Robotic arms and robots

Abstract

This invention specifically discloses a robotic arm and robot. The robotic arm includes an arm body, a working component, a drive component, a pulley assembly, and a wire groove. The arm body has a first wire inlet hole. The working component is fixedly connected to the arm body. The drive component is connected to the arm body and can move along the line connecting it to the working component, and can be fixed within its travel stroke. The drive component has a first inner cavity. The pulley assembly includes a driving pulley, a driven pulley, and a transmission belt. The driving pulley is drivenly connected to the drive component, the driven pulley is connected to the working component, and the transmission belt connects the driving pulley and the driven pulley. The wire groove includes a wire guide tube. One end of the wire guide tube is connected to the drive component and communicates with the first inner cavity, and the other end communicates with the first wire inlet hole. The wire guide tube can move along the line connecting it to the working component and can be fixed within its travel stroke. According to the embodiment of the invention, the robotic arm can be pre-tightened during the assembly of the transmission belt.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a robotic arm and a robot. Background Technology

[0002] In related technologies, the robotic arm's body is connected to a drive assembly, a working assembly, and a cable tray. Cables are housed within the cable tray and enter the drive assembly to control its operation. During operation, the drive force of the drive assembly is transmitted to the driving wheel and then via a transmission belt to the driven wheel connected to the working assembly.

[0003] Therefore, during the assembly of the robotic arm, the transmission belt needs to be assembled. At this time, the center distance between the driving wheel and the driven wheel needs to be adjusted for pre-tensioning. However, the driven wheel is usually fixed. To pre-tension the transmission belt, the driving wheel needs to be moved. If the driving wheel is moved, the drive components and cables also need to be moved. However, the cable groove is usually fixed, which will prevent the cable from moving. Therefore, the driving wheel cannot be moved either. This results in the robotic arm being unable to pre-tension the transmission belt during assembly. Summary of the Invention

[0004] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, the present invention proposes a robotic arm capable of pre-tensioning during the assembly of a drive belt.

[0005] The present invention also proposes a robot having the above-mentioned robotic arm.

[0006] According to a first aspect of the present invention, a robotic arm includes an arm body, a working component, a drive component, a pulley assembly, and a wire groove. The arm body has a first wire inlet hole. The working component is fixedly connected to the arm body. The drive component is connected to the arm body, is movable along the line connecting it to the working component, and is fixed within its travel stroke. The drive component has a first inner cavity. The pulley assembly includes a driving pulley, a driven pulley, and a transmission belt. The driving pulley is drivenly connected to the drive component, the driven pulley is connected to the working component, and the transmission belt connects the driving pulley and the driven pulley. The wire groove includes a wire guide tube. One end of the wire guide tube is connected to the drive component and communicates with the first inner cavity, and the other end communicates with the first wire inlet hole. The wire guide tube is movable along the line connecting it to the working component and is fixed within its travel stroke.

[0007] The robotic arm according to embodiments of the present invention has at least the following beneficial effects: since the drive assembly can move along the line connecting it to the working assembly and can be fixed within its travel stroke, and the cable guide can move along the line connecting it to the working assembly and can be fixed within its travel stroke; therefore, during the assembly of the transmission belt, the drive pulley can move and drive the drive assembly, cable, and cable guide to move together to pre-tighten the transmission belt. When the drive pulley moves to the pre-tightening position, the drive assembly and cable guide are fixed to complete the pre-tightening.

[0008] According to one embodiment of the present invention, the cable tray further includes a cable box, which is fixedly connected to the arm body and has a second inner cavity, which communicates with the first cable inlet and the cable conduit.

[0009] According to one embodiment of the present invention, the cable guide tube includes a cable guide cylinder, a fixing seat and a first bolt. The fixing seat is connected to one end of the cable guide cylinder near the cable box. The fixing seat is provided with a connecting plate and a first mounting hole. The first mounting hole extends along the line connecting the fixing seat and the working component. The first bolt passes through the first mounting hole to connect the fixing seat and the cable box.

[0010] According to one embodiment of the present invention, there are two connecting plates, which are disposed on opposite sides of the fixed base and extend along the line connecting the fixed base and the working component.

[0011] According to one embodiment of the present invention, the driving assembly is provided with a second inlet hole communicating with the first inner cavity, the fixing seat is provided with a through hole communicating with the second inner cavity, one end of the wire guide tube is inserted into the second inlet hole, and the other end is inserted into the through hole.

[0012] According to one embodiment of the present invention, the end of the wire guide tube near the drive assembly is recessed inward to form a first connecting portion, and the end of the wire guide tube near the fixed base is recessed inward to form a second connecting portion. The first connecting portion is inserted into the second wire inlet hole, and the second connecting portion is inserted into the through hole.

[0013] According to one embodiment of the present invention, the fixing base is provided with a first fixing hole, and the end of the wire guide tube near the fixing base is provided with a second fixing hole. The wire guide tube also includes a fixing member, which passes through the first fixing hole and the second fixing hole to fix the wire guide tube to the fixing base.

[0014] According to one embodiment of the present invention, the drive assembly includes an explosion-proof housing and a motor disposed within the explosion-proof housing, the explosion-proof housing defining the first inner cavity, and the motor being drivenly connected to the drive wheel.

[0015] According to one embodiment of the present invention, the drive assembly includes a first drive member and a second drive member, and there are two drive wheels. The first drive member includes a first explosion-proof housing and a first motor disposed within the first explosion-proof housing. The first motor is driven and connected to one of the drive wheels. The second drive member includes a second explosion-proof housing, a second motor disposed within the second explosion-proof housing, and a speed reducer driven and connected to the second motor. The speed reducer is driven and connected to the other drive wheel.

[0016] According to one embodiment of the present invention, the arm body includes an upper cover and a lower cover, the upper cover and the lower cover are connected to define a third inner cavity, and the drive assembly, the pulley assembly and the groove are all disposed in the third inner cavity.

[0017] According to one embodiment of the present invention, the upper cover is integrally injection molded and has an antistatic coating on both the inner and outer surfaces.

[0018] A robot according to a second aspect of the present invention includes a robotic arm according to a first aspect of the present invention.

[0019] The robot according to embodiments of the present invention has at least the following beneficial effects: since the robotic arm can pre-tighten the transmission belt during assembly, the transmission belt will not easily loosen during the operation of the robotic arm, thus extending the service life of the robotic arm and consequently extending the service life of the robot.

[0020] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0022] Figure 1 This is a cross-sectional view of a robotic arm according to an embodiment of the present invention;

[0023] Figure 2 for Figure 1 Enlarged view of point A in the middle;

[0024] Figure 3 This is a schematic diagram of the wire groove of a robotic arm according to an embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of the wire groove and drive assembly of a robotic arm according to an embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram of the wire guide tube of a robotic arm according to an embodiment of the present invention;

[0027] Figure 6 This is a schematic diagram of the mounting base of a robotic arm according to an embodiment of the present invention;

[0028] Figure 7 This is a schematic diagram of the wire box of a robotic arm according to an embodiment of the present invention.

[0029] Figure label:

[0030] Robotic arm 100; arm body 110; upper cover 111; lower cover 112; third inner cavity 113; working assembly 120; lead screw 121; drive assembly 130; second cable inlet 131; first drive component 132; first explosion-proof housing 1321; first motor 1322; second drive component 133; second explosion-proof housing 1331; second motor 1332; reducer 1333; first inner cavity 134; pulley assembly 140; drive wheel 141; driven wheel Wheel 142; Drive belt 143; Cable groove 150; Cable box 151; Cable outlet hole 1511; First threaded hole 1512; Second inner cavity 1513; Cable conduit 152; Cable spool 1521; First connecting part 1504; Second connecting part 1505; Second fixing hole 1507; Fixing base 1522; Through hole 1501; Connecting plate 1502; First mounting hole 1503; First fixing hole 1506; Fastener 1523; First bolt 1524. Detailed Implementation

[0031] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0032] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, inside, outside, etc., are based on the orientation or positional relationship shown in the drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0033] In the description of this invention, the use of "first" and "second" is for the purpose of distinguishing technical features only, and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of the technical features indicated.

[0034] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0035] In related technologies, the robotic arm's body is connected to a drive assembly, a working assembly, and a cable tray. Cables are housed within the cable tray and enter the drive assembly to control its operation. During operation, the driving force of the drive assembly is transmitted to the driving pulley and then via a transmission belt to the driven pulley connected to the working assembly.

[0036] Therefore, during the assembly of the robotic arm, the transmission belt needs to be assembled. At this time, the center distance between the driving pulley and the driven pulley needs to be adjusted for pre-tensioning. However, the driven pulley is usually fixed. To pre-tension the transmission belt, the driving pulley needs to be moved. If the driving pulley is moved, the drive components and cables also need to be moved. However, the cable groove is usually fixed, which will prevent the cables from moving. Therefore, the driving pulley cannot be moved either. This results in the robotic arm being unable to pre-tension the transmission belt during assembly.

[0037] Therefore, one embodiment of the present invention provides a robotic arm 100, as detailed in the accompanying drawings. Figures 1 to 7 As shown.

[0038] Reference Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, a robotic arm 100 according to an embodiment of the present invention includes an arm body 110, a working component 120, a drive component 130, a pulley assembly 140, and a cable groove 150. The arm body 110 is provided with a first cable inlet (not shown in the figure). It should be noted that the cable enters the robotic arm 100 through the first cable inlet. The working component 120 is fixedly connected to the arm body 110. It should be noted that the working component 120 can be fixedly connected to the arm body 110 by means of threaded connection, welding, snap-fit, etc. The drive component 130 is connected to the arm body 110. The drive component 130 can move along the line connecting it and the working component 120 and can be fixed within its moving stroke. The drive component 130 has a first inner cavity 134. Obviously, the cable enters the first inner cavity 134 and controls the operation of the drive component 130. In one embodiment, the drive assembly 130 is provided with a second mounting hole (not shown in the figure). The second mounting hole extends along the line connecting the drive assembly 130 and the working assembly 120. A second bolt (not shown in the figure) passes through the second mounting hole and is connected to the arm body 110. Obviously, during the pre-tensioning process of the transmission belt 143, when the drive assembly 130 moves, the second bolt is not fully rotated and tightened. When the drive assembly 130 reaches the pre-tensioned position, the user can rotate and tighten the second bolt to fix the drive assembly 130 to the arm body 110. It should be noted that the extension length of the second mounting hole can be set according to the actual situation and is not specifically limited here.

[0039] Additionally, the pulley assembly 140 includes a driving pulley 141, a driven pulley 142, and a transmission belt 143. The driving pulley 141 is drivenly connected to the drive assembly 130, the driven pulley 142 is connected to the working assembly 120, and the transmission belt 143 connects the driving pulley 141 and the driven pulley 142. In one embodiment, the working assembly 120 includes a lead screw 121, which is connected to the driven pulley 142, and the driven pulley 142 can drive the lead screw 121 to rotate. Understandably, during prolonged operation, the transmission belt 143 may deform and loosen, hindering its ability to effectively transmit the driving force of the drive wheel 141 to the driven wheel 142, thus affecting its working efficiency. Furthermore, this will impact the working efficiency of the robotic arm 100. Therefore, the transmission belt 143 needs to be pre-tightened during assembly to ensure the robotic arm 100 maintains good working efficiency over extended periods. The cable tray 150 includes a cable guide tube 152. One end of the cable guide tube 152 is connected to the drive assembly 130 and communicates with the first inner cavity 134, while the other end communicates with the first cable inlet hole. The cable guide tube 152 can move along its connection to the working assembly 120 and can be fixed within its travel stroke. It should be noted that the cable outside the robotic arm 100 passes through the first cable inlet hole and the cable guide tube 152 before finally entering the first inner cavity 134.

[0040] It is understandable that, since the drive assembly 130 can move along the line connecting it to the working assembly 120 and can be fixed within its travel stroke, and the cable guide tube 152 can move along the line connecting it to the working assembly 120 and can be fixed within its travel stroke, when the transmission belt 143 is assembled, the drive pulley can move, driving the drive assembly 130, cable, and cable guide tube 152 together to pre-tighten the transmission belt 143. Once the drive pulley reaches the pre-tightened position, fixing the drive assembly 130 and cable guide tube 152 completes the pre-tightening. Therefore, the transmission belt 143 will not easily loosen during long-term operation, thus extending the service life of the robotic arm 100. It is understood that the transmission belt can be a synchronous belt or a flat belt; similarly, the drive pulley and driven pulley can be correspondingly pulleys or synchronous pulleys.

[0041] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 7As shown, in one embodiment of the present invention, the robotic arm 100 includes a cable tray 150 further comprising a cable box 151. The cable box 151 is fixedly connected to the arm body 110 and has a second inner cavity 1513, which communicates with a first cable inlet and a cable conduit 152. It should be noted that the cable outside the robotic arm 100 passes through the first cable inlet, the second inner cavity 1513, and the cable conduit 152, and finally enters the first inner cavity 134. In one embodiment, the cable box 151 has a plurality of first threaded holes 1512 spaced apart along its periphery, and the arm body 110 has a plurality of corresponding second threaded holes (not shown in the figure). Fasteners such as screws pass through the first threaded holes 1512 and the second threaded holes to fix the cable box 151 to the arm body 110. It should be noted that the cable box 151 can also be fixedly connected to the arm body 110 by welding, snap-fitting, or other methods, which are not specifically limited here.

[0042] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 6 As shown, in one embodiment of the present invention, the robotic arm 100 includes a cable guide tube 152 comprising a cable guide 1521, a fixing seat 1522, and a first bolt 1524. The fixing seat 1522 is connected to one end of the cable guide tube 1521 near the cable box 151. The fixing seat 1522 is provided with a connecting plate 1502, and the connecting plate 1502 is provided with a first mounting hole 1503. The first mounting hole 1503 extends along the line connecting the fixing seat 1522 and the working component 120. The first bolt 1524 passes through the first mounting hole 1503 to connect the fixing seat 1522 and the cable box 151. It should be noted that the cables in junction box 151 are encased in cable guide spool 1521. Clearly, cable guide spool 1521 protects the cables. When the robotic arm 100 is used in an explosion scenario, cable guide spool 1521 acts as an explosion-proof element, preventing the cables from being destroyed in an explosion. Simultaneously, it isolates the cables from the external environment; if the cables break and generate electrical sparks, the sparks will not come into contact with the external environment, thus preventing an explosion. It should also be noted that cable guide spool 1521 and mounting base 1522 can be connected via threaded connections, snap-fit ​​connections, etc.; alternatively, cable guide spool 1521 and mounting base 1522 can also be integrally cast. Obviously, the end of cable guide spool 1521 furthest from mounting base 1522 is connected to drive assembly 130, and cable guide spool 1521 can be connected to drive assembly 130 via welding, threaded connections, snap-fit ​​connections, etc.

[0043] Understandably, when pre-tightening the drive belt 143, the cable needs to move with the drive assembly 130. Since the cable box 151 is fixedly connected to the arm 110, the cable guide spool 1521 and the fixing seat 1522 need to be able to move with the drive assembly 130 to allow the cable to follow the drive assembly 130. After setting the connecting plate 1502 and the first mounting hole 1503, when pre-tightening the drive belt 143, the first bolt 1524 is not rotated and tightened. The cable guide spool 1521 and the fixing seat 1522 move with the drive assembly 130, and the cable moves synchronously. After the drive assembly 130 reaches the pre-tightening position, the first bolt 1524 is rotated and tightened, fixing the cable guide spool 1521 and the fixing seat 1522. It should be noted that the extension length of the first mounting hole 1503 can be set according to actual conditions and is not specifically limited here.

[0044] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 6 As shown, in one embodiment of the present invention, the robotic arm 100 has two connecting plates 1502. The two connecting plates 1502 are disposed on opposite sides of the fixed base 1522, and both extend along the line connecting the fixed base 1522 and the working component 120. It can be understood that since the first mounting hole 1503 extends along the line connecting the fixed base 1522 and the working component 120, the above arrangement ensures that the extending direction of the connecting plate 1502 is the same as the extending direction of the first mounting hole 1503, thereby saving material required for the connecting plate 1502. It should be noted that there can be one, three, four, etc., connecting plates 1502, which are not specifically limited here; it should also be noted that the connecting plates 1502 can extend in any direction, which is not specifically limited here.

[0045] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 6 and Figure 7As shown, in one embodiment of the present invention, the robotic arm 100 has a drive assembly 130 with a second inlet hole 131 communicating with a first inner cavity 134, and a fixed base 1522 with a through hole 1501 communicating with a second inner cavity 1513. One end of a wire guide spool 1521 is inserted into the second inlet hole 131, and the other end is inserted into the through hole 1501. It is understood that this insertion method facilitates the assembly and disassembly of the wire guide spool 1521 from the drive assembly 130, and also facilitates the assembly and disassembly of the wire guide spool 1521 from the fixed base 1522. It should be noted that the junction box 151 is provided with a cable outlet hole 1511 that communicates with the through hole 1501. In one embodiment, the through hole 1501 extends along the line connecting the fixed base 1522 and the working component 120, and the cable outlet hole 1511 extends along the line connecting the junction box 151 and the working component 120. With the above arrangement, the cable routing channel can still be ensured to be unobstructed after the fixed base 1522 moves.

[0046] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, in one embodiment of the robotic arm 100 of the present invention, the end of the wire guide 1521 near the drive assembly 130 is recessed to form a first connecting portion 1504, and the end of the wire guide 1521 near the fixed base 1522 is recessed to form a second connecting portion 1505. The first connecting portion 1504 is inserted into the second wire inlet hole 131, and the second connecting portion 1505 is inserted into the through hole 1501. It can be understood that, through the above arrangement, limiting steps are formed at both ends of the wire guide 1521, which can prevent the wire guide 1521 from being excessively inserted into the second wire inlet hole 131 or excessively inserted into the through hole 1501. It should be noted that the length of the first connecting portion 1504 is slightly longer than the depth of the second wire inlet hole 131 to facilitate adjustment during assembly.

[0047] Reference Figure 3 , Figure 4 , Figure 5 and Figure 6As shown, in one embodiment of the present invention, the robotic arm 100 has a fixed base 1522 with a first fixing hole 1506, and a wire guide tube 1521 with a corresponding second fixing hole 1507 at one end near the fixed base 1522. The wire guide tube 152 also includes a fixing member 1523, which passes through the first fixing hole 1506 and the second fixing hole 1507 to fix the wire guide tube 1521 to the fixed base 1522. It should be noted that there can be multiple first fixing holes 1506 and second fixing holes 1507, and in this case, there can also be multiple fixing members 1523. In one embodiment, the first fixing hole 1506 and the second fixing hole 1507 are provided with threads, and the fixing member 1523 is a screw. The screw passes through the first fixing hole 1506 and the second fixing hole 1507 to fix the wire guide 1521 to the fixing seat 1522. In this case, the fixing member 1523 is easy to disassemble, which in turn makes it easy to disassemble the wire guide 1521 from the fixing seat 1522. In another embodiment, the fixing member 1523 can also be a pin. In this case, the fixing member 1523 is also easy to disassemble.

[0048] Reference Figure 1 and Figure 2 As shown, in one embodiment of the present invention, the robotic arm 100 includes a drive assembly 130 comprising a first drive member 132. The first drive member 132 includes a first explosion-proof housing 1321 and a first motor 1322 disposed within the first explosion-proof housing 1321. The first explosion-proof housing 1321 defines a first inner cavity 134. The first motor 1322 is drivenly connected to a drive wheel 141. It is understood that when the robotic arm 100 is applied in an explosion scenario, the first explosion-proof housing 1321 can effectively protect the first motor 1322, preventing it from being destroyed by an explosion. Simultaneously, the first explosion-proof housing 1321 can isolate electrical sparks, preventing the electrical sparks generated by the first motor 1322 during operation from contacting the external environment and causing an explosion. In one embodiment, the second inlet hole 131 is located at the lower end of the first explosion-proof housing 1321. The cable enters the first inner cavity 134 through the second inlet hole 131 and is connected to the first motor 1322, thereby controlling the working state of the first motor 1322 and thus controlling the pulley assembly 140 and the working assembly 120.

[0049] Reference Figure 1 and Figure 2As shown, in one embodiment of the present invention, the robotic arm 100 includes a drive assembly 130 comprising a second drive member 133. The second drive member 133 includes a second explosion-proof housing 1331, a second motor 1332 disposed within the second explosion-proof housing 1331, and a reducer 1333 drivenly connected to the second motor 1332. The second explosion-proof housing 1331 defines a first inner cavity 134. The reducer 1333 is drivenly connected to a drive wheel 141. Clearly, the reducer 1333 can increase the driving force output by the motor. Similarly, when the robotic arm 100 is applied in an explosion scenario, the second explosion-proof housing 1331 can effectively protect the second motor 1332, preventing it from being destroyed by an explosion. Simultaneously, the second explosion-proof housing 1331 can isolate electrical sparks, preventing the electrical sparks generated during the operation of the second motor 1332 from contacting the external environment and causing an explosion. In one embodiment, the second inlet hole 131 is located at the lower end of the second explosion-proof housing 1331. The cable enters the first inner cavity 134 from the second inlet hole 131 and is connected to the second motor 1332, thereby controlling the working state of the second motor 1332 and thus controlling the pulley assembly 140 and the working assembly 120.

[0050] In one embodiment, the drive assembly 130 includes a first drive member 132 and a second drive member 133. In this case, there are two drive pulleys 141, with a first motor 1322 drivingly connected to one of the drive pulleys 141 and a second motor 1332 drivingly connected to the other drive pulley 141. There are two transmission belts 143 and two driven pulleys 142. One transmission belt 143 connects one drive pulley 141 and one driven pulley 142, and the other transmission belt 143 connects the other drive pulley 141 and the other driven pulley 142. Clearly, simultaneously providing the first drive member 132 and the second drive member 133 allows the drive assembly 130 to provide greater driving force. It should be noted that the drive assembly 130 may also include a third drive member, a fourth drive member, etc. In this case, the number of drive pulleys 141, driven pulleys 142, and transmission belts 143 can be adapted to change, and no specific limitation is made here. In one embodiment, the first drive member 132 is used to drive the lead screw 121 to move up and down. The end of the lead screw 121 is equipped with a gripper or other work execution component (not shown in the figure). The second drive member 133 is used to control the working angle of the gripper or other work execution component. In another embodiment, both the first drive member 132 and the second drive member 133 are used to drive the lead screw 121 to move up and down. The first drive member 132 works under light load conditions, and the second drive member 133 works under heavy load conditions. Obviously, the first drive member 132 and the second drive member 133 can also work simultaneously.

[0051] Reference Figure 1As shown, in one embodiment of the present invention, a robotic arm 100 includes an arm body 110 comprising an upper cover 111 and a lower cover 112. The upper cover 111 and the lower cover 112 are connected to define a third inner cavity 113. A drive assembly 130, a pulley assembly 140, and a wire groove 150 are all disposed in the third inner cavity 113. It is understood that, through the above arrangement, the upper cover 111 and the lower cover 112 can protect the drive assembly 130, the pulley assembly 140, and the wire groove 150. When the robotic arm 100 is applied in an explosion scenario, the upper cover 111 and the lower cover 112 can provide a certain degree of explosion protection.

[0052] In one embodiment, the upper cover 111 is integrally injection molded and has an antistatic coating on both its inner and outer surfaces. It is understood that, through the above-mentioned design, the upper cover 111 has antistatic properties, will not easily generate static electricity, and can be better used in explosion scenarios. In another embodiment, the lead screw 121 is provided with a protective sleeve made of silicone, and the outer wall of the protective sleeve is coated with an antistatic coating.

[0053] Some embodiments of the second aspect of the invention also propose a robot, not shown in the figures, which includes the robotic arm 100 of the first aspect embodiment.

[0054] According to the robot of the present invention, since the robotic arm 100 can pre-tighten the transmission belt 143 during assembly, the transmission belt 143 will not easily loosen during the operation of the robotic arm 100, thus extending the service life of the robotic arm 100 and consequently extending the service life of the robot.

[0055] In one embodiment, some components of the robot have a non-metallic shell, and both the inner and outer surfaces of the non-metallic shell are provided with an antistatic coating to prevent static electricity from being generated on the inner and outer surfaces of the non-metallic shell, so that the robot can be used in explosion scenarios.

[0056] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robotic arm, characterized in that, include: The arm body is equipped with a first cable inlet hole; The working component is fixedly connected to the arm body; A drive assembly is connected to the arm body, the drive assembly is movable along the line connecting it to the working assembly, and can be fixed within its travel stroke, the drive assembly having a first internal cavity; A pulley assembly includes a driving pulley, a driven pulley, and a transmission belt. The driving pulley is drivenly connected to the drive assembly, the driven pulley is connected to the working assembly, and the transmission belt connects the driving pulley and the driven pulley. The cable tray includes a cable guide tube, one end of which is connected to the drive assembly and communicates with the first inner cavity, and the other end is communicated with the first cable inlet hole. The cable guide tube can move along the line connecting it to the working assembly and can be fixed within its moving stroke. The cable tray also includes a cable box, which is fixedly connected to the arm body and has a second inner cavity, which communicates with the first cable inlet and the cable conduit. The cable guide tube includes a cable guide cylinder, a fixing seat, and a first bolt. The fixing seat is connected to one end of the cable guide cylinder near the cable box. The fixing seat is provided with a connecting plate, and the connecting plate is provided with a first mounting hole. The first mounting hole extends along the line connecting the fixing seat and the working component. The first bolt passes through the first mounting hole to connect the fixing seat and the cable box. The working component includes a lead screw, which is connected to the driven wheel, and the driven wheel can drive the lead screw to rotate.

2. The robotic arm according to claim 1, characterized in that, There are two connecting plates, which are located on opposite sides of the fixed base and extend along the line connecting the fixed base and the working component.

3. The robotic arm according to claim 1, characterized in that, The drive assembly is provided with a second inlet hole communicating with the first inner cavity, the fixed base is provided with a through hole communicating with the second inner cavity, one end of the wire tube is inserted into the second inlet hole, and the other end is inserted into the through hole.

4. The robotic arm according to claim 3, characterized in that, The end of the wire guide tube near the drive assembly is recessed inward to form a first connecting part, and the end of the wire guide tube near the fixed base is recessed inward to form a second connecting part. The first connecting part is inserted into the second inlet hole, and the second connecting part is inserted into the through hole.

5. The robotic arm according to claim 3, characterized in that, The fixed base is provided with a first fixing hole, and the end of the wire guide tube near the fixed base is provided with a second fixing hole. The wire guide tube also includes a fixing member, which passes through the first fixing hole and the second fixing hole to fix the wire guide tube to the fixed base.

6. The robotic arm according to any one of claims 1 to 5, characterized in that, The drive assembly includes a first drive member, which includes a first explosion-proof housing and a first motor disposed within the first explosion-proof housing. The first explosion-proof housing defines the first inner cavity, and the first motor is driven connected to the drive wheel.

7. The robotic arm according to any one of claims 1 to 5, characterized in that, The drive assembly includes a second drive member, which includes a second explosion-proof housing, a second motor disposed within the second explosion-proof housing, and a speed reducer driven and connected to the second motor. The second explosion-proof housing defines the first inner cavity, and the speed reducer is driven and connected to the drive wheel.

8. The robotic arm according to any one of claims 1 to 5, characterized in that, The arm body includes an upper cover and a lower cover, the upper cover and the lower cover are connected to define a third inner cavity, and the drive assembly, the pulley assembly and the groove are all disposed in the third inner cavity.

9. The robotic arm according to claim 8, characterized in that, The upper cover is integrally injection molded and has an antistatic coating on both the inner and outer surfaces.

10. A robot, characterized in that, Including the robotic arm as described in any one of claims 1 to 9.

Images