Robot arm driving device and dual-arm robot

Abstract

The present invention discloses a robot arm driving device, including a linear drive component, a bracket, a height-adjustable mounting plate and a joint seat; the bracket has a plurality of legs and a top crossbeam connecting the top ends of the legs; a first hinge support is arranged on the top crossbeam; a second hinge support is arranged on the height-adjustable mounting plate; a first hinge axis is longitudinally arranged at the bottom of the joint seat, and the joint seat is hinged to the first hinge support; an arm connecting flange for connecting the robot arm is arranged at one end of the joint seat away from the bracket, and a third hinge support is arranged at one end of the joint seat close to the bracket; the movable end of the linear drive component is hinged to the third hinge support, and the fixed end is hinged to the second hinge support. The present invention also discloses a dual-arm robot. The robot arm driving device of the present invention can realize the lateral swinging of the robot arm, so that the joint volume of the robot arm is reduced and the weight is reduced; the dual-arm robot of the present invention can realize the actions of lateral arm lifting and front and rear arm swinging, and the robot has more powerful functions.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a robot arm driving device and a dual-arm robot. Background Art

[0002] The development of intelligent service robots has arrived. With the continuous development of service robots, they have gradually entered into human life and brought people more convenient and comfortable services. For service robots, the robot arm drive device is very important. The arm drive joint not only bears the weight of the entire arm, but also needs to achieve lateral or forward and backward movement relative to the robot body. If the existing service robots need to output a large torque, they usually need a larger drive device. However, humanoid robots are usually limited by their size, and the drive devices are made smaller, resulting in the robot being able to only be used as a demonstration and unable to grab the load. Summary of the invention

[0003] In order to solve the above technical problems, the main objectives of the present invention are: (a) to provide a robot arm driving device, which realizes the lateral swing of the robot arm through a linear drive component; (b) to provide a dual-arm robot, which can make the robot more powerful.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions to solve it.

[0005] (I) A robot arm drive device, comprising a linear drive assembly, a bracket, a height-adjustable mounting plate installed in the middle of the bracket, and a joint seat installed on the top of the bracket; the bracket has a plurality of vertical legs and a top crossbeam connecting the top ends of the plurality of legs, a first hinge support is arranged on the top crossbeam, and a first hinge hole is longitudinally arranged on the first hinge support; a second hinge support is arranged on the upper surface of the height-adjustable mounting plate, and a second hinge hole is longitudinally arranged on the second hinge support; a first hinge shaft matching the first hinge hole is longitudinally arranged on the bottom of the joint seat, and the joint seat is inserted into the joint seat through the first hinge shaft The first hinge hole is hinged on the first hinge support; an arm connecting flange for connecting the robot arm is provided at the end of the joint seat away from the bracket, and a third hinge support is provided at the end of the joint seat close to the bracket, and a third hinge hole is longitudinally provided on the third hinge support; the movable end of the linear drive component is provided with a movable end hinge hole, and the fixed end is provided with a fixed end hinge hole; the movable end hinge hole is aligned with the second hinge hole and a pin is inserted into the fixed end; the fixed end hinge hole is aligned with the third hinge hole and a pin is inserted into the fixed end; start the linear drive component, and the joint seat swings laterally around the central axis of the first hinge shaft.

[0006] Further, the linear drive assembly includes a base plate, a gear reducer and a first DC motor; the gear reducer is fixedly arranged on the base plate, the output shaft of the gear reducer extends upward from the housing of the gear reducer and is connected to a lead screw, a nut is screwed on the lead screw, a nut guide parallel to the lead screw is arranged on the upper surface of the housing of the gear reducer to limit the rotation of the nut, and a support rod is arranged on the upper surface of the nut; the input shaft of the gear reducer is connected to the first DC motor; the movable end hinge hole is arranged at the top end of the support rod, and the fixed end hinge hole is arranged on the lower surface of the base plate.

[0007] Furthermore, the output shaft of the gear reducer is parallel to the input shaft of the gear reducer and is distributed on the upper side of the gear reducer.

[0008] Furthermore, the output shaft of the gear reducer is parallel to the input shaft of the gear reducer, and the output shaft of the gear reducer is located on the upper side of the gear reducer, and the input shaft of the gear reducer is located on the lower side of the gear reducer.

[0009] Furthermore, the input shaft of the gear reducer is perpendicular to the output shaft of the gear reducer.

[0010] Furthermore, sliders are respectively provided at both ends of the height-adjustable mounting plate, guide grooves matching the sliders are provided on the legs, rotor screw holes are provided on the side walls of the guide grooves, and set screws are screwed into the rotor screw holes.

[0011] Furthermore, a motor-built-in reduction motor is laterally arranged on the joint seat, and the motor-built-in reduction motor includes a harmonic reducer, a permanent magnet rotor, a winding stator and a motor housing; the harmonic reducer has a harmonic reducer input shaft, a harmonic reducer housing and a harmonic reducer end cover, the harmonic reducer housing is fixedly connected to the harmonic reducer end cover, the harmonic reducer input shaft is arranged in the harmonic reducer housing and extends out of the harmonic reducer end cover; the permanent magnet rotor is fixedly connected to the harmonic reducer input shaft; the winding stator is fixedly connected in the motor housing, and the motor housing is fixedly connected to the harmonic reducer housing; the arm connecting flange is fixedly connected to the output end of the harmonic reducer.

[0012] Furthermore, a ratio of a height to a diameter of the permanent magnet rotor is less than or equal to 1, and a ratio of a height to a diameter of the winding stator is less than or equal to 1.

[0013] Furthermore, a rotor mounting screw hole is provided on the end face of the harmonic reducer input shaft close to the permanent magnet rotor; the rotor core is a hollow cylinder, and an inverted inner flange is provided at one end of the hollow cylinder close to the harmonic reducer input shaft, and a rotor mounting hole is provided on the inner flange, and the permanent magnet rotor is mounted on the harmonic reducer input shaft by bolts.

[0014] (ii) A dual-arm robot, comprising a bracket with a left-right symmetrical structure, wherein the robot arm driving devices as described above are symmetrically arranged on the left and right sides of the bracket, and a robot arm is connected to the arm connecting flange of each robot arm driving device.

[0015] Compared with the prior art, the robot arm driving device of the present invention drives the lateral swing of the robot arm through a linear drive component, thereby reducing the volume of the robot arm joints and reducing the weight; the dual-arm robot of the present invention can realize the actions of lateral arm lifting and forward and backward arm swinging, and the robot has more powerful functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. 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 the structures shown in these drawings without paying any creative work.

[0017] Figure 1 A three-dimensional schematic diagram of an embodiment of a robot arm driving device of the present invention;

[0018] Figure 2 A top view of an embodiment of a robot arm driving device of the present invention;

[0019] Figure 3 for Figure 2 A longitudinal section view at section A;

[0020] Figure 4 A front view of an embodiment of a linear drive assembly of the present invention;

[0021] Figure 5 It is a longitudinal sectional front view of an embodiment of a motor-built-in reduction motor;

[0022] Figure 6 The figure is an exploded schematic diagram of an embodiment of a motor-built-in reduction motor.

[0023] In the above figure: 1 bracket; 101 leg; 102 top crossbeam; 103 height-adjustable mounting plate; 104 guide groove; 105 slider;

[0024] 2 joint seat; 201 first articulated axis;

[0025] 3 linear drive assembly; 301 movable end hinge hole; 302 fixed end hinge hole; 303 bottom plate; 304 gear reducer; 305 first DC motor; 306 lead screw; 307 nut; 308 nut guide; 309 support rod;

[0026] 4 first hinge support;

[0027] 5 second hinge support;

[0028] 6 arm connecting flange;

[0029] 7 third hinge support;

[0030] 8. Set screws;

[0031] 9 harmonic reducer; 901 harmonic reducer input shaft; 902 harmonic reducer housing; 903 rotor mounting screw hole; 904 flexible wheel; 905 wave generator; 906 steel wheel; 907 output flange; 908 first bearing; 909 second bearing; 9010 reducer end cover;

[0032] 10 permanent magnet rotor; 1001 rotor core, 1002 tile-shaped magnet; 1003 rotor mounting hole; 1004 rotor convex ring;

[0033] 11 winding stator;

[0034] 12 motor housing; 1201 motor housing convex ring;

[0035] 13 bolts. DETAILED DESCRIPTION

[0036] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0037] In the following description, specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in a variety of other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0038] (I) Reference Figure 1 , Figure 2 and Figure 3A robot arm driving device comprises a linear drive assembly 3, a bracket 1, a height-adjustable mounting plate 103 installed in the middle of the bracket 1, and a joint seat 2 installed on the top of the bracket 1; the bracket 1 has a plurality of vertical legs 101 and a plurality of top crossbeams 102 connecting the top ends of the legs 1; a first hinge support 4 is arranged on the top crossbeam 102, and a first hinge hole is longitudinally arranged on the first hinge support 4; a second hinge support 5 is arranged on the upper surface of the height-adjustable mounting plate 103, and a second hinge hole is longitudinally arranged on the second hinge support 5; a first hinge shaft 201 matching the first hinge hole is longitudinally arranged at the bottom of the joint seat 2, and the joint seat 2 is connected to the first hinge shaft 201 through the first hinge shaft 201 Insert the first hinge hole and hinge it on the first hinge support 4; the end of the joint seat 2 away from the bracket 1 is provided with an arm connecting flange 6 for connecting the robot arm, and the end of the joint seat 2 close to the bracket 1 is provided with a third hinge support 7, and the third hinge support 7 is longitudinally provided with a third hinge hole; the movable end of the linear drive component 3 is provided with a movable end hinge hole 301, and the fixed end is provided with a fixed end hinge hole 302; the movable end hinge hole 301 is aligned with the third hinge hole and a pin is inserted into it; the fixed end hinge hole 302 is aligned with the second hinge hole and a pin is inserted into it; start the linear drive component 3, and the joint seat 2 swings laterally around the central axis of the first hinge shaft 201.

[0039] In the above embodiments, the joint seat 2 is hinged on the top crossbeam 102 of the bracket 1, a height-adjustable mounting plate 103 is provided in the middle of the bracket 1, and a top crossbeam 102 is provided on the top of the bracket 1. The movable end of the linear drive component 3 is hinged to the end of the joint seat 2 close to the bracket 1, and the fixed end of the linear drive component 3 is hinged to the height-adjustable mounting plate 103. By starting the linear drive component 3, the lateral swing of the joint seat 2 can be realized. Since the joint seat 2 is provided with an arm connection flange 6 for connecting the robot arm, the device can realize the lateral swing of the robot arm. The use of the linear drive component 3 reduces the size and weight of the robot arm drive device, and the input torque is larger.

[0040] Further, refer to Figure 4The linear drive assembly 3 includes a base plate 303, a gear reducer 304 and a first DC motor 305; the gear reducer 304 is fixedly arranged on the base plate 303, the output shaft of the gear reducer 304 extends upward from the housing of the gear reducer 304 and is connected to a lead screw 306, a nut 307 is screwed on the lead screw 306, a nut guide 308 parallel to the lead screw 306 is arranged on the upper surface of the housing of the gear reducer 304, and a support rod 309 is arranged on the upper surface of the nut 307; the input shaft of the gear reducer 304 is connected to the first DC motor; the movable end hinge hole 301 is arranged at the top end of the support rod 309, and the fixed end hinge hole 302 is arranged on the lower surface of the base plate 303.

[0041] In the above embodiment, specifically, the linear drive assembly 3 adopts a nut 307 and a lead screw 306 mechanism. By driving the lead screw 306 to rotate and limiting the rotation of the nut 307, the linear motion of the nut 307 can be achieved. A gear reducer 304 is installed on the base plate 303, the input shaft of the gear reducer 304 is connected to the first DC motor, and the output shaft of the gear reducer 304 is connected to the lead screw 306.

[0042] Furthermore, the output shaft of the gear reducer 304 is parallel to the input shaft of the gear reducer 304 and is distributed on the upper side of the gear reducer 304 .

[0043] In the above embodiments, the motor and the lead screw 306 are arranged on the same side of the gear reducer 304 according to actual needs.

[0044] Furthermore, the output shaft of the gear reducer 304 is parallel to the input shaft 901 of the gear reducer 304 , and the output shaft of the gear reducer 304 is located on the upper side of the gear reducer 304 housing, and the input shaft of the gear reducer 304 is located on the lower side of the gear reducer 304 .

[0045] Similarly, according to actual conditions, the input shaft of the gear reducer 304 and the output shaft of the gear reducer 304 can be respectively arranged on both sides of the gear reducer 304 .

[0046] Furthermore, the input shaft of the gear reducer 304 is perpendicular to the output shaft of the gear reducer 304 .

[0047] In the above embodiments, according to actual conditions, a gear reducer in which the input shaft of the gear reducer 304 is perpendicular to the output shaft of the gear reducer 304 may be selected, such as a worm gear reducer or a bevel gear reducer.

[0048] Furthermore, sliders 105 are respectively provided at both ends of the height-adjustable mounting plate 103, guide grooves 104 matching the sliders 105 are provided on the legs 101, rotor screw holes are provided on the side walls of the guide grooves 104, and set screws 8 are screwed into the rotor screw holes.

[0049] In the above embodiment, the height-adjustable mounting plate 103 facilitates the adjustment of the swing angle of the robot arm, making the device more adaptable. Specifically, sliders 105 are respectively provided at both ends of the height-adjustable mounting plate 103, and guide grooves 104 matching therewith are provided on the legs 101. Screw holes are provided on the side walls of the guide grooves 104 and set screws 8 are screwed in. During adjustment, the set screws 8 are loosened, and the height-adjustable mounting plate 103 can move up and down along the guide grooves 104. When the height position is adjusted, the set screws 8 are screwed in to fix the position of the height-adjustable mounting plate 103.

[0050] Furthermore, a motor-built-in reduction motor is laterally arranged on the joint seat 2, and the motor-built-in reduction motor includes a harmonic reducer 9, a permanent magnet rotor 10, a winding stator 11 and a motor housing 12; the harmonic reducer 9 has a harmonic reducer input shaft 901, a harmonic reducer housing 902 and a harmonic reducer end cover 9010, the harmonic reducer housing 902 is fixedly connected to the harmonic reducer end cover 9010, the harmonic reducer input shaft 901 is arranged in the harmonic reducer housing 902 and extends out of the harmonic reducer end cover 9010; the permanent magnet rotor 10 is fixedly connected to the harmonic reducer input shaft 901; the winding stator 11 is fixedly connected in the motor housing 12, and the motor housing 12 is fixedly connected to the harmonic reducer housing 902; the arm connecting flange 6 is fixedly connected to the output end of the harmonic reducer 9.

[0051] In the above embodiment, the permanent magnet rotor 10 of the DC permanent magnet motor is directly connected to the harmonic reducer input shaft 901, the harmonic reducer housing 902 is connected to the motor housing 12, and the winding stator 11 is fixedly connected inside the motor housing 12. The motor does not use bearings, and the coaxiality of the winding stator 11 and the permanent magnet rotor 10 is guaranteed by the harmonic reducer housing 902 and the harmonic reducer input shaft 901, which simplifies the motor structure and reduces the overall size and weight of the reduction device with a built-in motor.

[0052] The permanent magnet rotor 10 comprises a rotor core 1001 and a plurality of tile-shaped magnets 1002 embedded in the rotor core 1001. The rotor core 1001 is fixedly connected to the harmonic reducer input shaft 901 of the harmonic reducer 9 by bolts 13.

[0053] The transmission principle of the harmonic reducer: The harmonic reducer is mainly composed of three basic components: a rigid wheel with an inner gear ring, a flexible wheel with an outer gear ring, and a wave generator. The wave generator is a rod-shaped component with rolling bearings installed at both ends to form rollers, which are pressed against the inner wall of the flexible wheel. The flexible wheel is a thin-walled gear that can produce large elastic deformation, and its inner hole diameter is slightly smaller than the total length of the wave generator. The wave generator is a component that causes the flexible wheel to produce controllable elastic deformation. When the wave generator is installed in the flexible wheel, the cross-section of the flexible wheel is forced to change from the original circle to an ellipse, and the teeth near the two ends of its long axis are completely meshed with the teeth of the rigid wheel, while the teeth near the two ends of the short axis are completely disengaged from the rigid wheel. The teeth in other sections of the circumference are in a transitional state of meshing and disengagement. When the wave generator rotates continuously, the deformation of the flexible wheel keeps changing, so that the meshing state of the flexible wheel and the rigid wheel also keeps changing, from meshing in, meshing in, meshing out, disengaging, and meshing in again..., repeating over and over again, thereby realizing the slow rotation of the flexible wheel relative to the rigid wheel in the opposite direction of the wave generator.

[0054] Normally, the rigid wheel is fixed, the wave generator rotates, and the flexible wheel acts as a driven wheel, outputs rotation, and drives the load to move. It can also be reversed, that is, the flexible wheel is fixed and the steel wheel outputs.

[0055] In this embodiment, the harmonic reducer 9 includes a harmonic reducer housing 902, a harmonic reducer input shaft 901, a flexible wheel 904, a wave generator 905, a steel wheel 906, and an output flange 907. A first bearing 908 and a second bearing 909 are installed between the two ends of the wave generator 905 and the harmonic reducer housing 902, respectively.

[0056] The harmonic reducer 9 of this embodiment is installed in a manner that the flexible spline 904 is fixed, the steel wheel 906 rotates relative to the flexible spline 904 , and the output flange 907 is fixedly connected to the steel wheel 906 .

[0057] Furthermore, a ratio of a height to a diameter of the permanent magnet rotor 10 is less than or equal to 1, and a ratio of a height to a diameter of the winding stator 11 is less than or equal to 1.

[0058] Since the coaxiality of the permanent magnet rotor 10 and the wound stator 11 needs to be ensured by the harmonic reducer input shaft 901 and the harmonic reducer housing 902, the permanent magnet rotor 10 connected to the harmonic reducer input shaft 901 needs to be as short as possible, and a motor with a relatively large height and diameter is not suitable for this combination. In the above embodiment, preferably, the ratio of the height to the diameter of the permanent magnet rotor 10 is less than or equal to 1, and correspondingly, the ratio of the height to the diameter of the wound stator 11 is less than or equal to 1, that is, the motor with a smaller height to diameter ratio is more suitable for integration with the gear reducer 304.

[0059] Furthermore, a rotor mounting screw hole 903 is provided on the end face of the harmonic reducer input shaft 901 close to the permanent magnet rotor 10; the rotor core 1001 is a hollow cylinder, and an inverted inner flange is provided at one end of the hollow cylinder close to the harmonic reducer input shaft 901, and a rotor mounting hole 1003 is provided on the inner flange, and the permanent magnet rotor 10 is mounted on the harmonic reducer input shaft 901 by bolts 13.

[0060] In the above embodiment, a rotor mounting screw hole 903 is provided on the end surface of the harmonic reducer input shaft 901 close to the permanent magnet rotor 10, and the rotor core 1001 is a hollow cylinder with an inverted inner flange, and the rotor core 1001 is mounted on the harmonic reducer input shaft 901 through the rotor mounting hole 1003 provided on the inner flange. The hollow structure can reduce the overall weight of the reduction device with a built-in motor.

[0061] refer to Figure 5 and Figure 6 In order to further improve the coaxiality between the permanent magnet rotor 10 and the wound stator 11, a rotor collar 1004 is provided at one end of the rotor core 1001 close to the harmonic reducer input shaft 901, and the inner diameter of the rotor collar 1004 is clearance matched with the outer diameter of the harmonic reducer input shaft 901, and the clearance meets the coaxiality accuracy requirement. Similarly, a motor housing collar 1201 is provided at one end of the motor housing 12 close to the harmonic reducer housing 902, and the inner diameter of the motor housing collar 1201 is clearance matched with the outer diameter of the harmonic reducer end cover 9010, and the clearance meets the coaxiality accuracy requirement.

[0062] (ii) A dual-arm robot, wherein the bracket 1 is a left-right symmetrical structure, and the robot arm driving devices mentioned above are symmetrically arranged on the left and right sides of the bracket 1, and a robot arm is connected to the arm connecting flange 6 of each robot arm driving device.

[0063] When the bracket 1 is a left-right symmetrical structure, the above-mentioned robot arm driving device is set on both sides of the left and right sides of the bracket 1, and the robot arm is installed on each robot arm joint, so that it can become a dual-arm robot. The arm of the dual-arm robot can not only realize the lateral arm lifting action, but also realize the forward and backward swinging action of the arm, enriching the practical functions of the robot.

[0064] Although the present invention has been described in detail in this specification by means of general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements may be made thereto on the basis of the present invention. Therefore, these modifications or improvements made without departing from the present invention all fall within the scope of protection claimed by the present invention.

Claims

1. A robot arm driving device, characterized in that: It comprises a linear drive assembly (3), a bracket (1), a height-adjustable mounting plate (103) mounted in the middle of the bracket (1), and a joint seat (2) mounted on the top of the bracket (1); The support (1) comprises a plurality of vertical legs (101) and a plurality of top cross beams (102) connecting the top ends of the legs (101); a first hinge support (4) is arranged on the top cross beam (102), and a first hinge hole is longitudinally arranged on the first hinge support (4); The upper surface of the height-adjustable mounting plate (103) is provided with a second hinge support (5), and the second hinge support (5) is longitudinally provided with a second hinge hole; A first hinge shaft (201) matching the first hinge hole is longitudinally arranged at the bottom of the joint seat (2), and the joint seat (2) is hinged to the first hinge support (4) by inserting the first hinge shaft (201) into the first hinge hole; An arm connection flange (6) for connecting to a robot arm is arranged at one end of the joint seat (2) away from the bracket (1), and a third hinge support (7) is arranged at one end of the joint seat (2) close to the bracket (1), and a third hinge hole is longitudinally arranged on the third hinge support (7); The movable end of the linear drive assembly (3) is provided with a movable end hinge hole (301), and the fixed end is provided with a fixed end hinge hole (302); The movable end hinge hole (301) is aligned with the third hinge hole and a pin is inserted into the hinge hole; The fixed end hinge hole (302) is aligned with the second hinge hole and a pin is inserted into the fixed end hinge hole; The linear drive assembly (3) is started, and the joint seat (2) swings laterally around the central axis of the first hinge shaft (201); The linear drive assembly (3) comprises a base plate (303), a gear reducer (304) and a first DC motor (305); The gear reducer (304) is fixedly arranged on the base plate (303); the output shaft of the gear reducer (304) extends upward from the housing of the gear reducer (304) and is connected to a lead screw (306); a nut (307) is screwed onto the lead screw (306); a nut guide (308) parallel to the lead screw (306) and limiting the rotation of the nut (307) is arranged on the upper surface of the housing of the gear reducer (304); and a support rod (309) is arranged on the upper surface of the nut (307); The input shaft of the gear reducer (304) is connected to the first DC motor (305); The movable end hinge hole (301) is arranged at the top end of the support rod (309), and the fixed end hinge hole (302) is arranged on the lower surface of the bottom plate (303); A motor-built-in reduction motor is transversely arranged on the joint seat (2), and the motor-built-in reduction motor comprises a harmonic reducer (9), a permanent magnet rotor (10), a winding stator (11) and a motor housing (12); the harmonic reducer (9) comprises a harmonic reducer input shaft (901), a harmonic reducer housing (902) and a harmonic reducer end cover (9010); the harmonic reducer housing (902) is fixedly connected to the harmonic reducer end cover (9010); the harmonic reducer input shaft (901) is arranged in the harmonic reducer housing (902) and extends out of the harmonic reducer end cover (9010); the permanent magnet rotor (10) is fixedly connected to the harmonic reducer input shaft (901); The winding stator (11) is fixedly connected inside the motor housing (12), and the motor housing (12) is fixedly connected to the harmonic reducer housing (902); the arm connecting flange (6) is fixedly connected to the output end of the harmonic reducer (9).

2. The robot arm driving device according to claim 1, characterized in that: The output shaft of the gear reducer (304) is parallel to the input shaft of the gear reducer (304) and is distributed on the upper side of the gear reducer (304).

3. The robot arm driving device according to claim 1, characterized in that: The output shaft of the gear reducer (304) is parallel to the input shaft of the gear reducer (304), and the output shaft of the gear reducer (304) is located on the upper side of the gear reducer (304), while the input shaft of the gear reducer (304) is located on the lower side of the gear reducer (304).

4. The robot arm driving device according to claim 1, characterized in that: The input shaft of the gear reducer (304) is perpendicular to the output shaft of the gear reducer (304).

5. The robot arm driving device according to claim 1, characterized in that: Slide blocks (105) are respectively provided at both ends of the height-adjustable mounting plate (103); a guide groove (104) matching the slide block (105) is provided on the support leg (101); a rotor screw hole is provided on the side wall of the guide groove (104); and a set screw (8) is screwed into the rotor screw hole.

6. The robot arm driving device according to claim 1, characterized in that: The ratio of the height to the diameter of the permanent magnet rotor (10) is less than or equal to 1, and the ratio of the height to the diameter of the winding stator (11) is less than or equal to 1.

7. The robot arm driving device according to claim 1, characterized in that: A rotor mounting screw hole (903) is provided on the end surface of the harmonic reducer input shaft (901) close to the permanent magnet rotor (10); the permanent magnet rotor (10) comprises a rotor core (1001) and a plurality of tile-shaped magnets (1002) embedded in the rotor core (1001); the rotor core (1001) is a hollow cylinder, an inverted inner flange is provided at one end of the hollow cylinder close to the harmonic reducer input shaft (901), a rotor mounting hole (1003) is provided on the inner flange, and the permanent magnet rotor (10) is mounted on the harmonic reducer input shaft (901) by means of bolts (13).

8. A dual-arm robot, characterized in that: The bracket (1) is a left-right symmetrical structure, and the robot arm driving device according to any one of claims 1 to 7 is symmetrically arranged on the left and right sides of the bracket (1), and a robot arm is connected to the arm connecting flange (6) of each robot arm driving device.

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