Mechanical arm

Abstract

The invention discloses a mechanical arm which comprises a plurality of arm parts connected in sequence, and every two adjacent arm parts are connected through an electric transmission assembly so that every two adjacent arm parts can rotate relatively. And the control assembly is used for controlling the electric transmission assembly to rotate, the control assembly is connected with the electric transmission assembly through a wire harness, and the control assembly is arranged outside the electric transmission assembly and installed on the arm part rotationally connected with the electric transmission assembly. According to the mechanical arm, the multiple arm parts connected in sequence are arranged, every two adjacent arm parts are rotationally connected through the corresponding electric transmission assembly, and the control assembly is installed in one arm part, so that the mechanical arm can better simulate a human arm structure, the integration and the bionic property of the mechanical arm are improved, and the mechanical arm is compact in overall structure and convenient to use. And the miniaturization design requirement can be met.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a robotic arm. Background Art

[0002] With the development of technology, robotic arms are increasingly used in production and life. In related technologies, robotic arms are usually composed of multiple connecting rods to perform multi-degree-of-freedom activities. However, these robotic arms have complex structures and large overall volumes, making it difficult to meet the design needs of miniaturized bionics, and there is room for improvement. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a mechanical arm with a more compact structure and improved bionics.

[0004] According to an embodiment of the present invention, the robotic arm comprises: a plurality of arms connected in sequence, wherein two adjacent arms are connected via an electric transmission assembly so that the two adjacent arms can rotate relative to each other; a control assembly for controlling the rotation of the electric transmission assembly, wherein the control assembly is connected to the electric transmission assembly via a wiring harness, wherein the control assembly is arranged outside the electric transmission assembly and is installed on the arm rotatably connected to the electric transmission assembly.

[0005] According to the robotic arm of an embodiment of the present invention, a plurality of arms connected in sequence are provided, two adjacent arms are rotatably connected via an electric transmission assembly, and a control assembly is installed in one arm. Thus, the robotic arm can better simulate the structure of a human arm, improve the integration and bionics of the robotic arm, and the overall structure is compact, which can meet the design requirements of miniaturization.

[0006] According to the robotic arm of an embodiment of the present invention, at least one of the arms includes a support frame and an elbow, and the support frame and the elbow of each arm are connected by an electric transmission assembly so that the support frame and the elbow can rotate relative to each other. A mounting cavity is defined in the middle portion of the support frame, and the control assembly is disposed in the mounting cavity and connected to the electric transmission assembly by a wiring harness.

[0007] According to the robotic arm of an embodiment of the present invention, the support frame of each arm extends in a direction away from the elbow of the arm, and in the extending direction of the support frame, one end of the support frame close to the elbow has a mounting opening connected to the mounting cavity, and at least a portion of the electric transmission assembly extends into the mounting cavity through the mounting opening.

[0008] According to the robotic arm of the embodiment of the present invention, the support frame is provided with an opening communicating with the installation cavity.

[0009] According to the robotic arm of an embodiment of the present invention, the electric transmission assembly includes a first electric transmission assembly and a second electric transmission assembly with different rotation axes, the elbow includes an annular connecting portion and at least one supporting portion, the annular connecting portion is arranged on the outside of the first electric transmission assembly and is connected to the supporting frame through the first electric transmission assembly, and the supporting portion is connected to one side of the rotation axis of the second electric transmission assembly and is connected to the adjacent arm portion through the electric transmission assembly.

[0010] According to the robotic arm of an embodiment of the present invention, the multiple arm parts include a shoulder, a first arm part and a second arm part connected in sequence, the first arm part includes a first elbow and a first support frame, the second arm part includes a second elbow and a second support frame, the first elbow and the shoulder are connected through the electric transmission assembly, the first support frame and the second elbow are connected through the electric transmission assembly, wherein the control assembly is arranged in the first support frame.

[0011] According to the robotic arm of the embodiment of the present invention, a wire passing hole is provided in the middle of the electric transmission assembly, and a portion of the wiring harness is suitable for passing through the wire passing hole to connect the control assembly and the electric transmission assembly.

[0012] According to the robotic arm of an embodiment of the present invention, the electric transmission assembly includes a stator and a rotor, the stator has a first fixing member, the rotor is arranged in the stator and defines the wire passing hole, the rotor has a second fixing member, and the first fixing member and the second fixing member are respectively connected to the support frame and elbow of two adjacent arms or each arm.

[0013] According to the robotic arm of the embodiment of the present invention, the wiring harness includes a three-phase wire of the motor, the first fixing member has a first through hole corresponding to the winding position of the stator, and the three-phase wire of the motor passes through the first through hole to connect to the winding of the stator.

[0014] According to the robotic arm of an embodiment of the present invention, the wiring harness includes an encoder wire, the rotor is provided with an encoder code disk, a portion of the first fixing member extends to one side of the encoder code disk and is provided with an encoder chip, the first fixing member has a second through hole, and the encoder wire passes through the second through hole to connect to the encoder chip.

[0015] According to the robotic arm of an embodiment of the present invention, the electric transmission assembly also includes a bracket arranged on the outside of the stator, a portion of the rotor extends out of the stator and is sleeved with a torque sensor, the first fixing member is connected to the bracket, the bracket has an avoidance groove, the first fixing member has a notch, the notch is connected to the avoidance groove, the wiring harness includes a sensor line, and the sensor line is suitable for passing through the notch and the avoidance groove to connect to the torque sensor.

[0016] According to the robotic arm of the embodiment of the present invention, the arm portion includes a conversion member, the conversion member is located on one side of the rotor of the electric transmission assembly in the axial direction and forms a ring shape, and the conversion member is connected to the first fixing member or the second fixing member.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0019] Figure 1 is a schematic structural diagram of a robot arm in one state according to an embodiment of the present invention;

[0020] Figure 2 is a schematic structural diagram of a robot arm in one state according to an embodiment of the present invention, wherein the wiring harness is not shown;

[0021] Figure 3 is along Figure 2 Sectional view along line AA;

[0022] Figure 4 yes Figure 2 A schematic diagram of the structure shown in another perspective;

[0023] Figure 5 is an exploded view of a robotic arm according to an embodiment of the present invention, wherein a wiring harness is not shown;

[0024] Figure 6 is a schematic structural diagram of a robot arm in another state according to an embodiment of the present invention, wherein the wiring harness is not shown;

[0025] Figure 7 is a schematic diagram of a partial structure of a robotic arm according to an embodiment of the present invention;

[0026] Figure 8 yes Figure 7 A schematic diagram of the coordination of the electric transmission assembly and the wiring harness in the structure shown in ;

[0027] Fig. 9 is a schematic structural diagram of an electric transmission assembly according to an embodiment of the present invention;

[0028] Fig.10 is a schematic diagram of partial coordination of a first arm and a second arm according to an embodiment of the present invention;

[0029] Fig.11 yes Fig.10 An exploded view of the structure shown;

[0030] Fig.12 is a schematic structural diagram of a second peripheral plate according to an embodiment of the present invention;

[0031] Fig.13 is a partial structural sectional view of a robot arm according to an embodiment of the present invention;

[0032] Fig.14 is a schematic diagram of a partial structure of a robotic arm according to an embodiment of the present invention;

[0033] Fig.15 yes Fig.14 An exploded view of the structure shown;

[0034] Fig.16 is a schematic structural diagram of a seat body according to an embodiment of the present invention;

[0035] Fig.17 is a schematic structural diagram of a connecting piece according to an embodiment of the present invention.

[0036] Reference numerals:

[0037] Robotic arm 100,

[0038] Arm 10, support frame 101, mounting opening 1011, elbow 102, shoulder 11, first arm 12, first outer plate 1201, concave arc surface 12011, first support frame 121, first elbow 122, second arm 13, second outer plate 1301, second support frame 131, second elbow 132, support portion 1321, convex arc surface 13211, annular connecting portion 1322, adapter 14, opening 15, avoidance opening 16, first support portion 171, second support portion 172, make way opening 173, support arm 174,

[0039] Electric transmission assembly 20, wire hole 201, stator 21, rotor 22, torque sensor 23, first fixing member 24, through hole 241, notch 242, first through hole 243, second through hole 244, second fixing member 25, bracket 26, avoidance groove 261,

[0040] Control component 30, circuit board 31,

[0041] Wire harness 40, motor three-phase wire 41, encoder wire 42, sensor wire 43,

[0042] Flexible member 50, first flexible member 51, second flexible member 52, third flexible member 53, fourth flexible member 54, bearing 60,

[0043] Mounting seat 70, seat body 71, plate body 711, avoidance notch 7111, first boss 712, first matching section 7121, second matching section 7122, second boss 713, connecting member 72, first connecting ring 721, second connecting ring 722,

[0044] Driving member 80 , first rotating shaft 91 , second rotating shaft 92 , ball head 93 , ball head fastener 931 , ball head seat 94 . DETAILED DESCRIPTION

[0045] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0046] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0047] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] Reference below Figure 1-Figure 17 A robot arm 100 according to an embodiment of the present invention is described.

[0049] like Figure 1-Figure 17As shown, a robot arm 100 according to an embodiment of the present invention includes a plurality of arms 10 connected in sequence and a control component 30, that is, the robot arm 100 is composed of a plurality of arms 10 connected in sequence, each arm 10 can be a structure made of materials such as metal or plastic, and has a certain strength and rigidity, and two adjacent arms 10 are connected by an electric transmission component 20, and the electric transmission component enables adjacent arms 10 to rotate relative to each other, thereby realizing multi-degree-of-freedom movement.

[0050] The control assembly 30 is connected to the electric transmission assembly 20 via a wiring harness 40 . The wiring harness may be a cable or an optical fiber for transmitting control signals and power. The control assembly 30 is installed in an arm 10 .

[0051] Therefore, on the one hand, the structure for controlling multiple electric transmission components 20 is placed in the arm 10, and the electric transmission component 20 itself does not need a control component 30 such as an integrated circuit board, which can simplify the structure of the electric transmission component 20, reduce the volume of the electric transmission component 20, and facilitate the installation of the electric transmission component 20, thereby simplifying the structure of the connection between adjacent arms 10. Compared with each electric transmission component 20 independently setting a circuit board, the design of the present application can reduce the number of circuit boards 31 to a certain extent, reduce costs, and at the same time help meet the design requirements of miniaturization, making the robot arm structure more compact; on the other hand, the control component 30 is installed inside the arm 10, which can reduce the occupancy of the external space of the arm 10 and improve the integration of the robot arm 100.

[0052] According to the robotic arm 100 of the embodiment of the present invention, a plurality of arms 10 connected in sequence are provided, two adjacent arms 10 are rotatably connected via an electric transmission assembly 20, and a control assembly 30 is installed in one arm 10. Thus, the robotic arm 100 can better simulate the structure of a human arm, improve the integration and bionics of the robotic arm 100, and the overall structure is compact, which can meet the design requirements of miniaturization.

[0053] In some embodiments, at least part of the arm 10 includes a support frame 101 and an elbow 102 , and the support frame 101 and the elbow 102 of each arm 10 are connected via an electric transmission assembly 20 so that the support frame 101 and the elbow 102 can rotate relative to each other.

[0054] Specifically, the support frame 101 constitutes the main structure of the arm 10, and can be made of materials such as metal or plastic to ensure sufficient strength and rigidity. The support frame 101 is a hollow structure, and the design of the support frame 101 can be tubular or other suitable shapes to meet different application requirements. The hollow design can achieve lightweight robotic arm 100, and the support frame 101 and the elbow 102 cooperate, and multiple arms 10 are connected in sequence to form a bionic shape of the robotic arm 100. Compared with the connecting rod shape, the external wrapping can be omitted, and at the same time, it can better simulate the human arm and improve the aesthetics.

[0055] The elbow 102 is a component connected to the support frame 101. The design of the elbow 102 can simulate the human elbow joint and provide flexible movement ability, so that the support frame 101 can bend or rotate relative to it.

[0056] The support frame 101 and elbow 102 of each arm 10 are connected by an electric transmission assembly 20, so that the support frame 101 and the elbow 102 can rotate relative to each other. By designing the arm 10 in the form of a support frame 101 and an elbow 102, the freedom of movement of the robot arm 100 can be further improved, and the flexibility and accuracy of the operation are improved.

[0057] An installation cavity is defined in the support frame 101, and the control component 30 is arranged in the installation cavity, and the control component 30 is connected to the electric transmission component 20 through a wiring harness 40. By integrating the control component 30 into the support frame 101, the control circuit required by the electric transmission component 20 itself is reduced, and the structure of the electric transmission component 20 is simplified; and due to the integration of the control component 30, the volume of the electric transmission component 20 is reduced, which is convenient for installation and maintenance; compared with each electric transmission component 20 independently providing a circuit board, the design of the present invention reduces the number of circuit boards 31 and reduces costs.

[0058] Therefore, the robot arm 100 according to the embodiment of the present invention is more similar to the human arm, has more degrees of freedom, can perform a variety of movements, can improve the flexibility and range of motion of the robot arm 100, and by integrating the control component 30 into the support frame 101, it helps to miniaturize the robot arm 100 and make it more compact; it reduces the occupation of the external space of the arm 10 and improves the integration of the robot arm 100.

[0059] like Figure 5As shown, in some embodiments, the support frame 101 of each arm 10 extends in a direction away from the elbow 102 of the arm 10, and in the extending direction of the support frame 101, the end of the support frame 101 close to the elbow 102 has an installation opening 1011, and the installation opening 1011 is connected to the installation cavity. At least a portion of the electric transmission assembly 20 extends into the installation cavity through the installation opening 1011, thereby hiding the electric transmission assembly 20 in the support frame 101, and the support frame 101 can play the role of a motor housing to protect the electric transmission assembly 20, and the appearance of the robot arm 100 is more beautiful; at the same time, the electric transmission assembly 20 omits the outer shell, which reduces the cost and can improve the compactness of the overall structure of the robot arm 100.

[0060] like Figure 2 As shown, in some embodiments, an opening 15 may be provided on the support frame 101. The design of the opening 15 can reduce the weight of the support frame 101 while meeting the strength of the support frame 101, thereby meeting the lightweight design requirements. At the same time, the opening 15 is connected to the installation cavity, which is beneficial to the heat dissipation of the control component 30 in the support frame 101.

[0061] like Figure 3 As shown, in some embodiments, the electric transmission assembly 20 includes a first electric transmission assembly 20b and a second electric transmission assembly 20a, and the rotation axes of the first electric transmission assembly 20b and the second electric transmission assembly 20a are different. The elbow 102 includes an annular connecting portion 1322 and at least one supporting portion 1321. The annular connecting portion 1322 is arranged on the outer side of the first electric transmission assembly 20, and the annular connecting portion 1322 is connected to the support frame 101 through the first electric transmission assembly 20b. The supporting portion 1321 is connected to one side of the second electric transmission assembly 20 on the rotation axis, and the supporting portion 1321 is connected to the adjacent arm 10 through the second electric transmission assembly 20a.

[0062] Thus, the adjacent support frames 101 and the adjacent arms 10 are connected through the elbow 102, and the robotic arm 100 can rotate in multiple directions. The design of the elbow 102 better simulates the structure of the human elbow, thereby improving the bionics and aesthetics of the robotic arm 100.

[0063] like Figure 3 As shown, in some embodiments, two adjacent arms 10 can rotate relatively along the fourth axis d, the support frame 101 and the elbow 102 of each arm 10 can rotate relatively along the third axis c, and the fourth axis d is perpendicular to the third axis c.

[0064] Therefore, the relative rotation between adjacent arms 10 is carried out around the fourth axis d, and the relative rotation between the support frame 101 and the elbow 102 of each arm 10 is carried out around the third axis c. The robot arm 100 can realize more complex spatial movements, such as swinging and rotating, which are similar to human arm movements, thereby improving the operational flexibility and accuracy of the robot arm 100.

[0065] like Figure 2 As shown, in some embodiments, the multiple arms 10 include a shoulder 11, a first arm 12, and a second arm 13 connected in sequence, the first arm 12 includes a first elbow 122 and a first support frame 121, the second arm 13 includes a second elbow 132 and a second support frame 131, the first elbow 122 is connected to the shoulder 11 through an electric transmission assembly 20, and the first support frame 121 is connected to the second elbow 132 through the electric transmission assembly 20, wherein the control assembly 30 is disposed in the first support frame 121.

[0066] It can be understood that the first arm 12 can simulate a human upper arm, and the second arm 13 can simulate a human forearm. The first support frame 121 of the upper arm is connected to the shoulder 11 through the first elbow 122, and the upper arm as a whole can rotate relative to the shoulder 11, so that the upper arm can be raised or lowered, and the first support frame 121 can rotate relative to the first elbow 122, so that the first support frame 121 and the forearm can realize internal and external rotation, and the forearm is connected to the upper arm through the second elbow 132, and the forearm as a whole can also rotate relative to the upper arm, and the second support frame 131 of the forearm can rotate relative to the second elbow 132, and the second support frame 131 can be connected to the wrist, so that the second support frame 131 and the wrist can realize internal and external rotation.

[0067] The control component 30 is arranged in the first support frame 121, so that the space inside the second arm 12 can be fully utilized. At the same time, since the second arm 12 is located between the shoulder 11 and the second arm 13, the control component 30 is arranged therein, which can reduce the length of the wiring harness to a certain extent and facilitate the connection between the wiring harness and each electric transmission component 20.

[0068] In some embodiments, the control component 30 includes multiple circuit boards 31 , which may be control circuits, power circuits, signal processing circuits, etc., for implementing control and operation of the robotic arm 100 .

[0069] The first support frame 121 extends along the first direction, and each circuit board 31 extends along the first direction, that is, each circuit board 31 is in the same direction as the first support frame 121 , which is beneficial to improving the compactness and integration of the robot arm 100 .

[0070] At least two circuit boards 31 are arranged relative to each other in a direction perpendicular to the first direction, thereby improving space utilization and making the control component 30 more compact. Moreover, a certain gap is formed between the two circuit boards 31, which is beneficial to the installation and connection of the wiring harness.

[0071] By setting up multiple circuit boards 31, the size of each circuit board 31 can be reduced to a certain extent, so that the control component 30 can be installed in the arm 10, which is beneficial to reducing the size of the robotic arm 10, improving the compactness and rationality of the internal structure layout of the robotic arm 10, and facilitating installation and maintenance; moreover, multiple circuit boards 31 can be arranged at intervals in the arm 10, which helps to improve the heat dissipation performance and ensure the stability of the control component 30 and the robotic arm 100 during long-term operation.

[0072] In some embodiments, the middle portion of the electric transmission assembly 20 has a wire hole 201, and a portion of the wiring harness 40 is suitable for passing through the wire hole 201, so that one end of the wire harness 40 can be connected to the control assembly 30, and the other end of the wire harness 40 can be connected to the electric transmission assembly 20. By setting the wire hole 201 in the middle portion of the electric transmission assembly 20, the wiring of the wire harness 40 can be simplified and the installation efficiency can be improved; at the same time, the twisting and stretching of the wire harness during the movement of the robot arm 100 can be reduced, thereby achieving the purpose of protecting the wire harness; in addition, the integration of the robot arm 100 can be further improved, and the space utilization rate can be improved, so that the robot arm 100 can be suitable for various automation and robotic application scenarios.

[0073] The wire hole 201 may be circular, rectangular or other suitable shapes to adapt to the size and shape of the wire harness 40 .

[0074] In some embodiments, the electric transmission assembly 20 includes a stator 21 and a rotor 22 , and the stator 21 and the rotor 22 work together to provide power and motion control for the robot arm 100 .

[0075] Specifically, the stator 21 is the fixed part of the electric transmission assembly 20, which is usually made of stacked silicon steel sheets and has coils embedded inside. The stator 21 has a first fixing part 24 for fixing the stator at a corresponding position of the robot arm 100. The first fixing part 24 can be a screw, bolt, clip or other suitable fixing structure.

[0076] The rotor 22 is the rotating part of the electric transmission assembly 20. The rotor 22 is arranged in the stator 21, and the rotor 22 is limited to a wire hole 201. The wire hole 201 allows a part of the wire harness 40 to pass through, thereby connecting the control assembly 30 and the electric transmission assembly 20. The wire hole 201 is set in the rotor 22, and the wire harness 40 passes through the wire hole 201. This can prevent the wire harness 40 from twisting or stretching when the rotor 22 rotates, which is beneficial to protecting the wire harness 40 and preventing the wire harness 40 from being damaged during the movement of the robot arm 100.

[0077] The rotor 22 may include a rotor body and a reducer, and the reducer is connected to the rotor body, such as by interference fit or by fasteners. The reducer may convert high-speed rotation into lower-speed rotation while increasing torque. The reducer here may be a harmonic reducer.

[0078] The rotor 22 has a second fixing member 25 for fixing the rotor 22 at a corresponding position of the robot arm 100 . The second fixing member 25 may be a fixing structure similar to the first fixing member 24 .

[0079] The first fixing member 24 and the second fixing member 25 are respectively connected to two adjacent arms 10, for example, the first fixing member 24 is connected to the first arm 12, and the second fixing member 25 is connected to the second arm 13. Since the rotor 22 can rotate relative to the stator 21, the two adjacent arms 10 can achieve relative rotation; or the first fixing member 24 and the second fixing member 25 are respectively connected to the support frame 101 and the elbow 102 of each arm 10, for example, the first fixing member 24 is connected to the first support frame 121, and the second fixing member 25 is connected to the first elbow 122, so that the first support frame 121 and the first elbow 122 of the first arm 12 can rotate relative to each other.

[0080] As a result, the structure of the electric transmission assembly 20 is more compact, thereby reducing the size of the robot arm 100 and improving space utilization; and the coordinated work of the various components of the electric transmission assembly 20 helps to improve the operational reliability of the robot arm 100.

[0081] In some embodiments, the arm 10 includes an adapter 14, which is located on one side of the axial direction of the rotor 22 of the electric transmission assembly 20, and the adapter 14 is connected to the first fixing member 24 or the second fixing member 25. The adapter 14 can be located in the inner cavity of the arm 10, wherein the adapter 14 can roughly form an annular plate structure. The arm 10 is connected to the electric transmission assembly 20 through the adapter 14, which can facilitate the connection between the arm 10 and the electric transmission assembly 20, increase the matching area between the arm 10 and the electric transmission assembly 20, and improve the reliability and stability of the matching. The annular adapter 14 can also reduce the overall weight, and at the same time facilitate the wiring harness 40 to pass through the middle of the adapter 14.

[0082] It should be noted that the adapter 14 can be integrally formed in the inner cavity of the elbow 102 or the support frame 101, or can be fixedly connected to the elbow 102 or the support frame 101 by fasteners.

[0083] In some embodiments, the first fixing member 24 is located on the axial side of the stator 21 on the rotor 22, and the first fixing member 24 has a through hole 241, and the through hole 241 corresponds to the wire hole 201, so that the wiring harness 40 can smoothly pass through the through hole 241 and the wire hole 201 to connect the control component 30 and the electric transmission component 20. Through the above-mentioned structural design, the wiring process is simplified, and the wiring harness 40 is protected from damage during the movement of the robot arm 100; and the design of the through hole 241 and the wire hole 201 makes the replacement and maintenance of the wiring harness 40 more convenient.

[0084] like Figure 8 and Fig. 9 As shown, in some embodiments, the electric transmission assembly 20 further includes a bracket 26, which is disposed outside the stator 21, and the bracket 26 can provide additional support and fixation for the electric transmission assembly 20. The bracket 26 has an avoidance groove 261, which is used for the wiring harness 40 to pass through, so as to avoid interference between the wiring harness 40 and the bracket 26 or other components.

[0085] The first fixing member 24 is connected to the bracket 26 , so that the stator 21 , the first fixing member 24 and the bracket 26 can rotate synchronously.

[0086] The first fixing member 24 has a notch 242, which is connected to the avoidance groove 261 and is used for the passage of the wiring harness 40, that is, a portion of the wiring harness 40 is suitable for passing through the notch 242 and the avoidance groove 261. The wiring harness 40 is protected along the path passing through the notch 242 and the avoidance groove 261, thereby reducing the risk of wear and damage to the wiring harness 40, thereby helping to improve the reliability of the operation of the robot arm 100 and ensure the stable transmission of control signals and power supply.

[0087] A portion of the rotor 22 extends out of the stator 21 , and a torque sensor 23 is sleeved on the outer side of the extended portion. The torque sensor 23 can measure the torque generated by the rotor 22 during the rotation process.

[0088] The wire harness 40 may be a sensor wire. By providing an avoidance groove 261 and a notch 242 on the bracket 26 and the first fixing member 24 , it is convenient for the sensor wire to be passed through and connected to the torque sensor 23 .

[0089] like Figure 8 and Fig. 9 As shown, in some embodiments, the wiring harness 40 includes a three-phase motor line 41, and the first fixing member 24 has a first through hole 243, the first through hole 243 corresponds to the winding position of the stator 21, and the three-phase motor line 41 passes through the first through hole 243 to connect to the winding of the stator 21, thereby providing power to the electric transmission assembly 20 and ensuring stable operation of the stator 21 and the rotor 22.

[0090] like Figure 8 and Fig. 9As shown, in some embodiments, the wiring harness 40 includes an encoder wire 42, the rotor 22 is provided with an encoder code disk, a portion of the first fixing member 24 extends to one side of the encoder code disk, an encoder chip is provided on the first fixing member 24, the first fixing member 24 has a second through hole 244, the encoder wire 42 passes through the second through hole 244 to connect the encoder chip, and then by connecting the encoder chip to the control circuit, the number of rotations or the rotation angle of the code disk is measured by the encoder chip to obtain information such as the speed and direction of the rotor, and then the position information of the arm 10 is obtained, and this information can also be fed back to the control system to achieve precise control and protection of the electric transmission assembly 20.

[0091] like Figure 1 , Figure 2 , Figure 5 , Figure 10-13 As shown, a robot arm 100 according to an embodiment of the present invention includes: a first arm portion 12 and a second arm portion 13 . The first arm portion 12 and the second arm portion 13 can rotate relative to each other to achieve bending or rotational movement of the robot arm 100 .

[0092] The first arm portion 12 has a first peripheral plate 1201, and the second arm portion 13 has a second peripheral plate 1301. One end of the first peripheral plate 1201 close to the second peripheral plate 1301 (such as Fig.10 At least a portion of the lower end (as shown) of the robot arm 100 is spaced apart from the second outer plate 1301 to form an escape opening 16, which is used to give way when the first arm 12 and the second arm 13 are relatively transferred to avoid interference between the first outer plate 1201 and the second outer plate 1301, thereby affecting the bending or rotational movement of the robot arm 100.

[0093] The robot arm 100 also includes a flexible component 50, which is arranged at the avoidance opening 16. The flexible component 50 is connected to the first outer plate 1201 and the second outer plate 1301, thereby realizing the installation of the flexible component 50 on the robot arm 100. At the same time, the flexible component 50 is arranged at the avoidance opening 16, which can cover the avoidance opening 16 and prevent the internal structural parts of the robot arm 100 from being exposed.

[0094] When the first arm 12 and the second arm 13 rotate relative to each other, at least a portion of the flexible component 50 can be deformed. For example, the first arm 12 can simulate a human upper arm, and the second arm 13 can simulate a human forearm. The forearm moves relative to the upper arm. At this time, the second outer plate 1301 can squeeze or pull the flexible component 50 to achieve bending and stretching of the arm. Through the deformation of the flexible component 50, the setting of the flexible component 50 is prevented from interfering with the outer plate and affecting the movement of the robot arm 100.

[0095] In addition, the first arm portion 12 and the second arm portion 13 of the robot arm 100 are structures with outer plates, and the middle portion of the arm can be roughly hollow, which can not only achieve a lightweight design, but also eliminate the need for external wrapping parts compared to the connecting rod shape, and can better simulate the human arm. The structure is more compact and beautiful, thereby improving the bionics of the robot arm 100.

[0096] According to the robotic arm 100 of the embodiment of the present invention, by setting an avoidance opening 16 between the first arm portion 12 and the second arm portion 13, and setting a flexible component 50 at the avoidance opening 16, the first arm portion 12 and the second arm portion 13 can have a larger relative range of motion, and the appearance of the robotic arm 100 can be ensured. Therefore, the robotic arm 100 can better simulate the structure of the human arm and improve the integration and bionics of the robotic arm 100.

[0097] like Figure 2 ,like Fig.10 and Fig.11 As shown, in some embodiments, the flexible component 50 includes a first flexible component 51, a second flexible component 52 and a third flexible component 53. The first flexible component 51 is connected to the first outer plate 1201, the third flexible component 53 is connected to the second outer plate 1301, and at least a portion of the second flexible component 52 is located between the first flexible component and the third flexible component. When the first arm 12 and the second arm 13 rotate relative to each other, the first flexible component 51 and the third flexible component 53 are close to each other, and the first flexible component 51 and the third flexible component 53 can be squeezed and deformed by each other, thereby increasing the rotation angle of the second arm 13 relative to the first arm 12, increasing the range of motion of the robotic arm 100, and the robotic arm 100 can better simulate the structure of the human arm and improve the bionics of the robotic arm 100.

[0098] like Figure 2 , Fig.10 As shown, in some embodiments, the first arm 12 and the second arm 13 are connected through the electric transmission assembly 20, the second flexible member 52 is arranged on the outside of the electric transmission assembly 20, the second flexible member 52 is connected to the outer periphery of the electric transmission assembly 20, the rotor 22 of the electric transmission assembly 20 is arranged inside the stator 21, and the second flexible member 52 is connected to the outer periphery of the electric transmission assembly 20, so that when the two arms rotate relative to each other, the second flexible member 52 can remain stationary, the second flexible member 52 can protect the electric transmission assembly 20, and at the same time can make the structure of the robotic arm 100 more beautiful.

[0099] like Fig.12As shown, in some embodiments, the second outer plate 1301 includes two supporting portions 1321 and an annular connecting portion 1322. The two supporting portions 1321 are arranged opposite to each other, and the supporting portions are arranged on one side of the annular connecting portion 1322 close to the first arm portion 12. The supporting portions 1321 are connected to the first arm portion 12 through an electric transmission assembly 20. The electric transmission assembly enables adjacent arms 10 to rotate relative to each other, thereby realizing bending or rotational movement of the robotic arm 100.

[0100] Through the structural design of the second outer plate 1301, the two support parts 1321 can play a role of double-sided support for the first arm part 12, and the support part 1321 and the annular connecting part 1322 can form a clamping structure, thereby improving the rigidity of the overall structure on the basis of lightweight design.

[0101] The third flexible member 53 is located between the two supporting portions 1321 , and the third flexible member 53 is connected to the annular connecting portion 1322 and the supporting portion 1321 , so that the third flexible member 53 is installed on the hoop-type structure.

[0102] In addition, the second flexible member 52 is located between the two support portions 1321, and the edge of the second flexible member 52 is spaced apart from the support portion 1321, that is, the second flexible member 52 is not connected to the support portion 1321, ensuring that when the support portion 1321 and the first arm portion 12 rotate relative to each other, the second flexible member 52 will not interfere, and can also reduce potential wear and interference, ensuring that the movement of the robotic arm is smoother.

[0103] In some embodiments, the electric transmission assembly 20 includes a stator 21 and a rotor 22 , and the stator 21 and the rotor 22 work together to provide power and motion control for the robot arm 100 .

[0104] Specifically, the stator 21 is the fixed part of the electric transmission assembly 20, which is usually made of stacked silicon steel sheets and has coils embedded inside. The stator 21 has a first fixing part 24 for fixing the stator at a corresponding position of the robot arm 100. The first fixing part 24 can be a screw, bolt, clip or other suitable fixing structure.

[0105] The rotor 22 is the rotating part of the electric transmission assembly 20. The rotor 22 can be arranged in the stator 21. Of course, the rotor 22 can also be arranged outside the stator 21. The rotor 22 can include a rotor body and a reducer, and the reducer is connected to the rotor body, such as interference fit, or connected by fasteners. The reducer can convert high-speed rotation into lower-speed rotation while increasing torque. The reducer here can be a harmonic reducer.

[0106] The rotor 22 has a second fixing member 25 for fixing the rotor 22 at a corresponding position of the robot arm 100 . The second fixing member 25 may be a fixing structure similar to the first fixing member 24 .

[0107] like Fig.13 As shown, the rotor 22 can be connected to the support portion 1321 via the second fixing member 25, and the stator 21 can be connected to the first arm portion 12 via the first fixing member 24, so that the first arm portion 12 and the second arm portion 13 can rotate relative to each other through the rotation of the rotor 22.

[0108] like Fig.11 and Fig.13 As shown, in some embodiments, the first arm 12 also includes an adapter 14, which is connected to one end of the first outer plate 1201 close to the second outer plate 1301, and the adapter 14 is suitable for extending between the two support portions 1321, and the adapter 14 is connected to the electric transmission assembly 20.

[0109] like Fig.13 As shown, the adapter 14 is located on one side of the electric transmission assembly 20 in the axial direction of the rotor 22, and the adapter 14 is connected to the first fixing member 24 or the second fixing member 25. The second arm 12 is connected to the electric transmission assembly 20 through the adapter 14. The adapter 14 can be integrally formed with the first outer plate 1201, and can also be fixedly connected to the first outer plate 1201 through fasteners.

[0110] like Fig.10 and Fig.11 As shown, in some embodiments, the electric transmission assembly 20 is fixedly connected to one support portion 1321 , and the adapter 14 is rotatably connected to the other support portion 1321 via a bearing 60 .

[0111] Combination Fig. 9 , Fig.11 and Fig.12 As shown, the second fixing member 25 on the rotor 22 of the electric transmission assembly 20 is fixedly connected to the second support portion 1321b, and the first fixing member 24 on the stator 21 is fixedly connected to the adapter 14, so that when the rotor 22 rotates, the second arm portion 13 can rotate relative to the first arm portion 12.

[0112] A bearing seat 61 is provided on the side of the first support portion 1321a facing the second support portion 1321b, and a bearing 60 is mounted on the bearing seat 61. The outer ring of the bearing 60 is interference fit with the bearing seat 61, and a portion of the adapter 14 extends into the bearing 60, and the adapter 14 is interference fit with the inner ring of the bearing 60, so that the adapter 14 can be supported on the first support portion 1321a, and the adapter 14 can rotate relative to the first support portion 1321a. The provision of the bearing 60 can not only improve the stability of the structure, but also reduce the friction during the rotation process, thereby ensuring the accuracy of the rotation, improving the stability of the movement of the robotic arm 100, and realizing the precise movement of the robotic arm.

[0113] like Fig.11As shown, in some embodiments, the edge of the support portion 1321 has a convex arc surface 13211, and the end of the first outer plate 1201 close to the second outer plate 1301 has a concave arc surface 12011, and the curvature of the concave arc surface 12011 and the convex arc surface 13211 are the same, thereby ensuring a smooth transition between the first outer plate 1201 and the support portion 1321, ensuring the continuity and smoothness of the robot arm 100 during rotation.

[0114] The arc center of the concave arc surface 12011 is located on the rotation axis of the first arm portion 12 and the second arm portion 13, and the arc center of the convex arc surface 13211 is also located on the rotation axis of the first arm portion 12 and the second arm portion 13. When the first arm portion 12 and the second arm portion 13 rotate relative to each other, the concave arc surface 12011 and the convex arc surface 13211 can move smoothly along the same axis, thereby reducing friction and wear during rotation and improving the structural stability of the robotic arm 100.

[0115] In addition, the concave arc surface 12011 and the convex arc surface 13211 cooperate with each other to improve the compactness of the structure and enhance the aesthetic appearance of the robot arm 100.

[0116] In some embodiments, the length of the convex arc surface 13211 is greater than the length of the concave arc surface 12011. The convex arc surface 13211 can provide a larger contact area, which helps to maintain a more stable support between the support portion 1321 and the first outer plate 1201 when the first arm 12 and the second arm 13 rotate. At the same time, the convex arc surface 13211 can provide a smoother rotation path to reduce vibration and impact during rotation.

[0117] like Fig.12 As shown, in some embodiments, a fourth flexible member 54 is further provided on the robot arm 100. The fourth flexible member 54 is located on the side of the robot arm away from the flexible member 50. The fourth flexible member 54 is connected to the second outer plate 1301. When the first arm portion 12 and the second arm portion 13 are unfolded, the fourth flexible member 54 can abut against the first outer plate 1201, thereby reducing the collision between the first outer plate 1201 and the second outer plate 1202, reducing activity noise, and improving the service life of the structure.

[0118] Of course, the fourth flexible member 54 can also be connected to the first outer plate 1201. When the first arm 12 and the second arm 13 are unfolded, the fourth flexible member 54 can abut against the second outer plate 1301, thereby reducing the collision between the first outer plate 1201 and the second outer plate 1202, reducing activity noise, and improving the service life of the structure.

[0119] like Figure 2As shown, in some embodiments, the first arm 12 includes a first elbow 122 and a first support frame 121 , the second arm 13 includes a second elbow 132 and a second support frame 131 , and the first support frame 121 and the second elbow 132 are connected via an electric transmission assembly 20 .

[0120] Specifically, each support frame constitutes the main structure of each arm, and can be made of materials such as metal or plastic to ensure sufficient strength and rigidity. The support frame can be a hollow structure, and the design of the support frame can be tubular or other suitable shapes to meet different application requirements. The hollow design can achieve lightweight robotic arm 100.

[0121] The elbow is a component connected to the support frame. The design of the elbow can simulate the human elbow joint and provide flexible movement capabilities so that the support frame can bend or rotate relative to it.

[0122] The support frame and elbow of each arm are connected by an electric transmission assembly 20, so that the support frame and the elbow can rotate relative to each other. By designing the arm in the form of a support frame and an elbow, the freedom of movement of the robot arm 100 can be further improved, thereby improving the flexibility and accuracy of operation.

[0123] Among them, the first support frame 121 has a first outer plate 1201, and the second elbow 132 has a second outer plate 1301, so that the flexible component 50 is connected between the first support frame 121 and the second elbow 132. The flexible component 50 can prevent the electric transmission assembly 20 from being exposed. The flexible component 50 can not only protect the structure of the connection between the two arms, but also make the robot arm 100 more similar to the human arm, thereby improving the aesthetics and bionics of the robot arm 100.

[0124] In some embodiments, the flexible component 50 is a rubber part, which has high elasticity and can quickly restore its original shape; the rubber part also has good wear resistance, can maintain performance during long-term use, and reduce the risk of wear and tear; the rubber part can also absorb vibrations and impacts, reducing the noise and vibration of the robotic arm 100 during operation.

[0125] In some embodiments, the flexible component 50 may also be cloth, and the cloth material also has good flexibility and can easily adapt to the movement of the robotic arm 100; and the cloth usually has good air permeability, which helps to reduce heat accumulation inside the robotic arm 100; the cloth is light in weight and low in cost, which helps to reduce the weight of the robotic arm 100 and reduce the production cost of the robotic arm 100.

[0126] like Figure 1-Figure 3 ,as well as Figure 14-17As shown, a robot arm 100 according to an embodiment of the present invention includes: an arm 10, a mounting seat 70 and two driving members 80. The mounting seat 70 is movably connected to one end of the arm 10. The mounting seat 70 can be used to install a robot arm or other structures. The two driving members 80 are installed on the arm 10, and the output end of each driving member 80 is connected to the mounting seat 70. Under the drive of the two driving members 80, the mounting seat 70 can rotate around the first axis a, or around the second axis b, and can also move around the first axis a and the second axis b at the same time, where the extension directions of the first axis a and the second axis b are different.

[0127] For example, when one of the driving members 80 works alone, it can drive the mounting base 70 to rotate around the first axis a. When the two driving members 80 work simultaneously and synchronously, they can drive the mounting base 70 to rotate around the second axis b. When the two driving members 80 work simultaneously but not synchronously, they can drive the mounting base 70 to rotate around the first axis a and the second axis b at the same time.

[0128] That is to say, the mounting base 70 for installing the manipulator can rotate around two different axes under the drive of two driving members 80, so that the mounting base 70 can drive the structure (such as a manipulator) installed on the mounting base 70 to rotate and swing, and the manipulator can better simulate the structure of the human arm and improve the bionics of the manipulator 100. The first axis a and the second axis b can be perpendicular to each other, which can provide greater flexibility and operating range.

[0129] According to the robotic arm 100 of the embodiment of the present invention, by setting two driving members 80 on the arm 10, the mounting seat 70 can realize multiple directions of movement under the drive of the two driving members 80. The robotic arm 100 can better simulate the movement of the human wrist and improve the bionics of the robotic arm 100.

[0130] In addition, by connecting the mounting base 70 with two driving members 80, the stability of the robotic arm 100 can be improved, vibration and jitter can be reduced, and the accuracy of operation can be improved. The two driving members 80 are independently controlled, which can achieve precise control of the mounting base 70 and make the movement of the robotic arm 100 more precise and smooth, making the robotic arm 100 more natural when performing tasks, reducing the mechanical feel, and better simulating the complex activities of the human arm.

[0131] In some embodiments, the robotic arm 100 includes a plurality of arms 10, and two adjacent arms 10 are connected by an electric transmission assembly so that the two adjacent arms 10 can rotate relative to each other, and at least two arms 10 include a support frame 101 and an elbow 102, and the support frame 101 and the shaft of each arm 10 are connected by an electric transmission assembly 20 so that the support frame 101 and the elbow 102 can rotate relative to each other, wherein the mounting seat 70 is connected to the arm 10 located at one end of the plurality of arms 10.

[0132] In some embodiments, multiple arms 10 include a shoulder 11, a first arm 12, and a second arm 13 connected in sequence, the first arm 12 includes a first elbow 122 and a first support frame 121, the second arm 13 includes a second elbow 132 and a second support frame 131, the first elbow 122 is connected to the shoulder 11 through an electric transmission assembly 20, the first support frame 121 is connected to the second elbow 132 through the electric transmission assembly 20, and the mounting base 70 is connected to the second arm 12.

[0133] It can be understood that the first arm 12 can simulate a human upper arm, and the second arm 13 can simulate a human forearm. The first support frame 121 of the upper arm is connected to the shoulder 11 through the first elbow 122, and the upper arm as a whole can rotate relative to the shoulder 11, so that the upper arm can be lifted or lowered, and the first support frame 121 can rotate relative to the first elbow 122, so that the first support frame 121 and the forearm can realize internal and external rotation, and the forearm is connected to the upper arm through the second elbow 132, and the forearm as a whole can also rotate relative to the upper arm, and the second support frame 131 of the forearm can rotate relative to the second elbow 132, and the second support frame 131 can be connected to the mounting seat 70, and the mounting seat 70 is connected to the manipulator, and the mounting seat 70 can be equivalent to the wrist. Under the action of the electric transmission assembly 20 and the two driving members 80, the mounting seat 70 and the manipulator can rotate around the center of the forearm, and can also rotate and swing relative to the forearm.

[0134] Some embodiments of the robot arm 100 according to the present invention are described below with the mounting base 70 connected to the second arm portion 13 .

[0135] In some embodiments, the mounting base 70 includes a base body 71 and a connecting member 72, the connecting member 72 is rotatably connected to the base body 71 via a first rotating shaft 91, the second arm portion 13 is rotatably connected to the connecting member 72 via a second rotating shaft 92, the output end of the driving member 80 is connected to the base body 71, the central axis of the first rotating shaft 91 is the first axis a, and the central axis of the second rotating shaft 92 is the second axis b.

[0136] The connecting member 72 is rotationally connected to the second arm portion 13, and the seat body 71 is rotationally connected to the connecting member 72, so that the seat body 71 is indirectly connected to the second arm portion 13 through the connecting member 72. Here, the seat body 71 can be connected to a robot. When the driving member 80 is working, it can drive the seat body 71 and the connecting member 72 to rotate around the second axis b relative to the second arm portion 13 at the same time, and can also drive the seat body 71 to rotate around the first axis a relative to the connecting member 72, thereby realizing the rotation and swing of the robot relative to the second arm portion 13.

[0137] Among them, the first rotating shaft 91 and the second rotating shaft 92 can both be set on the connecting member 72, or the first rotating shaft 91 can be set on the seat body 71, and the second rotating shaft 92 can also be set on the second arm portion 13. The first rotating shaft 91 and the second rotating shaft 92 can also be separate structural components respectively. The first rotating shaft 91 rotationally connects the connecting member 72 and the seat body 71, and the second rotating shaft 92 rotationally connects the connecting member 72 and the second arm portion 13.

[0138] In some embodiments, the seat body 71 includes a plate body 711, a first boss 712 and a second boss 713. The first boss 712 and the second boss 713 are protruded on the plate body 711. The output ends of the two driving members 80 are movably connected to the first boss 712, thereby driving the movement of the seat body 71. The connecting member 72 is connected between the second boss 713 and the first boss 712 through the first rotating shaft 91. The second boss 713 and the first boss 712 may be provided with through holes for the first rotating shaft 91 to pass through. The first rotating shaft 91 passes through the first boss 712, the connecting member 72 and the second boss 713 to realize the connection between the connecting member 72 and the seat body 71, so that the seat body 71 can rotate around the first axis a relative to the connecting member 72.

[0139] The output end of the driving member 80 is movably connected to the first boss 712, which can be achieved through a hinge, a slider or other movable connection mechanism, so that the driving member 80 can adapt to the movement of the base 71 while providing power, thereby improving the movement flexibility and control accuracy of the robot arm.

[0140] In some embodiments, the first boss 712 has a first mating segment 7121 and a second mating segment 7122. The first mating segment 7121 is connected to the plate body 711, and the connecting member 72 is rotatably connected to the first mating segment 7121. Thus, the seat body 71 can rotate relative to the connecting member 72 on the first axis a.

[0141] The second mating segment 7122 is arranged on the side of the first mating segment 7121 away from the plate body 711, and the second mating segment 7122 extends along the extension direction of the second axis b, that is, the extension direction of the second mating segment 7122 is the same as the extension direction of the second rotating shaft 92, the second mating segment 7122 is parallel to the second rotating shaft 92, and the output end of the driving member 80 is connected to the second mating segment 7122 through a ball joint assembly or a universal joint, so that when the two driving members 80 simultaneously and synchronously drive the second mating segment 7122 to move, the seat body 71 can rotate around the second axis b.

[0142] like Fig.15As shown, the ball joint assembly includes a ball head 93 and a ball head seat 94. The ball head seat 94 can be set at the output end of the driving member 80. The ball head 93 is fixedly connected to the two ends of the second mating section 7122 through a ball head fastener 931. Through the cooperation of the ball head 93 and the ball head seat 94, when the seat body 71 moves, the driving member 80 can provide power without interfering with the seat body 71, and there can be relative movement between the driving member 80 and the seat body 71; in addition, it can also absorb the alignment error caused by manufacturing error or wear to a certain extent.

[0143] In some embodiments, the connecting member 72 includes a first connecting ring 721 and a second connecting ring 722 which are connected to each other. The second connecting ring 722 is connected to the outer side of the first connecting ring 721. The extension direction of the second connecting ring 722 is different from that of the first connecting ring 721. The first connecting ring 721 is suitable for being mounted on the first rotating shaft 91, and the second connecting ring 722 is suitable for being mounted on the second rotating shaft 92. Therefore, the connection between the connecting member 72 and the second arm portion 13 and the seat body 71 is located on different planes. The extension direction of the second connecting ring 722 can be perpendicular to the extension direction of the first connecting ring 721, thereby providing two orthogonal degrees of freedom. The connecting member 72 can rotate relative to the second arm portion 13 and the seat body 71 on two perpendicular axes, and then the seat body 71 can move in a larger range relative to the second arm portion 13, thereby improving the movement flexibility of the seat body 71.

[0144] Among them, a bushing may be provided between the first connecting ring 721 and the first rotating shaft 91, and a bushing may be provided between the second connecting ring 722 and the second rotating shaft 92. The bushing can play a certain sealing role, and at the same time support the connecting ring, reduce the friction coefficient during rotation, and improve the smoothness of rotation and the accuracy of movement.

[0145] like Fig.16 As shown, a relief notch 7111 is provided in the middle of the seat body 71, and a portion of the first connecting ring 721 can be located in the relief notch 7111, thereby reducing the height dimension of the connecting member 72 protruding from the seat body 71, making the structure of the mounting seat 70 more compact.

[0146] The edge of the avoidance notch 7111 is formed with an arc-shaped receiving surface. When the seat body 71 rotates relative to the connecting member 72 and the second arm portion 13, the design of the arc-shaped receiving surface can evenly disperse the load, reduce stress concentration, avoid structural damage due to collision, and improve the durability of the structure.

[0147] In some embodiments, the second arm portion 13 includes a support frame 101, which defines a hollow mounting cavity. Two driving members 80 are mounted on the support frame 101, and at least a portion of each driving member 80 is located in the mounting cavity. The driving member 80 is thereby integrated into the second arm portion 13, making full use of the space inside the support frame 101 without the need for additional accommodation space, thereby reducing the overall size of the robotic arm and improving the compactness and integration of the structure. In addition, the driving member 80 can be installed symmetrically, which is beneficial to maintaining the balance of the robotic arm 100 and reducing vibration or displacement caused by uneven weight distribution.

[0148] In some embodiments, the second arm 13 also includes an elbow 102, one end of the support frame 101 is connected to the elbow 102 through the electric transmission assembly 20, and the other end of the support frame 101 is connected to the mounting base 70, and the rotation axis of the electric transmission assembly 20 is the third axis c. Therefore, under the action of the electric transmission assembly 20, the support frame 101 can rotate around the third axis c relative to the elbow 102, thereby driving the mounting base 70 and the manipulator to perform rotational motion, thereby adding a degree of freedom of motion to the mounting base 70 and the manipulator, enabling them to perform more complex movements.

[0149] Among them, the third axis c, the first axis a and the second axis b are perpendicular to each other, which can facilitate the precise positioning and operation of the robot arm 100 in three-dimensional space.

[0150] In some examples, an adapter 14 is provided at the upper end of the support frame 101, and the adapter 14 is connected to one of the stator 21 and the rotor 22 of the electric transmission assembly 20. The elbow 102 is connected to the other of the stator 21 or the rotor 22, thereby realizing the rotational connection between the support frame 101 and the elbow 102. A mounting platform is provided on the side of the adapter 14 facing away from the electric transmission assembly 20. The driving member 80 can be installed on the mounting platform through a ball joint assembly or a universal joint. There can be relative movement between the driving member 80 and the mounting platform to reduce motion interference, and at the same time, it can also absorb alignment errors caused by manufacturing errors or wear to a certain extent.

[0151] like Figure 4 and Fig.15As shown, in some embodiments, the support frame 101 has at least one support arm 174, each support arm 174 is located outside the installation cavity, the support arm 174 extends in a direction close to the mounting seat 70, and each support arm 174 is rotatably connected to the mounting seat 70 through the second rotating shaft 92, so that the mounting seat 70 is connected to the support frame 101, and the mounting seat 70 is located outside the installation cavity, wherein the support arm 174 may include two support arms 174, and the two support arms 174 are respectively connected to the two ends of the second rotating shaft 92. Under the action of the support arm 174, the mounting seat 70 can be separated from the installation cavity, which can reduce the probability of interference when the mounting seat 70 moves, increase the movable range of the mounting seat 70, and improve the flexibility of the robot arm 100.

[0152] like Fig.15 As shown, in some embodiments, the support frame 101 includes a first support portion 171 and a second support portion 172, the second support portion 172 is disposed on one side of the first support portion 171, and one end of the second support portion 172 (such as Fig.15 The upper end shown in FIG. 1 and one end of the first support portion 171 (as shown in FIG. Fig.15 The upper end shown in FIG. 10 ) cooperates to form a connecting portion, which facilitates connecting adjacent components. The other end of the second support portion 172 (as shown in FIG. 10 ) Fig.15 The lower end shown in FIG. 1 ) can extend between the two driving members 80, and the other end of the second support portion 172 (as shown in FIG. Fig.15 The lower end of the driving member 80 is connected to the first support portion 171, and two relatively arranged clearance openings 173 are formed between the second support portion 172 and the first support portion 171. The clearance openings 173 are connected to the installation cavity. A part of each driving member 80 is arranged in the installation cavity, and the other part of each driving member 80 extends out of the installation cavity through the clearance openings 173. On the one hand, the output end of the driving member 80 can extend through the clearance openings 173 to be connected to the mounting seat 70. When the driving mounting seat 70 moves, the adaptive movement of the driving member 80 will not be interfered by the support member 101. On the other hand, when the driving member 80 needs to be replaced or repaired, it can be operated directly through the clearance openings 173 without disassembling the entire robotic arm 100, thereby reducing maintenance costs and time.

[0153] Designing the support frame 101 to have the above structure reduces the weight of the support frame 101 to a certain extent, thereby satisfying the lightweight design of the robot arm 100 .

[0154] In some embodiments, the driving member 80 is an electric telescopic rod. The electric telescopic rod drives a screw rod through a motor, and the rotation of the screw rod converts the rotational motion into a linear motion, driving the telescopic rod to move along a straight line. By using the electric telescopic rod to drive the mounting seat 70, the movement of the mounting seat 70 can be made more controllable, which is conducive to achieving precise control of the mounting seat 70, making the movement of the robot arm 100 more precise and smooth.

[0155] Other structures and operations of the robot arm 100 according to the embodiment of the present invention are known to those skilled in the art and will not be described in detail herein.

[0156] In the description of the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature.

[0157] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0158] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A robotic arm (100), characterized in that: include: A plurality of arms (10) connected in sequence, wherein two adjacent arms (10) are connected via an electric transmission assembly (20) so that the two adjacent arms (10) can rotate relative to each other; A control component (30) is used to control the rotation of the electric transmission component (20), wherein the control component (30) is connected to the electric transmission component (20) via a wiring harness (40). The control component (30) is arranged outside the electric transmission component (20) and is installed on an arm (10) rotatably connected to the electric transmission component (20).

2. The robotic arm (100) according to claim 1, characterized in that: At least one of the arms (10) comprises a support frame (101) and an elbow (102); the support frame (101) and the elbow of each arm (10) are connected via an electric transmission assembly (20) so that the support frame (101) and the elbow (102) can rotate relative to each other; a mounting cavity is defined in the middle of the support frame; the control assembly (30) is disposed in the mounting cavity and is connected to the electric transmission assembly (20) via a wiring harness (40).

3. The robotic arm (100) according to claim 2, characterized in that: The support frame (101) of each arm extends in a direction away from the elbow (102) of the arm (10), and in the extending direction of the support frame (101), one end of the support frame (101) close to the elbow (102) has a mounting opening (1011) connected to the mounting cavity, and at least a part of the electric transmission assembly (20) extends into the mounting cavity through the mounting opening (1011); and / or, The support frame (101) is provided with an opening (15) which is in communication with the installation cavity.

4. The robotic arm (100) according to claim 2, characterized in that: The electric transmission assembly (20) comprises a first electric transmission assembly and a second electric transmission assembly having different rotation axes, the elbow (102) comprises an annular connecting portion (1322) and at least one supporting portion (1321), the annular connecting portion (1322) being arranged on the outer side of the first electric transmission assembly and connected to the supporting frame (101) via the first electric transmission assembly, the supporting portion (1321) being connected to one side of the second electric transmission assembly on the rotation axis and connected to the adjacent arm portion (10) via the second electric transmission assembly.

5. The robotic arm (100) according to claim 1, characterized in that: The multiple arms (10) include a shoulder (11), a first arm (12) and a second arm (13) connected in sequence, the first arm (12) includes a first elbow (122) and a first support frame (121), the second arm (13) includes a second elbow (132) and a second support frame (131), the first elbow (122) and the shoulder (11) are connected via the electric transmission assembly (20), the first support frame (121) and the second elbow (132) are connected via the electric transmission assembly (20), wherein the control assembly (30) is disposed in the first support frame (121).

6. The robotic arm (100) according to any one of claims 1 to 5, characterized in that: The electric transmission assembly (20) comprises a stator (21) and a rotor (22); the rotor (22) is arranged in the stator (21) and defines the wire passing hole (201); the stator (21) has a first fixing member (24); the rotor (22) has a second fixing member (25); the first fixing member (24) and the second fixing member (25) are respectively connected to the support frame (101) and the elbow (102) of two adjacent arms (10) or each arm (10); a portion of the wiring harness (40) is suitable for passing through the wire passing hole (201) to connect the control assembly (30) and the electric transmission assembly (20).

7. The robotic arm (100) according to claim 6, characterized in that: The wiring harness (40) comprises a three-phase line (41) of the motor, the first fixing member has a first through hole (243) corresponding to the position of the winding of the stator, and the three-phase line (41) of the motor passes through the first through hole (243) to connect to the winding of the stator (21).

8. The robotic arm (100) according to claim 6, characterized in that: The wiring harness (40) includes an encoder wire (42), the rotor is provided with an encoder code disk, a portion of the first fixing member (24) extends to one side of the encoder code disk and is provided with an encoder chip, the first fixing member (24) has a second through hole, and the encoder wire passes through the second through hole (244) to connect to the encoder chip.

9. The robotic arm (100) according to claim 6, characterized in that: The electric transmission assembly (20) further comprises a bracket (26) arranged outside the stator (21); a portion of the rotor (22) extends out of the stator (21) and is sleeved with a torque sensor (23); the first fixing member (24) is connected to the bracket (26); the bracket (26) has an escape groove (261); the first fixing member (24) has a notch (242); the notch (242) is connected to the escape groove (261); the wiring harness (40) comprises a sensor line (43); the sensor line (43) is suitable for passing through the notch (242) and the escape groove (261) to connect to the torque sensor (23).

10. The robotic arm (100) according to claim 6, characterized in that: The arm portion (10) comprises a conversion member (14), the conversion member (14) is located on one side of the rotor (22) of the electric transmission assembly (20) in the axial direction and forms a ring shape, and the conversion member (14) is connected to the first fixing member (24) or the second fixing member (25).

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