pulleys and the first gear are both connected to the rotating shaft.

[0007] In one embodiment, the first transmission assembly includes a first rack and a first gear cooperating with the first rack, the first arm is connected to the first rack, and the second arm is connected to the first gear; the second transmission assembly includes a third gear and a fourth gear with two axes perpendicular and meshing with each other, a first screw rod fixedly connected to the fourth gear and a first nut connected to the first screw rod, the first gear and the third gear are fixedly connected, and the third arm is connected to the first nut.

[0008] In one embodiment, the second transmission assembly further comprises a fifth gear coaxially arranged with the third gear and engaged with the fourth gear, and a first elastic member having two ends respectively connected to the third gear and the fifth gear; or,

[0009] The second transmission assembly further comprises a sixth gear coaxially arranged with the fourth gear and engaged with the third gear, and a second elastic member having two ends respectively connected to the sixth gear and the fourth gear.

[0010] In one embodiment, the first transmission assembly further comprises a second gear coaxially arranged with the first gear and engaged with the rack, and a third elastic member having two ends respectively connected to the first gear and the second gear; or,

[0011] The first transmission assembly further comprises a second rack engaged with the first rack and the first gear, and a fourth elastic member having two ends respectively connected to the first rack and the second rack to eliminate the backlash between the first gear and the first rack.

[0012] The third, fourth, fifth and sixth gears are helical gears, worm gears or bevel gears.

[0013] In one embodiment, the multiplication mechanical arm further comprises a multiplication driving member, and a movement output end of the multiplication driving member is connected to the second arm.

[0014] In one embodiment, the multiplication driving member comprises a motor, a lead screw connected to the motor, and a nut connected to the lead screw, and the nut is fixed to the second arm.

[0015] In one embodiment, the first arm has a first sliding guide part, the second arm has a second sliding guide part, and the first sliding guide part and the second sliding guide part are matched with each other; the second arm has a third sliding guide part, the third arm has a fourth sliding guide part, and the third sliding guide part and the fourth sliding guide part are matched with each other.

[0016] The application further provides a robot comprising the multiplication mechanical arm.

[0017] The beneficial effects of the multiplying robot and robot provided by the present invention are as follows: compared with the prior art, the multiplying robot of the present invention includes a first arm, a second arm, and a third arm stacked in sequence, a first transmission assembly being provided between the first arm and the second arm, and a second transmission assembly being provided between the second arm and the third arm. The motion output end of the first transmission assembly is connected to the motion input end of the second transmission assembly. When an external driving member drives the second arm to move relative to the first arm, the movement of the second arm drives the first transmission assembly to operate, the operation of the first transmission assembly drives the operation of the second transmission assembly, and the operation of the second transmission assembly causes the third arm to move relative to the second arm. In this way, under the action of the same driving member, the second arm moves relative to the first arm, and the third arm moves relative to the second arm, and the third arm produces a multiplied displacement relative to the first arm, which can achieve a larger displacement in a smaller structural space. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 A three-dimensional structural diagram of a first multiplication robot arm provided in an embodiment of the present invention;

[0020] Figure 2 A partial three-dimensional structural diagram of a first multiplication robot arm provided by an embodiment of the present invention;

[0021] Figure 3 A three-dimensional structural diagram of a second multiplication robot arm provided in an embodiment of the present invention;

[0022] Figure 4 for Figure 3 A partial enlarged view of middle A;

[0023] Figure 5 A three-dimensional structural diagram of a third multiplication robot arm provided in an embodiment of the present invention;

[0024] Figure 6 for Figure 5 A partial enlarged view of middle B;

[0025] Figure 7 A three-dimensional structural diagram of a robot provided in an embodiment of the present invention.

[0026] Among them, the reference numerals in the figures are:

[0027] 100-multiplication robot arm; 1-first arm; 11-first sliding guide; 2-second arm; 21-second sliding guide; 22-third sliding guide; 3-third arm; 31-fourth sliding guide; 4-first transmission assembly; 41-first rack; 42-first gear; 43-rotating shaft; 44-second gear; 5a, 5b-second transmission assembly; 51-pulley; 52-belt; 53-third gear; 54-fourth gear; 55-sixth gear; 56-first lead screw; 57-first slider; 6-multiplication drive member; 61-motor; 62-second lead screw; 63-second nut; 200-main drive member; 300-gear mechanism; 400-lifting mechanism. DETAILED DESCRIPTION

[0028] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0029] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0030] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0031] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0032] The multiplication robot arm 100 provided in an embodiment of the present invention is now described.

[0033] See also Figure 1 and Figure 2In one embodiment, a multiplying robot arm 100 includes a first arm 1, a second arm 2, and a third arm 3, arranged in a stacked arrangement. The second arm 2 is movable relative to the first arm 1, and the third arm 3 is movable relative to the second arm 2. The movement directions of the second arm 2 and the third arm 3 relative to the first arm 1 and the second arm 3 are the same, allowing for a longer displacement of the third arm 3. A first transmission assembly 4 is positioned between the first and second arms 1 and 2, and a second transmission assembly 5 is positioned between the second and third arms 2 and 3. The motion output of the first transmission assembly 4 is connected to the motion input of the second transmission assembly 5. Thus, when the second arm 2 is driven by an external force, it moves relative to the first arm 1. Simultaneously, this movement activates the first transmission assembly 4. Since the first transmission assembly 4 is connected to the second transmission assembly 5a, the activation of the first transmission assembly 4 activates the second transmission assembly 5a, thereby causing the third arm 3 to move relative to the second arm 2. Consequently, when the third arm 3 extends relative to the first arm 1, it experiences a multiplied displacement. Correspondingly, when the third arm 3 retracts relative to the first arm 1, it also experiences a multiplied displacement. This allows for a greater displacement distance to be achieved using a smaller structural space.

[0034] The multiplying robot arm 100 in the above embodiment includes a first arm 1, a second arm 2, and a third arm 3 stacked in sequence. A first transmission assembly 4 is disposed between the first arm 1 and the second arm 2, and a second transmission assembly 5a is disposed between the second arm 2 and the third arm 3. The motion output end of the first transmission assembly 4 is connected to the motion input end of the second transmission assembly 5. When an external driver drives the second arm 2 to move relative to the first arm 1, the movement of the second arm 2 activates the first transmission assembly 4, which in turn activates the second transmission assembly 5a. The activation of the second transmission assembly 5a causes the third arm 3 to move relative to the second arm 2. Thus, under the action of the same driver, the second arm 2 moves relative to the first arm 1, and the third arm 3 moves relative to the second arm 2. This multiplies the displacement of the third arm 3 relative to the first arm 1, enabling a greater displacement to be achieved within a smaller structural space.

[0035] See also Figure 1 and Figure 2In one embodiment of the multiplication robot 100, the first transmission assembly 4 includes a first rack 41 and a first gear 42. The first gear 42 meshes with the first rack 41. The first arm 1 is connected to the first rack 41, and the first gear 42 is connected to the second arm 2. The second transmission assembly 5a includes two pulleys 51 and a belt 52 wound around the pulleys 51. The first gear 42 is connected to one of the pulleys 51, and the third arm 3 is connected to the belt 52. When the second arm 2 is driven by the driving member, the second arm 2 moves relative to the first arm 1. At this time, the movement of the second arm 2 causes the first gear 42 to move relative to the first rack 41. The first gear 42 and the first rack 41 mesh with each other, and the movement of the second arm 2 causes the first gear 42 to rotate. Because the first gear 42 is connected to one of the pulleys 51, such as when the first gear 42 and the pulley 51 are fixedly connected, the rotation of the first gear 42 causes the pulley 51 to rotate together, and the rotation of the pulley 51 causes the belt 52 to translate. The translation of the belt 52 drives the third arm 3 to translate, thereby achieving the multiplied motion of the robotic arm. The first gear 42 is the motion output end of the first transmission assembly 4, and the pulley 51 connected to the first gear 42 is the motion input end of the second transmission assembly 5a. The first transmission assembly 4 and the second transmission assembly 5a have a simple structure and stable transmission. The second transmission assembly may also include a sprocket and a chain wound around the sprocket, the first gear 42 is fixedly connected to the sprocket, and the third arm 3 is connected to the chain.

[0036] See also Figure 2 In one embodiment of the multiplication robot arm 100, the first transmission assembly 4 includes a first rack 41 and a first gear 42. The first rack 41 is the first arm 1, and the first arm 1 has teeth continuously distributed along its length, making the first arm 1 and the first rack 41 a single entity. Of course, the first arm 1 and the first rack 41 can also be provided as separate components, with the first rack 41 fixed to the first arm 1. The length of the first rack 41 is aligned with the direction of movement of the second arm 2, so that the movement of the second arm 2 drives the first gear 42 to engage with the first rack 41.

[0037] See also Figure 2In one embodiment of the multiplication robot arm 100, the second arm 2 is provided with a rotating shaft 43 that rotates relative to the second arm 2. A pulley 51 and a first gear 42 are both connected to the rotating shaft 43. More specifically, the pulley 51 and the first gear 42 are coaxially arranged and fixed to the rotating shaft 43. As the second arm 2 moves, the first gear 42 linearly moves with the second arm 2. Due to the meshing of the first gear 42 and the first rack 41, the first gear 42 also rotates relative to the second arm 2. The transmission of the first gear 42 causes one of the pulleys 51 to rotate. The rotation of the pulley 51 drives the belt 52 to move, thereby driving the third arm 3 to translate. In other embodiments, the pulley 51 can also be arranged non-coaxially with the first gear 42, as long as the rotation of the first gear 42 can drive the rotation of the pulley 51.

[0038] See also Figure 5 and Figure 6 In one embodiment of the multiplication robot arm 100, the first transmission assembly 4 includes a first rack 41 and a first gear 42. The first gear 42 meshes with the first rack 41. The first arm 1 is connected to the first rack 41, and the first gear 42 is connected to the second arm 2. The second transmission assembly 5b includes a third gear, a fourth gear, a first lead screw, and a first slider. The rotation axes of the third and fourth gears are perpendicular to each other and mesh with each other. The third gear is fixedly connected to the first gear and rotates with the rotation of the first gear. The first and third gears can be coaxially arranged. The rotation of the third gear drives the rotation of the fourth gear. The first lead screw is fixed to the fourth gear, causing the first lead screw to rotate with the fourth gear. The first nut is threadedly connected to the first lead screw and linearly moves under the rotation of the first lead screw. The third arm is connected to the first nut, so that the third arm linearly moves with the first nut. Thus, through the transmission of the second transmission assembly 5b, the first gear drives the third arm to linearly move.

[0039] Optionally, the third gear and the fourth gear are both bevel gears or spiral gears; or, one of the third gear and the fourth gear is a worm gear, and the other is a worm.

[0040] Furthermore, the second transmission assembly 5b also includes a fifth gear and a first elastic member. The fifth gear is coaxially arranged with the third gear and meshes with the fourth gear. The first elastic member has two ends connected to the third gear and the fifth gear, respectively. The elastic force of the first elastic member constantly causes the third and fifth gears to rotate relative to each other, causing the teeth of the third gear and the corresponding teeth of the fifth gear to abut against opposite sides of the same tooth groove of the fourth gear. Thus, due to the action of the first elastic member, the third and fifth gears are constantly in contact with the fourth gear, eliminating transmission backlash.

[0041] Alternatively, the second transmission assembly 5b further includes a sixth gear and a second elastic member. The sixth gear and the fourth gear are coaxially arranged and mesh with the third gear. The ends of the second elastic member are connected to the fourth gear and the sixth gear, respectively. The elastic force of the second elastic member constantly causes the fourth and sixth gears to rotate relative to each other, causing the teeth of the fourth gear and the corresponding teeth of the sixth gear to abut against opposite sides of the same tooth groove of the third gear. In this way, due to the action of the second elastic member, the fourth and sixth gears are constantly in contact with the third gear, eliminating transmission backlash.

[0042] It should be noted that the specific structure of the second transmission assembly is not limited to the above embodiment, and it only needs to be able to convert the rotation of the first gear into a linear motion perpendicular to the rotation axis of the first gear.

[0043] See also Figure 3 and Figure 4 In any of the aforementioned embodiments of the multiplication robot arm 100, the first transmission assembly 4 includes a first gear 42, a second gear 44, a first rack 41, and a third elastic member. The first gear 42 and the second gear 44 are both meshed with the first rack 41, and the third elastic member has two ends connected to the first gear 42 and the second gear 44, respectively. The first gear 42 is rotatably connected to a rotating shaft 43, and the second gear 44 is sleeved on the rotating shaft 43 and can rotate relative to the rotating shaft 43. One of the teeth of the first gear 42 abuts against the side wall of one of the tooth grooves in the first rack 41, and the corresponding tooth of the second gear 44 abuts against the other side wall of the tooth groove under the action of the third elastic member. The elastic force of the third elastic member constantly causes the first gear 42 and the second gear 44 to rotate relative to each other, so that the teeth of the first gear 42 and the corresponding teeth of the second gear 44 abut against the two sides of the same tooth groove in the first rack 41. In this way, the first gear 42 and the second gear 44 are always in contact with the first rack 41 under the action of the elastic member, and there is no transmission gap. When the second arm 2 stops moving, the second arm 2, the first gear 42 and the second gear 44 stop moving at the same time, and the first gear 42 will not move relative to the rotating shaft 43, which can ensure the precision of the transmission.

[0044] Alternatively, the first transmission assembly includes a first gear 42, a first rack 41, a second rack, and a fourth elastic member. The first rack 41 and the second rack are both meshed with the first gear 42, and the fourth elastic member has two ends connected to the first rack 41 and the second rack, respectively. One tooth of the first rack 41 abuts against the sidewall of one of the tooth slots in the first gear 42, and under the action of the fourth elastic member, the corresponding tooth of the second rack abuts against the other sidewall of the tooth slot. The elastic force of the fourth elastic member constantly causes the first rack 41 and the second rack to move relative to each other, causing the teeth of the first rack 41 and the corresponding teeth of the second rack to abut against opposite sides of the same tooth slot in the first gear 42. Thus, because the first rack 41 and the second rack are constantly in contact with the first gear 42 under the action of the fourth elastic member, there is no transmission backlash. When the second arm 2 stops moving, the second arm 2, the first rack 41, and the second rack stop moving simultaneously, thereby ensuring transmission precision.

[0045] See also Figure 1 and Figure 2 In one embodiment of the multiplication robot 100, the multiplication robot 100 further includes a multiplication drive 6. The motion output end of the multiplication drive 6 is connected to the second arm 2, which is used to drive the second arm 2 to perform linear motion. The linear motion of the second arm 2 causes the first gear 42 to perform linear motion, thereby meshing the first gear 42 with the first rack 41, causing the first gear 42 to rotate while performing linear motion. Accordingly, the pulley 51 rotates with the first gear 42, and the third arm 3 moves linearly along with the belt 52.

[0046] Furthermore, in one embodiment of the multiplication drive 6, the multiplication drive 6 includes a motor 61, a second lead screw 62, and a second nut 63, wherein the second nut 63 is fixed to the second arm 2. The type of motor 61 is not limited herein. The second lead screw 62 is connected to the output end of the motor 61, and the second nut 63 is threadedly connected to the second lead screw 62. When the motor 61 is in operation, the second lead screw 62 rotates with the motor 61, and the second nut 63 moves back and forth under the rotation of the second lead screw 62, and the second arm 2 fixed to the second nut 63 moves back and forth with the second nut 63. In other embodiments, the multiplication drive 6 can also be a mechanism capable of outputting linear motion, such as a cylinder.

[0047] See also Figure 1 and Figure 2In one embodiment of the multiplication robot arm 100, the first arm 1 has a first sliding guide 11, and the second arm 2 has a second sliding guide 21. The first sliding guide 11 and the second sliding guide 21 cooperate to ensure stable movement of the second arm 2 relative to the first arm 1. The first sliding guide 11 and the second sliding guide 21 can both be strip-shaped, with the first sliding guide 11 being a protrusion and the second sliding guide 21 being a groove, or the first sliding guide 11 being a groove and the second sliding guide 21 being a protrusion. The second arm 2 has a third sliding guide 22, and the third arm 3 has a fourth sliding guide 31. The third sliding guide 22 and the fourth sliding guide 31 cooperate to ensure stable movement of the third arm 3 relative to the second arm 2. The second sliding guide 21 and the third sliding guide 22 are respectively disposed on opposite sides of the second arm 2. The third sliding guide portion 22 and the fourth sliding guide portion 31 may both be strip-shaped, with the third sliding guide portion 22 being a protrusion and the fourth sliding guide portion 31 being a groove, or the third sliding guide portion 22 being a groove and the fourth sliding guide portion 31 being a protrusion.

[0048] Optionally, the multiplication robot arm 100 further includes a fourth arm, a fifth arm, etc. superimposed on the third arm 3. The number of the robot arms is not limited here.

[0049] Optionally, the multiplying robot arm 100 further includes at least one multiplying assembly, the multiplying assemblies being stacked, with one of the multiplying assemblies at the end being connected to the third arm 3. The multiplying assembly may include a first transmission assembly 4 and a second transmission assembly 5. In this way, the multiplying robot arm 100 can generate a larger displacement space during operation.

[0050] See also Figure 7 An embodiment of the present invention further provides a robot, which includes the multiplying robot arm 100 in any of the above embodiments.

[0051] The robot of the above embodiment utilizes the aforementioned multiplying robot arm 100. Multiplying robot arm 100 includes a first arm 1, a second arm 2, and a third arm 3 stacked in sequence. A first transmission assembly 4 is disposed between the first arm 1 and the second arm 2, and a second transmission assembly 5 is disposed between the second arm 2 and the third arm 3. The motion output end of the first transmission assembly 4 is connected to the motion input end of the second transmission assembly 5. When an external driver drives the second arm 2 to move relative to the first arm 1, the movement of the second arm 2 activates the first transmission assembly 4, which in turn activates the second transmission assembly 5. The activation of the second transmission assembly 5 causes the third arm 3 to move relative to the second arm 2. Thus, under the action of the same driver, the second arm 2 moves relative to the first arm 1, and the third arm 3 moves relative to the second arm 2. This multiplies the displacement of the third arm 3 relative to the first arm 1, enabling a greater displacement to be achieved within a smaller structural space.

[0052] See also Figure 7In one embodiment of the robot, the robot further includes a main drive member 200, a gear mechanism 300, a lifting mechanism 400 and other mechanisms. The main drive member 200, the gear mechanism 300, the lifting mechanism 400 and the multiplication robot arm 100 are connected in sequence. The main drive member 200 can be a motor, a cylinder, etc. The gear mechanism 300 includes two meshing gears, and the lifting mechanism 400 can be a screw mechanism. The main drive member 200 drives one of the gears to move, causing the gear mechanism 300 to mesh, and the rotation of the other gear drives the screw in the screw mechanism to rotate, thereby causing the multiplication robot arm 100 to move up and down. Among them, the screw slider of the screw mechanism is connected to the first arm 1. Of course, the specific structure of the robot is not limited here.

[0053] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. The multiplication arm of the robot is characterized by: The arm comprises a first arm, a second arm and a third arm stacked in sequence, a first transmission assembly is provided between the first arm and the second arm, a second transmission assembly is provided between the second arm and the third arm, and a motion output end of the first transmission assembly is connected to a motion input end of the second transmission assembly; The first transmission assembly includes a first rack and a first gear matched with the first rack, the first arm is connected to the first rack, and the second arm is connected to the first gear; the second transmission assembly includes a third gear and a fourth gear whose axes are perpendicular and meshed with each other, a first screw rod fixedly connected to the fourth gear, and a first nut connected to the first screw rod, the first gear and the third gear are fixedly connected, and the third arm is connected to the first nut; wherein, the third gear and the fourth gear are both helical gears; or, one of the third gear and the fourth gear is a worm gear and the other is a worm; wherein, the perpendicular meshing relationship between the axes of the worm gear and the worm gear forms a spatially orthogonal arrangement with the axial movement direction of the screw rod; The second transmission assembly further includes a fifth gear and a first elastic member, wherein the fifth gear is coaxially arranged with the third gear and meshes with the fourth gear, and two ends of the first elastic member are respectively connected to the third gear and the fifth gear; or, The second transmission assembly further includes a sixth gear and a second elastic member. The sixth gear is coaxially arranged with the fourth gear and meshes with the third gear. Two ends of the second elastic member are respectively connected to the sixth gear and the fourth gear.

2. The multiplying robot arm of claim 1, wherein: The first transmission assembly further includes a second gear and a third elastic member, the second gear is coaxially arranged with the first gear and meshes with the first rack, and two ends of the third elastic member are respectively connected to the first gear and the second gear; or, The first transmission assembly also includes a second rack and a fourth elastic member. The second rack and the first rack are engaged with the first gear together. The two ends of the fourth elastic member are respectively connected to the first rack and the second rack to eliminate the backlash between the first gear and the first rack.

3. The multiplying robot arm of claim 1 or 2, wherein: The multiplication robot arm further includes a multiplication drive member, and a motion output end of the multiplication drive member is connected to the second arm.

4. The multiplying robot arm of claim 3, wherein: The multiplication driving member includes a motor, a lead screw connected to the motor, and a nut connected to the lead screw, wherein the nut is fixed to the second arm.

5. The multiplying robot arm of claim 1 or 2, wherein: The first arm has a first sliding guide portion, the second arm has a second sliding guide portion, and the first sliding guide portion and the second sliding guide portion cooperate with each other; the second arm has a third sliding guide portion, the third arm has a fourth sliding guide portion, and the third sliding guide portion and the fourth sliding guide portion cooperate with each other.

6. A robot, characterized in that: Including the multiplication robot arm described in any one of claims 1-5.

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