A robotic arm capable of alleviating multi-directional impacts and its driving method

Abstract

The present invention discloses a robotic arm capable of alleviating multi-directional impacts and its driving method. The robotic arm includes a forearm assembly, an elbow joint, a upper arm assembly, and a upper arm base. The inner end of the upper arm assembly is installed on the upper arm base; the upper arm base includes an upper arm flexible transmission member, an upper arm driving assembly, and a base housing. The inner end of the forearm assembly is connected to the outer end of the upper arm through the elbow joint. The upper arm assembly includes a forearm driving assembly and an upper arm housing. The elbow joint includes a joint shaft and a forearm flexible transmission assembly. The forearm assembly includes a forearm housing. By arranging torsion springs in a planetary gear train with over degrees of freedom (the planet gears, planet carrier, inner and outer sun gears can all rotate freely), a flexible joint structure is formed. While enabling the driving of the robotic arm, the impact torque is buffered and dispersed by using the self-rotation of the torsion springs and planetary gears. In addition, the upper arm flexible transmission member in the present invention adopts a flexible wheel structure, which can adapt to the change of external force and buffer violent collisions.

Description

Technical Field

[0001] The present invention belongs to the field of robotic arm design, and particularly relates to a robotic arm capable of alleviating multi-directional impacts and a driving method thereof. Background Art

[0002] The safety of human-computer interaction has been increasingly emphasized. In the operation of machines, high requirements are placed on the stability of movement and the performance of shock mitigation. In the design of robotic arms, the design of the buffer structure is particularly important. The innovative design of the buffer structure of the robotic arm can greatly improve the movement stability of the robotic arm, and at the same time, the design of the buffer structure can also provide guarantees for movement reliability and safety. When the robotic arm is working under heavy loads, it has a large starting impulse, which has a great impact on the service life of the driving motor. At the same time, during the working movement of the robotic arm, it may encounter multi-directional collisions and impacts from the external environment. The design of the buffer structure can greatly reduce the complexity of the motor control program, so the design of elastic joints and flexible joints is particularly important. Summary of the Invention

[0003] The purpose of the present invention is to provide a robotic arm capable of alleviating multi-directional impacts and a driving method thereof, so as to solve the problems that the excessive starting acceleration of the robotic arm under heavy loads damages the motor and the external collisions at any angle damage the motor.

[0004] A robotic arm capable of alleviating multi-directional impacts includes a forearm assembly, an elbow joint, a large arm assembly, and a large arm base. The inner end of the large arm assembly is installed on the large arm base; the inner end of the forearm assembly is connected to the outer end of the large arm through the elbow joint. The large arm base includes a large arm elastic transmission member, a large arm drive assembly, and a base housing. The large arm elastic transmission member includes an integrally formed inner ring, curved elastic strips, and an outer ring. The outer ring coaxially surrounds the outside of the inner ring. A plurality of curved elastic strips are all connected between the inner peripheral edge of the outer ring and the outer peripheral edge of the inner ring. The outer ring is rotatably connected to the base housing and is driven to rotate by the large arm drive assembly.

[0005] The large arm assembly includes a forearm drive assembly and a large arm housing. The elbow joint includes a joint shaft and a forearm elastic transmission assembly. The forearm assembly includes a forearm housing. The large arm housing is rotatably connected to the base housing and is fixed to the inner ring. The joint shaft is rotatably connected to the large arm housing. The forearm housing is rotatably connected to the joint shaft. The joint shaft is driven to rotate by the forearm drive assembly.

[0006] The described forearm elastic transmission assembly includes a turntable and two buffer transmission assemblies respectively arranged on both sides of the turntable. The turntable is fixed on the joint axis. The buffer transmission assemblies are installed inside the forearm housing and include torsion springs, planetary gears, and forearm internal gears. One or more planetary gears are rotatably connected to the turntable. The axis of the planetary gear is parallel to and spaced from the axis of the turntable. The described forearm internal gear is fixed inside the forearm housing and is coaxially arranged with the joint axis. The planetary gear meshes with the forearm internal gear. A torsion spring is arranged between the planetary gear and the turntable.

[0007] Preferably, the upper arm drive assembly includes an upper arm drive motor, an upper arm transmission gear, and an upper arm base internal gear. The upper arm transmission gear and the upper arm base internal gear are both rotatably connected to the top of the base housing. The upper arm drive motor is fixed on the base housing, and the output shaft is fixed to the upper arm base internal gear. The upper arm transmission gear meshes with the upper arm base internal gear. The outer ring is coaxially fixed to the upper arm base internal gear.

[0008] Preferably, a second angle encoder is installed on the upper arm drive motor. The input shaft of the second angle encoder is fixed to the output shaft of the upper arm drive motor.

[0009] Preferably, the bending elastic strip is S-shaped.

[0010] Preferably, the upper arm assembly further includes a forearm angle detection assembly. The forearm angle detection assembly includes a positioning gear, a positioning transmission gear, a first angle encoding bevel gear, a second angle encoding bevel gear, and a first angle encoder. The positioning gear is coaxially fixed to the forearm housing. The first angle encoding bevel gear and the positioning transmission gear fixed together coaxially are both rotatably connected to the upper arm housing. The first angle encoder is installed inside the upper arm housing. The second angle encoding bevel gear is fixed to the output shaft of the first angle encoder. The first angle encoding bevel gear meshes with the second angle encoding bevel gear.

[0011] Preferably, an IMU inertial sensor is installed on the forearm housing.

[0012] Preferably, the rotation axis of the upper arm housing is perpendicular to the rotation axis of the joint axis.

[0013] Preferably, the forearm drive assembly includes a forearm drive motor, a first bevel gear, and a second bevel gear. Two second bevel gears are both fixed on the joint axis. Two forearm drive motors are both fixed on the upper arm housing; the output shafts of the two forearm drive motors are both fixed with a first bevel gear. The two first bevel gears respectively mesh with the two second bevel gears. The forearm elastic transmission assembly is arranged between the two second bevel gears.

[0014] Preferably, a plurality of planetary gears are provided in a buffer drive assembly. The plurality of planetary gears are evenly distributed in the circumferential direction of the joint axis. The buffer drive assembly further includes a transmission gear; the transmission gear is rotatably connected to the joint axis. The transmission gear meshes with the planetary gears. A torsion spring is provided between the transmission gear and the turntable.

[0015] The driving method of the robotic arm that can relieve multi-directional impacts is as follows:

[0016] The forearm drive assembly drives the outer casing of the upper arm to rotate relative to the base casing through the elastic drive member of the upper arm; the forearm drive assembly drives the joint axis to rotate. The joint axis drives the planetary gears to revolve. The revolving planetary gears push the inner gear of the forearm to rotate, causing the outer casing of the forearm to rotate relative to the outer casing of the upper arm, realizing the two-degree-of-freedom movement of the end of the robotic arm. When the outer casing of the upper arm and / or the outer casing of the forearm is subjected to impact torque caused by external impacts; the elastic drive member of the upper arm realizes the rotational buffering of the outer casing of the upper arm through the elastic bending deformation of the bending elastic strip; the planetary gears in the elastic drive assembly of the forearm realize the rotational buffering of the outer casing of the forearm by rotating themselves and driving the torsion spring to rotate.

[0017] The beneficial effects of the present invention are:

[0018] By arranging a torsion spring in the planetary gear train with over degrees of freedom (the planetary gear, the planet carrier, the inner and outer sun gears can all rotate freely), a flexible joint structure is formed. While the robotic arm can be driven, the torsion spring and the self-rotation of the planetary gears are used for buffering and dispersing the impact torque.

[0019] The elastic drive member of the upper arm in the present invention adopts a flexible wheel structure, which can adapt to the change of external force and buffer violent collisions.

[0020] The forearm angle detection assembly in the present invention can detect the rotation angle of the forearm, so as to realize the negative feedback precise control of the flexible joint robotic arm under load. Description of the Drawings

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0022] Figure 2 It is a schematic diagram of the internal structure of the present invention.

[0023] Figure 3 It is the first schematic diagram of the elbow joint structure in the present invention.

[0024] Figure 4 It is the second schematic diagram of the elbow joint structure in the present invention.

[0025] Figure 5 It is a schematic diagram of the structure of the forearm assembly in the present invention.

[0026] Figure 6 This is a schematic structural diagram of the boom elastic transmission component in the present invention. Detailed implementation manners

[0027] The present invention will be further described below with reference to the accompanying drawings.

[0028] As Figure 1 and 2 shown, a robotic arm capable of alleviating multi-directional impacts includes a forearm assembly 1, an elbow joint 2, a boom assembly 3, and a boom base 4. The inner end of the boom assembly 3 is mounted on the boom base 4; the inner end of the forearm assembly 1 is connected to the outer end of the boom through the elbow joint 2. The boom base 4 includes a boom elastic transmission component, a boom drive motor 4-4, a boom transmission gear 4-5, a boom base internal gear 4-6, a second angle encoder 4-7, and a base housing 4-8. The boom transmission gear 4-5 and the boom base internal gear 4-6 are both rotatably connected to the top of the base housing 4-8. The boom drive motor 4-4 is fixed on the base housing 4-8, and the output shaft is fixed to the inner ring (4-1) in the boom elastic transmission component. The boom transmission gear 4-5 meshes with the boom base internal gear 4-6. The second angle encoder 4-7 is mounted on the boom drive motor 4-4. The input shaft of the second angle encoder 4-7 is fixed to the boom transmission gear 4-5.

[0029] As Figure 3 and 4 shown, the boom elastic transmission component includes an integrally formed inner ring 4-1, a bent elastic strip 4-2, and an outer ring 4-3. The outer ring 4-3 coaxially surrounds the outside of the inner ring 4-1. A plurality of bent elastic strips 4-2 are all connected between the inner circumferential edge of the outer ring 4-3 and the outer circumferential edge of the inner ring 4-1. The bent elastic strip 4-2 is in an S shape. The outer ring 4-3 is coaxially fixed to the boom base internal gear 4-6. The bent elastic strip 4-2 allows the outer ring 4-3 and the inner ring 4-1 to rotate relative to each other, and generates an elastic force after this relative rotation occurs; therefore, the boom elastic transmission component can not only drive the boom assembly 3 to rotate, but also avoid damage by deforming when an impact comes.

[0030] As Figure 5 and 6 shown, the boom assembly 3 includes a forearm drive motor 3-1, a first bevel gear 3-2, a second bevel gear 3-3, a forearm angle detection assembly, and a boom housing 3-7. The elbow joint 2 includes a joint shaft 2-8, a forearm elastic transmission assembly, and a support bearing 2-7. The forearm assembly 1 includes an IMU inertial sensor 1-1 and a forearm housing 1-2.

[0031] The outer shell 3-7 of the upper arm is fixed to the outer ring 4-3. The joint shaft 2-8 is rotatably connected to the outer shell 3-7 of the upper arm. Both ends of the outer shell 1-2 of the forearm are rotatably connected to the joint shaft 2-8 through the support bearings 2-7. The IMU inertial sensor 1-1 is installed inside the outer shell 1-2 of the forearm and is used to detect the angular velocity and acceleration of the outer shell 1-2 of the forearm.

[0032] Both of the two second bevel gears 3-3 are fixed to the joint shaft 2-8. Both of the two forearm drive motors 3-1 are fixed to the outer shell 3-7 of the upper arm; the output shafts of both of the two forearm drive motors 3-1 are fixed with the first bevel gears 3-2. The two first bevel gears 3-2 are respectively meshed with the two second bevel gears 3-3. The buffer transmission assembly is arranged between the two second bevel gears 3-3.

[0033] The forearm elastic transmission assembly includes a turntable 2-1 and two buffer transmission assemblies arranged on both sides of the turntable 2-1. The turntable 2-1 is fixed to the joint shaft 2-8. The buffer transmission assembly is installed inside the outer shell 1-2 of the forearm and includes an inner forearm gear 2-6, a torsion spring 2-2, a transmission gear 2-3, a planetary gear 2-4 and a thrust bearing 2-5. The transmission gear 2-3 is rotatably connected to the joint shaft 2-8 through the thrust bearing 2-5. The two planetary gears 2-4 are respectively rotatably connected to the turntable 2-1 through connecting columns. The two planetary gears 2-4 are symmetrically arranged on both sides of the axis of the transmission gear 2-3. The inner forearm gear 2-6 is fixed inside the outer shell 1-2 of the forearm. The inner forearm gear 2-6 is coaxially arranged with the joint shaft 2-8. Both of the two planetary gears 2-4 are simultaneously meshed with the inner forearm gear 2-6 and the transmission gear 2-3. A torsion spring 2-2 is arranged between the transmission gear 2-3, the planetary gear 2-4 and the turntable 2-1. One end of the torsion spring 2-2 is fixed to the turntable 2-1; the other end of the torsion spring 2-2 is fixed to the corresponding transmission gear 2-3 or planetary gear 2-4.

[0034] The forearm angle detection assembly includes a positioning gear 3-4, a positioning transmission gear, a first angle-encoding bevel gear 3-5, a second angle-encoding bevel gear 3-6 and a first angle encoder 3-8. The positioning gear 3-4 is coaxially fixed to the outer shell 1-2 of the forearm. The first angle-encoding bevel gear 3-5 and the positioning transmission gear fixed together coaxially are both rotatably connected to the outer shell 3-7 of the upper arm. The first angle encoder 3-8 is installed inside the outer shell 3-7 of the upper arm. The second angle-encoding bevel gear 3-6 is fixed to the output shaft of the first angle encoder 3-8. The first angle-encoding bevel gear 3-5 is meshed with the second angle-encoding bevel gear 3-6.

[0035] During the working process, the forearm driving motor 3-1 provides driving force for joint driving. When relative rotation occurs between the forearm assembly 1 and the upper arm assembly 3, the positioning gear 3-4 on the forearm 1 drives the positioning transmission gear 3-4, the first angle encoding bevel gear 3-5, and the second angle encoding bevel gear 3-6, and finally drives the input shaft of the first angle encoder 3-8 to rotate, so that the first angle encoder 3-8 detects the rotation signal of the forearm assembly 1, thereby controlling the rotation angle of the forearm driving motor 3-1 to achieve the purpose of controlling the rotation angle of the forearm assembly 1.

[0036] When the end of the forearm is subjected to an external impact load or a high-load start, an impact perpendicular to the forearm axis or perpendicular in a different plane will be generated. These two situations will be discussed separately below.

[0037] When the robotic arm is subjected to an impact perpendicular to the forearm axis, relative rotation occurs between the forearm internal gear 2-6 and the buffer transmission assembly. In the transmission assembly, the planetary gear 2-4, the transmission gear 2-3, and the forearm internal gear 2-6 are respectively meshed. When the forearm internal gear 2-6 rotates, it drives the planetary gear 2-4 and the transmission gear 2-3 to rotate. When the planetary gear 2-4 or the transmission gear 2-3 rotates relative to the connecting column on the turntable 2-1, at this time, the torsion spring 2-2 absorbs the energy of the impact, thereby alleviating the external impact and high-load impact.

[0038] When the robotic arm is subjected to an impact perpendicular in a different plane to the forearm axis, an impact force that drives the upper arm to rotate will be generated. This impact force is mainly absorbed by the upper arm elastic transmission member to avoid the impact. When receiving the impact force, the upper arm housing 3-7 drives the outer ring 4-3 to rotate circumferentially. When the outer ring 4-3 rotates relative to the inner ring 4-1, it will cause the bending elastic strip 4-2 to undergo elastic deformation, and the elastic deformation of the bending elastic strip 4-2 absorbs the circumferential impact. While the upper arm housing 3-7 rotates, it drives the upper arm base internal gear 4-6 to rotate. This rotation passes through the transmission gear to the second angle encoder 4-7 to collect relative angle position information. At the same time, through the information processing of the integrated inertial sensor 1-1 and the second angle encoder 4-7, the driving control of the upper arm driving motor 4-4 is carried out according to the collected rotation angle signal, realizing the precise control of the relative position between the upper arm 3 and the upper arm base 4. Thus, the function of both absorbing the impact and precisely controlling the pose of the robotic arm is achieved.

[0039] In this embodiment, the IMU inertial sensor 1-1 is used to detect external impacts (when an impact comes, the forearm assembly 1 rotates under the action of the impact, so that the IMU inertial sensor 1-1 detects an acceleration signal).

[0040] The driving method of the robotic arm that can relieve multi-directional impacts is as follows:

[0041] When the robotic arm is working normally, it can complete movements with two degrees of freedom, namely the coaxial rotation between the outer arm housing and the arm base 4, and the articulating bend between the forearm housing and the outer arm housing.

[0042] During operation, when it is necessary to drive the coaxial rotation between the arm assembly 3 and the arm base 4, the arm drive motor 4-4 drives the inner ring 4-1 in the arm elastic transmission member to rotate; when the inner ring 4-1 rotates, it drives the bending elastic strip 4-2 and the outer ring 4-3 to rotate simultaneously. There is a certain phase difference in the transmission between the outer ring 4-3 and the inner ring 4-1 because the bending elastic strip will deform under force, causing the outer ring to rotate lagging behind the inner ring. As the rotation phase difference increases, the deformation of the bending elastic strip 4-2 increases and its stiffness also increases, causing the inner ring 4-1 and the outer ring 4-3 to rotate synchronously, thereby causing the outer arm housing 3-7 fixed to the outer ring 4-3 to rotate.

[0043] When it is necessary to drive the forearm assembly 1 to rotate relative to the arm assembly 3, the output shafts of the two forearm drive motors 3-1 drive the two first bevel gears 3-2 to mesh and drive with the two second bevel gears 3-3 respectively, transmitting the rotation to the joint shaft 2-8 and driving the turntable 2-1 to rotate. When operating without load, the planetary gear 2-4 revolves around the axis of the joint shaft 2-8, and the torsion spring 2-2 restricts the self-rotation of the planetary gear 2-4, causing the revolving planetary gear 2-4 to drive the inner forearm gear 2-6 to rotate synchronously with the central axis, causing the forearm housing 1-2 to rotate.

[0044] When operating with load, the planetary gear 2-4 revolves around the axis of the joint shaft 2-8; due to the resistance in the rotation of the inner forearm gear 2-6, the revolving planetary gear 2-4 cannot drive the inner forearm gear 2-6 to rotate and thus rotates on its own, causing the torsion spring 2-2 to be torsionally deformed. When the torque provided by the torsion spring 2-2 to the planetary gear 2-4 can overcome the load of the inner forearm gear 2-6, the planetary gear 2-4 no longer rotates on its own but drives the inner forearm gear 2-6 to rotate, causing the forearm housing 1-2 to rotate.

[0045] The forearm angle detection assembly continuously detects the rotation angle of the forearm housing 1-2, thereby enabling precise rotation control of the forearm housing 1-2 in cooperation with the forearm drive motor 3-1, as well as adaptive adjustment of the forearm drive motor 3-1 when the load changes.

[0046] When the robotic arm is subjected to an impact that is perpendicular and skew to the axis of the forearm housing (this axis intersects the rotational axis of the forearm housing perpendicularly and intersects the upper arm housing 3-7), an impact force that drives the upper arm to rotate will be generated. This impact force is mainly absorbed and the impact is avoided through the upper arm elastic transmission component. When subjected to the impact force, the upper arm housing 3-7 drives the outer ring 4-3 to rotate circumferentially. When the outer ring 4-3 rotates relative to the inner ring 4-1, it will cause the bending elastic strip 4-2 to undergo elastic deformation. The elastic deformation of the bending elastic strip 4-2 absorbs the circumferential impact. While the upper arm housing 3-7 rotates, it drives the internal gear 4-6 in the upper arm base to rotate. This rotation is transmitted through the transmission gear to the second angle encoder 4-7 to collect relative angle position information. At the same time, through the information processing of the comprehensive IMU inertial sensor 1-1 and the second angle encoder 4-7, the driving control of the upper arm driving motor 4-4 is carried out according to the collected rotation angle signal, realizing the precise control of the relative position between the upper arm 3 and the upper arm base 4. Thus, the function of both absorbing impact and precisely controlling the pose of the robotic arm is achieved.

[0047] When the robotic arm is subjected to an impact that is perpendicular and intersecting to the axis of the forearm, relative rotation occurs between the internal gear 2-6 of the forearm and the buffer transmission component. In the transmission component, the planetary gear 2-4 and the transmission gear 2-3 are respectively meshed with the internal gear 2-6 of the forearm. When the internal gear 2-6 of the forearm rotates, it drives the planetary gear 2-4 and the transmission gear 2-3 to rotate. When the planetary gear 2-4 or the transmission gear 2-3 rotates relative to the connecting column on the turntable 2-1, at this time, the torsion spring 2-2 absorbs the energy of the impact, thereby alleviating the external impact and high-load impact. The first angle encoder 3-8 collects relative angle position information. At the same time, through the information processing of the comprehensive IMU inertial sensor 1-1 and the first angle encoder 3-8, the driving control of the forearm driving motor 3-1 is carried out according to the collected rotation angle signal, realizing the precise control of the relative position between the forearm and the upper arm. Thus, the function of both absorbing impact and precisely controlling the pose of the robotic arm is achieved.

Claims

1. A robotic arm capable of mitigating multi-directional impacts, characterized in that: It includes a forearm component (1), an elbow joint (2), a upper arm component (3) and an upper arm base (4); the inner end of the upper arm component (3) is installed on the upper arm base (4); the inner end of the forearm component (1) is connected to the outer end of the upper arm component (3) through the elbow joint (2); the said upper arm base (4) includes an upper arm elastic transmission member, an upper arm drive assembly and a base housing (4-8); the said upper arm elastic transmission member includes an integrally formed inner ring (4-1), a curved elastic strip (4-2) and an outer ring (4-3); the outer ring (4-3) coaxially surrounds the outside of the inner ring (4-1); a plurality of curved elastic strips (4-2) are all connected between the inner peripheral edge of the outer ring (4-3) and the outer peripheral edge of the inner ring (4-1); the outer ring (4-3) is rotatably connected to the base housing (4-8); the said upper arm drive assembly includes an upper arm drive motor (4-4); the upper arm drive motor (4-4) is fixed on the base housing (4-8), and the output shaft is fixed to the inner ring (4-1). The said upper arm component (3) includes a forearm drive assembly and an upper arm housing (3-7); the elbow joint (2) includes a joint shaft (2-8) and a forearm elastic transmission assembly; the forearm component (1) includes a forearm housing (1-2); the said upper arm housing (3-7) is rotatably connected to the base housing (4-8) and is fixed to the outer ring (4-3); the joint shaft (2-8) is rotatably connected to the upper arm housing (3-7); the forearm housing (1-2) is rotatably connected to the joint shaft (2-8); the joint shaft (2-8) is driven to rotate by the forearm drive assembly. The said forearm elastic transmission assembly includes a turntable (2-1), and two buffer transmission assemblies respectively arranged on both sides of the turntable (2-1); the turntable (2-1) is fixed on the joint shaft (2-8); the buffer transmission assembly is installed in the forearm housing (1-2) and includes a torsion spring (2-2), a planetary gear (2-4) and a forearm internal gear (2-6); one or more planetary gears (2-4) are rotatably connected to the turntable (2-1); the axis of the planetary gear (2-4) is parallel to and spaced from the axis of the turntable (2-1); the said forearm internal gear (2-6) is fixed in the forearm housing (1-2) and is coaxially arranged with the joint shaft; the planetary gear (2-4) meshes with the forearm internal gear (2-6); a torsion spring (2-2) is arranged between the planetary gear (2-4) and the turntable (2-1).

2. The robotic arm capable of mitigating multi-directional impacts according to claim 1, characterized in that: A second angle encoder (4-7) is installed on the said upper arm drive motor (4-4); a upper arm transmission gear (4-5) and a upper arm base internal gear (4-6) are both rotatably connected to the top of the base housing (4-8); the upper arm transmission gear (4-5) meshes with the upper arm base internal gear (4-6); the outer ring (4-3) is coaxially fixed to the upper arm base internal gear (4-6); the input shaft of the second angle encoder (4-7) is fixed to the upper arm transmission gear (4-5).

3. A robotic arm capable of alleviating multi-directional impacts according to claim 1, characterized in that: The said curved elastic strip (4-2) is in an S shape.

4. A robotic arm capable of alleviating multi-directional impacts according to claim 1, characterized in that: The boom assembly (3) further includes a forearm angle detection assembly; the forearm angle detection assembly includes a positioning gear (3-4), a positioning transmission gear, a first angle encoding bevel gear (3-5), a second angle encoding bevel gear (3-6), and a first angle encoder (3-8); the positioning gear (3-4) is fixed on the forearm housing (1-2) and is coaxially arranged with the joint shaft (2-8); the first angle encoding bevel gear (3-5) and the positioning transmission gear that are coaxially fixed together are both rotatably connected to the boom housing (3-7); the first angle encoder (3-8) is installed inside the boom housing (3-7); the second angle encoding bevel gear (3-6) is fixed on the input shaft of the first angle encoder (3-8); the first angle encoding bevel gear (3-5) meshes with the second angle encoding bevel gear (3-6).

5. A robotic arm capable of mitigating multi-directional impacts according to claim 1, characterized in that: An IMU inertial sensor (1-1) is installed on the forearm housing (1-2).

6. A robotic arm capable of mitigating multi-directional impacts according to claim 1, characterized in that: The axis of rotation of the boom housing (3-7) is perpendicular to the axis of rotation of the joint shaft (2-8).

7. A robotic arm capable of alleviating multi-directional impacts according to claim 1, characterized in that: The forearm drive assembly includes a forearm drive motor (3-1), a first bevel gear (3-2), and a second bevel gear (3-3); two second bevel gears (3-3) are both fixed on the joint shaft (2-8); two forearm drive motors (3-1) are both fixed on the boom housing (3-7); the output shafts of the two forearm drive motors (3-1) are both fixed with a first bevel gear (3-2); the two first bevel gears (3-2) respectively mesh with the two second bevel gears (3-3); a forearm elastic transmission assembly is arranged between the two second bevel gears (3-3).

8. A robotic arm capable of alleviating multi-directional impacts according to claim 1, characterized in that: A plurality of planetary gears (2-4) are provided in a buffer transmission assembly; the plurality of planetary gears (2-4) are evenly distributed along the circumferential direction of the joint shaft; the buffer transmission assembly further includes a transmission gear (2-3); the transmission gear (2-3) is rotatably connected to the joint shaft (2-8); the transmission gear (2-3) meshes with the planetary gear (2-4); a torsion spring (2-2) is arranged between the transmission gear (2-3) and the turntable (2-1).

9. The driving method of a robotic arm capable of alleviating multi-directional impacts according to claim 1, characterized in that: The process is as follows: The boom drive assembly drives the boom housing (3-7) to rotate relative to the base housing through a boom elastic transmission member; the forearm drive assembly drives the joint shaft (2-8) to rotate; the joint shaft (2-8) drives the planetary gear (2-4) to revolve; the revolving planetary gear (2-4) pushes the forearm internal gear (2-6) to rotate, so that the forearm housing (1-2) rotates relative to the boom housing (3-7), realizing the two-degree-of-freedom movement of the end of the robotic arm; when the boom housing (3-7) and / or the forearm housing (1-2) is subjected to an impact torque caused by an external impact; the boom elastic transmission member realizes the rotational buffering of the boom housing (3-7) through the elastic bending deformation of the bending elastic strip (4-2); the planetary gear (2-4) in the forearm elastic transmission assembly realizes the rotational buffering of the forearm housing (1-2) by rotating itself and driving the torsion spring (2-2) to rotate.

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