Robotic arm and robot

Abstract

The application is suitable for the field of robots, and discloses a mechanical arm and a robot. The mechanical arm comprises a mechanical arm body and a driving device installed at the end of the mechanical arm body and used for driving the rotation of an actuating mechanism. The driving device comprises a power assembly, a first transmission member, a second transmission member, an adjusting component and a first pressing member. One of the first transmission member and the second transmission member is connected with the power assembly, and the other is used for being connected with the actuating mechanism. The mechanical arm can reduce the probability of relative rotation between the first transmission member and the second transmission member, improve the connection stability between the first transmission member and the second transmission member, adjust the pressure between the first pressing member and the second transmission member through the adjusting component, adjust the torque between the first transmission member and the second transmission member, and comprehensively improve the accuracy of driving control of the actuating mechanism, so as to improve the control precision of the actuating mechanism.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a mechanical arm and a robot. BACKGROUND

[0002] In the related art robot with an end effector, the two transmission connections of the driving device at the end of the mechanical arm for driving the effector to perform tasks are prone to relative rotation between the two transmission connections, making it difficult for the two transmission connections to keep synchronous rotation, thereby resulting in low control accuracy of the effector. SUMMARY

[0003] The first object of the present application is to provide a mechanical arm, which aims to solve the technical problem of the related art that the two transmission connections of the driving device at the end of the mechanical arm are prone to relative rotation, thereby resulting in low control accuracy of the effector.

[0004] To achieve the above-mentioned object, the present application provides the following scheme:

[0005] A mechanical arm, comprising:

[0006] a mechanical arm body and a driving device mounted at the end of the mechanical arm body for driving an effector to rotate;

[0007] The driving device comprises a power assembly, a first transmission member, a second transmission member, an adjusting component and a first pressing member, one of the first transmission member and the second transmission member is connected with the power assembly, and the other is used to be connected with the effector;

[0008] The first transmission member is provided with a transmission shaft, and the second transmission member is provided with a shaft hole, at least a part of the transmission shaft is arranged in the shaft hole to realize the transmission connection between the first transmission member and the second transmission member;

[0009] The first pressing member is connected with the transmission shaft and rotates with the transmission shaft, and the first pressing member is pressed against the second transmission member at one end of the transmission shaft in the axial direction, and cooperates with the second transmission member to generate a resistance force for preventing the relative rotation between the first transmission member and the second transmission member;

[0010] The adjusting component is connected with the transmission shaft for adjusting the pressure of the first pressing member pressed against the second transmission member.

[0011] Further, the outer side wall of the first pressing member is in abutting cooperation with the inner side wall of the shaft hole to realize the transmission connection between the first transmission member and the second transmission member.

[0012] Further, the shaft hole comprises a first hole section and a second hole section, the first hole section and the second hole section are sequentially communicated along the same axis, and the hole diameter of the second hole section is larger than that of the first hole section.

[0013] The first pressing member is arranged in the second hole section and presses against a first step end face formed at the joint of the first hole section and the second hole section.

[0014] Further, the shaft hole further comprises a third hole section, the third hole section, the first hole section and the second hole section are sequentially communicated along the same axis, and the hole diameter of the third hole section is larger than that of the first hole section.

[0015] Further, the transmission shaft comprises a first shaft part and a second shaft part, the first shaft part is at least partially arranged in the first hole section and the second hole section, and the second shaft part is at least partially arranged in the third hole section.

[0016] The first pressing member is connected to the first shaft part and rotates with the first shaft part, and the adjusting component is connected to the first shaft part to adjust the pressing force of the first pressing member against the first step end face.

[0017] Further, the driving device further comprises a second pressing member, the first shaft part is partially arranged in the third hole section, the second pressing member is sleeved on the first shaft part and located in the third hole section, an axial one end of the second pressing member abuts against a second step end face formed at the joint of the first hole section and the third hole section, and the other end of the second pressing member abuts against an axial one end of the second shaft part.

[0018] Further, the adjusting component comprises an adjusting member and an elastic member, axial two ends of the elastic member respectively abut against the first pressing member and the adjusting member, and the elastic member is used to provide the elastic force of the first pressing member against the second transmission member; the adjusting member is movably connected to the transmission shaft to adjust the elastic force of the elastic member acting on the first pressing member.

[0019] Further, the adjusting member is circumferentially spaced apart with at least two protruding parts, each of the protruding parts is provided with a through hole, and one end of the elastic member abutting against the adjusting member is sequentially connected to the through holes.

[0020] Further, the first transmission member and the second transmission member are sequentially connected along the same axis; and / or,

[0021] The power assembly comprises a driving member and a mounting plate body mounted at the end of the mechanical arm body, the driving member is mounted on the mounting plate body and drives one of the first transmission member and the second transmission member.

[0022] The second object of the present application is to provide a robot comprising a mobile base, an execution mechanism for performing an operation task and the mechanical arm as described above, the mechanical arm body being mounted on the mobile base and the execution mechanism being mounted on the driving device.

[0023] The mechanical arm provided by the present application has the following beneficial effects:

[0024] The mechanical arm of the present application comprises a mechanical arm body and a driving device mounted on the end of the mechanical arm body for driving the rotation of the execution mechanism, wherein the driving device comprises a power assembly, a first transmission member, a second transmission member, an adjusting component and a first pressing member, one of the first transmission member and the second transmission member is connected with the power assembly, and the other is used for being connected with the execution mechanism, and the power assembly is used for providing driving force to drive the execution mechanism to work.

[0025] Moreover, in the present application, the first transmission member is provided with a transmission shaft, the second transmission member is provided with a shaft hole, at least part of the transmission shaft is arranged in the shaft hole to realize the transmission connection between the first transmission member and the second transmission member, and the first pressing member is connected with the transmission shaft and rotates with the transmission shaft, the first pressing member is pressed against the second transmission member at one end of the transmission shaft in the axial direction, and the first pressing member cooperates with the second transmission member to generate resistance for preventing the relative rotation between the first transmission member and the second transmission member. In this way, the probability of the relative rotation between the first transmission member and the second transmission member can be reduced, the connection stability between the first transmission member and the second transmission member can be improved, and the synchronous rotation of the first transmission member and the second transmission member can be ensured, thereby improving the control accuracy of the execution mechanism.

[0026] In addition, the adjusting component is connected with the transmission shaft for adjusting the pressure of the first pressing member pressed against the second transmission member, thereby adjusting the pressure between the first pressing member and the second transmission member, so that the torque between the first transmission member and the second transmission member can be adjusted, the effect that the driving device of the mechanical arm outputs different torques to the execution mechanism can be achieved, and the accuracy of controlling the movement of the execution mechanism can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained according to the structures shown in the drawings without creative labor for those skilled in the art.

[0028] Figure 1 is a structural schematic view of the robot provided by the embodiment of the present application, which removes the mobile base and the mechanical arm body;

[0029] Figure 2 is a structural schematic view of a driving device in a mechanical arm provided by an embodiment of the present application;

[0030] Figure 3 is a structural schematic view of a driving device without a power assembly in a mechanical arm provided by an embodiment of the present application;

[0031] Figure 4 is an exploded structural schematic view of Figure 3 ;

[0032] Figure 5 is an assembly structural schematic view of a first transmission member, an adjusting component and a first pressing member in a mechanical arm provided by an embodiment of the present application;

[0033] Figure 6 is a structural schematic view of a first transmission member in a mechanical arm provided by an embodiment of the present application;

[0034] Figure 7 is a structural schematic view of a second transmission member in a mechanical arm provided by an embodiment of the present application;

[0035] Figure 8 is a structural schematic view of a second transmission member in a mechanical arm provided by an embodiment of the present application;

[0036] Explanation of reference signs:

[0037] 100, mechanical arm; 200, robot;

[0038] 110, driving device;

[0039] 111, power assembly; 1111, driving member; 1112, mounting plate body; 1113, connecting hole;

[0040] 112, first transmission member; 1121, transmission shaft; 11211, first shaft part; 11212, second shaft part; 11213, mounting part; 11214, mounting hole;

[0041] 113, second transmission member; 1131, shaft hole; 11311, first hole section; 11312, second hole section; 11313, third hole section; 11314, annular step; 11315, annular protrusion;

[0042] 114, adjusting component; 1141, adjusting member; 1142, elastic member; 1143, protrusion part;

[0043] 115, first pressing member; 116, first step end surface; 117, second pressing member; 118, second step end surface;

[0044] 210, actuator; 211, rotating disc; 212, rotating shaft; 213, rotating sleeve; 214, clamping part. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0046] It should be noted that all directional indications, such as up, down, left, right, front, back, etc., in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture, and if the certain posture changes, the directional indications also change accordingly.

[0047] It should also be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or can have a middle element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or can be indirectly connected to the other element through a middle element.

[0048] In addition, the descriptions of "first", "second", etc. in the present application are only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the fact that a person of ordinary skill in the art can realize it, and when the combination of technical solutions appears to be contradictory or unachievable, it should be considered that the combination of technical solutions does not exist and is not within the scope of protection required by the present application.

[0049] As shown in FIG. 1, the mechanical arm 100 is used to drive the actuator 210 in the robot 200 to perform a rotating motion, so as to drive the actuator 210 to perform an operation task, such as clamping a workpiece such as a camera. Figures 1 to 8

[0050] As shown in FIG. 1, the mechanical arm 100 provided by the present application comprises a mechanical arm body (not indicated) and a driving device 110 mounted at the end of the mechanical arm body and used to drive the actuator 210 to rotate, so that the actuator 210 can perform a task, for example, when the actuator 210 is an actuator 210 that can rotate to clamp a workpiece, a camera can be clamped. Figures 1 to 4

[0051] ​​The driving device 110 comprises a power assembly 111, a first transmission member 112, a second transmission member 113, an adjusting member 114 and a first pressing member 115. One of the first transmission member 112 and the second transmission member 113 is connected with the power assembly 111, and the other is used to be connected with the actuator 210. In this embodiment, the first transmission member 112 is connected with the power assembly 111, and the second transmission member 113 is used to be connected with the actuator 210, so that the rotating output power of the power assembly 111 is transmitted to the second transmission member 113 through the first transmission member 112.

[0052] The first transmission member 112 is provided with a transmission shaft 1121, and the second transmission member 113 is provided with a shaft hole 1131. At least a part of the transmission shaft 1121 is arranged in the shaft hole 1131, so as to realize the transmission connection between the first transmission member 112 and the second transmission member 113. The first pressing member 115 is connected with the transmission shaft 1121 and rotates with the transmission shaft 1121. The first pressing member 115 is pressed against the second transmission member 113 at an axial end of the transmission shaft 1121, and cooperates with the second transmission member 113 to generate a resistance for preventing the relative rotation between the first transmission member 112 and the second transmission member 113. In this way, the connection between the first transmission member 112 and the second transmission member 113 is more stable. The adjusting member 114 is connected with the transmission shaft 1121, so as to adjust the pressing force of the first pressing member 115 against the second transmission member 113, and thereby adjust the pressing force between the first pressing member 115 and the second transmission member 113.

[0053] It can be understood that the mechanical arm 100 of the embodiment comprises a mechanical arm body and a driving device 110 mounted at the end of the mechanical arm body for driving the rotation of the actuating mechanism 210, so that the mechanical arm body and the driving device 110 can be assembled respectively, thereby saving the assembly time. The mechanical arm 100 of the embodiment is connected with the power assembly 111 through one of the first transmission member 112 and the second transmission member 113, and the other is connected with the actuating mechanism 210, so that the power output by the power assembly 111 can be transmitted to the actuating mechanism 210. In the present application, the first transmission member 112 is provided with a transmission shaft 1121, the second transmission member 113 is provided with a shaft hole 1131, and at least part of the transmission shaft 1121 is arranged in the shaft hole 1131 to realize the transmission connection between the first transmission member 112 and the second transmission member 113. Moreover, the first pressing member 115 is connected to the transmission shaft 1121 and rotates with the transmission shaft 1121, and the first pressing member 115 is pressed against the second transmission member 113 along the axial end of the transmission shaft 1121, and cooperates with the second transmission member 113 to generate a resistance for preventing the relative rotation of the first transmission member 112 and the second transmission member 113. In this way, the connection between the first transmission member 112 and the second transmission member 113 can be more stable, so as to reduce the probability of relative rotation between the first transmission member 112 and the second transmission member 113, thereby improving the connection stability between the first transmission member 112 and the second transmission member 113, and ensuring the synchronous rotation of the first transmission member 112 and the second transmission member 113, thereby improving the control accuracy of the actuating mechanism 210.

[0054] In addition, the adjusting member 114 is connected to the transmission shaft 1121 for adjusting the pressure of the first pressing member 115 pressing against the second transmission member 113, so as to adjust the pressure between the first pressing member 115 and the second transmission member 113. For example, when assembling the driving device 110 of the mechanical arm 100, according to the workpiece to be clamped, the pressure between the first pressing member and the second transmission member 113 can be increased or decreased by using the adjusting member 114, so as to adjust the torque between the first transmission member 112 and the second transmission member 113, so as to achieve the effect that the driving device 110 of the mechanical arm 100 outputs different torques to the actuating mechanism 210, thereby improving the accuracy of controlling the movement of the actuating mechanism 210.

[0055] As shown in Figure 4 In some embodiments, the outer side wall of the first pressing member 115 is in abutting cooperation with the inner side wall of the shaft hole 1131 to realize the transmission connection between the first transmission member 112 and the second transmission member 113. For example, the first pressing member 115 is a gasket, which can realize the transmission connection between the first transmission member 112 and the second transmission member 113, and can also reduce the wear at the abutting position of the first pressing member 115 and the second transmission member 113, thereby prolonging the service life of the first pressing member 115 and the second transmission member 113.

[0056] As shown in Figure 4 , Figure 5 and Figure 8 , in some embodiments, the shaft hole 1131 comprises a first hole section 11311 and a second hole section 11312, the first hole section 11311 and the second hole section 11312 are in sequence along the same axis, so that the first hole section 11311 and the second hole section 11312 can keep coaxial rotation. The hole diameter of the second hole section 11312 is larger than that of the first hole section 11311, the first pressing piece 115 is arranged in the second hole section 11312 and presses against the first step end face 116 formed at the junction of the first hole section 11311 and the second hole section 11312, so as to realize the axial pressing of the first pressing piece 115 along the transmission shaft 1121 to the second transmission piece 113. Moreover, the pressure between the first pressing piece 115 and the second transmission piece 113 can be adjusted by adjusting the pressure between the first pressing piece 115 and the first step end face 116. Wherein, the pressure adjusting component and the first pressing piece 115 are both located in the second hole section 11312, which can improve the structural compactness.

[0057] As shown in Figure 4 , Figure 7 and Figure 8 , in some embodiments, the shaft hole 1131 further comprises a third hole section 11313, the third hole section 11313, the first hole section 11311 and the second hole section 11312 are in sequence along the same axis, so that the third hole section 11313, the first hole section 11311 and the second hole section 11312 can keep coaxial rotation, and the hole diameter of the third hole section 11313 is larger than that of the first hole section 11311. In combination with the hole diameter of the second hole section 11312 which is also larger than that of the first hole section 11311, it is obvious that the inner wall of the shaft hole 1131 extends radially to form an annular step 11314.

[0058] As shown in Figure 4 , Figure 5 and Figure 6 , in some embodiments, the transmission shaft 1121 comprises a first shaft part 11211 and a second shaft part 11212, the first shaft part 11211 is at least partially arranged in the first hole section 11311 and the second hole section 11312, so as to facilitate the installation of the first pressing piece 115 and the pressure adjusting component, and the second shaft part 11212 is at least partially arranged in the third hole section 11313. The first pressing piece 115 is connected to the first shaft part 11211 and rotates with the first shaft part 11211, and the adjusting component 114 is connected to the first shaft part 11211 for adjusting the pressure of the first pressing piece 115 pressing against the first step end face 116.

[0059] As shown in Figure 4As shown, as an embodiment, at least one of the third hole section 11313 and the first hole section 11311 abuts against the outer side wall of the transmission shaft 1121, and the transmission connection between the first transmission member 112 and the second transmission member 113 can also be achieved. In this case, in order to facilitate the assembly of the first transmission member 112 and the second transmission member 113, the outer diameter of the first shaft part 11211 is adapted to the inner diameter of the first hole section 11311, and the outer diameter of the second shaft part 11212 is adapted to the inner diameter of the third hole section 11313. However, in order to reduce the wear between the first transmission member 112 and the second transmission member 113, as another embodiment, on the basis of the abutment between the outer side wall of the first pressing member 115 and the inner side wall of the shaft hole 1131, the outer side wall of the transmission shaft 1121 leaves a gap between the first hole section 11311 and the third hole section 11313.

[0060] As shown in Figure 4 and Figure 5 In some embodiments, the driving device 110 further comprises a second pressing member 117, the first shaft part 11211 is partially arranged in the third hole section 11313, the second pressing member 117 is sleeved on the first shaft part 11211 and located in the third hole section 11313, one end of the second pressing member 117 abuts against the second step end face 118 formed at the junction of the first hole section 11311 and the third hole section 11313, and the other end of the second pressing member 117 abuts against the axial one end of the second shaft part 11212, so as to separate the second shaft part 11212 from the second step end face 118 and reduce the wear between the second shaft part 11212 and the second step end face 118. Exemplarily, the second pressing member 117 is a gasket.

[0061] As shown in Figure 4 and Figure 5 As an embodiment, in order to improve the transmission stability of the first transmission member 112 and the second transmission member 113, on the basis of the abutment between the outer side wall of the first pressing member 115 and the inner side wall of the second hole section 11312, the outer side wall of the second pressing member 117 also abuts against the inner side wall of the third hole section 11313.

[0062] As shown in Figure 4 and Figure 5As shown in the drawings, in some embodiments, the adjusting component 114 comprises an adjusting member 1141 and an elastic member 1142, the two axial ends of the elastic member 1142 abut against the first abutting member 115 and the adjusting member 1141 respectively, and the elastic member 1142 is used to provide the elastic force of the first abutting member 115 abutting against the second transmission member 113, so that the elastic member 1142 can push the first abutting member 115 to abut against the first stepped end surface 116. The adjusting member 1141 is movably connected to the transmission shaft 1121, so as to adjust the elastic force of the elastic member 1142 acting on the first abutting member 115. For example, in order to simplify the structure, the elastic member 1142 is a spring, and the adjusting member 1141 is a knob. The spring is arranged around the part of the first shaft portion 11211, and the two axial ends of the spring abut against the first abutting member 115 and the knob respectively. By rotating the knob, the compression degree of the spring can be adjusted, so as to adjust the elastic force of the spring acting on the first abutting member 115, and then adjust the pressure between the first abutting member 115 and the first stepped end surface 116.

[0063] As shown in the drawings, Figure 4 and Figure 5 In some embodiments, the adjusting member 1141 is provided with at least two protruding portions 1143 in the circumferential direction, each protruding portion 1143 is provided with a through hole, and the elastic member 1142 is sequentially connected to the through holes at one end abutting against the adjusting member 1141, so as to improve the connection stability of the elastic member 1142 and the adjusting member 1141.

[0064] As shown in the drawings, Figure 2 , Figure 3 and Figure 6 In some embodiments, the first transmission member 112 and the second transmission member 113 are sequentially connected along the same axis, so as to improve the stability of the synchronous rotation of the first transmission member 112 and the second transmission member 113. The power assembly 111 comprises a driving member 1111 and a mounting plate body 1112 mounted at the end of the mechanical arm body, the driving member 1111 is used to provide driving force, and the driving member 1111 can be a motor, such as a rotary motor. The driving member 1111 is mounted on the mounting plate body 1112 and drives one of the first transmission member 112 and the second transmission member 113. For example, the second shaft portion 11212 is provided with a mounting portion 11213 connected to the output end of the driving member 1111, the mounting portion 11213 is provided with a mounting hole 11214, so as to connect the output shaft of the driving member 1111, and then receive the power output by the driving member 1111.

[0065] As shown in the drawings, Figure 2As shown, as an embodiment, the mechanical arm body comprises at least two swing arms (not marked) connected in sequence, such as two, three, etc., and the number of swing arms is not particularly limited. The mounting plate body 1112 is provided with a connecting hole 1113 arranged in parallel and spaced apart from the power assembly 111. The last swing arm is connected to the connecting hole 1113.

[0066] As shown in Figure 1 and Figure 2 As shown, the embodiment also provides a robot 200, comprising a moving base (not marked), an execution mechanism 210 for performing an operation task, and the above-mentioned mechanical arm 100. The mechanical arm 100 body is installed on the moving base to move on a support surface (such as the ground) under the driving of the moving base. The execution mechanism 210 is installed on the driving device 110 to perform an operation task under the driving of the driving device 110.

[0067] Understandably, the robot 200 provided by the embodiment can improve the connection stability of the first transmission member 112 and the second transmission member 113 in the driving device 110, ensure the synchronous rotation of the first transmission member 112 and the second transmission member 113, adjust the torque between the first transmission member 112 and the second transmission member 113, and achieve the effect of outputting different torques from the driving device 110 to the execution mechanism 210, thereby improving the accuracy of controlling the movement of the execution mechanism 210 and improving the control precision of the execution mechanism 210.

[0068] As shown in Figure 1 As an embodiment, the execution mechanism 210 comprises a rotating disc 211, a rotating shaft 212, a rotating sleeve 213 and a clamping part 214 with clamping and loosening movement trend connected in sequence along the same axis. The outer wall of the second transmission member 113 extends outwardly in a radial direction to form an annular protrusion 11315. One side of the rotating disc 211 is fixedly connected to the annular protrusion 11315 to follow the rotation of the second transmission member 113. The other side of the rotating disc 211 is connected to the rotating shaft 212 to follow the rotation of the rotating disc 211. The clamping part 214 is connected to the rotating shaft 212 through the rotating sleeve 213 to follow the rotation of the rotating shaft 212, so that when the clamping part 214 follows the rotating shaft 212 to rotate, the clamping part 214 clamps or loosens the workpiece, thereby realizing the clamping of the workpiece.

[0069] The above-mentioned is only the preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation made under the inventive concept of the present application, or direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

Claims

1. A robot arm, characterized in that, The drive device comprises a power assembly, a first transmission member, a second transmission member, an adjusting component and a first pressing member, one of the first transmission member and the second transmission member is connected with the power assembly, and the other is used to be connected with the actuating mechanism; The first transmission member is provided with a transmission shaft, and the second transmission member is provided with a shaft hole, at least a part of the transmission shaft is arranged in the shaft hole to realize the transmission connection between the first transmission member and the second transmission member; The first pressing member is connected with the transmission shaft and rotates with the transmission shaft, and one end of the first pressing member along the axial direction of the transmission shaft is pressed against the second transmission member, and the first pressing member and the second transmission member are matched to generate a resistance force for preventing the relative rotation of the first transmission member and the second transmission member; The adjusting component is connected with the transmission shaft to adjust the pressure of the first pressing member pressed against the second transmission member; The outer side wall of the first pressing member is in abutting fit with the inner side wall of the shaft hole to realize the transmission connection between the first transmission member and the second transmission member; The shaft hole comprises a first hole section and a second hole section, the first hole section and the second hole section are sequentially communicated along the same axis, and the hole diameter of the second hole section is larger than that of the first hole section; The first pressing member is arranged in the second hole section and is pressed against a first step end face formed at the junction of the first hole section and the second hole section; The shaft hole further comprises a third hole section, the third hole section, the first hole section and the second hole section are sequentially communicated along the same axis, and the hole diameter of the third hole section is larger than that of the first hole section; The transmission shaft comprises a first shaft part and a second shaft part, the first shaft part is at least partially arranged in the first hole section and the second hole section, and the second shaft part is at least partially arranged in the third hole section; The first pressing member is connected with the first shaft part and rotates with the first shaft part, and the adjusting component is connected with the first shaft part to adjust the pressure of the first pressing member pressed against the first step end face; The drive device further comprises a second pressing member, the first shaft part is partially arranged in the third hole section, the second pressing member is sleeved on the first shaft part and located in the third hole section, one end of the second pressing member in the axial direction abuts against a second step end face formed at the junction of the first hole section and the third hole section, and the other end of the second pressing member abuts against one end of the second shaft part in the axial direction; The adjusting component comprises an adjusting member and an elastic member, the axial ends of the elastic member abut against the first pressing member and the adjusting member respectively, and the elastic member is used to provide the elastic force of the first pressing member pressed against the second transmission member; and the adjusting member is movably connected with the transmission shaft to adjust the elastic force of the elastic member acting on the first pressing member. The adjusting member is provided with at least two protruding parts at intervals in the circumferential direction, each of the protruding parts is provided with a through hole, and one end of the elastic member abutting against the adjusting member is sequentially connected with the through holes.

2. The robot arm of claim 1, wherein, ​ 3. The robotic arm of claim 1, wherein, The first transmission member and the second transmission member are connected in sequence along the same axis; and / or, The power assembly comprises a driving member and a mounting plate body mounted at the end of the mechanical arm body, the driving member is mounted on the mounting plate body and drives one of the first transmission member and the second transmission member.

4. A robot, characterized in that Comprise: A mobile base, an execution mechanism for executing an operation task, and a mechanical arm as claimed in any one of claims 1-3, the mechanical arm body is mounted on the mobile base, and the execution mechanism is mounted on the driving device.

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