A robot control arm with anti-collision structure

Abstract

The present invention discloses a robot control arm with an anti-collision structure, and the present invention relates to the technical field of robot control arms. The present invention comprises a first rotating arm, one end of the first rotating arm is fixedly connected to a first rotating joint, one end of the first rotating joint away from the first rotating arm is fixedly connected to a second rotating arm, one end of the second rotating arm away from the first rotating joint is fixedly connected to a second rotating joint, one end of the second rotating joint away from the second rotating arm is fixedly connected to a third rotating arm, an actuator is fixedly connected to one end of the third rotating arm away from the second rotating joint, and one side of the actuator away from the third rotating arm is fixedly connected to a mounting sleeve. When the control arm is working, the end actuator has a larger range of movement, a greater force when bumped, and is more likely to be damaged. The actuator is arranged at the very end of the entire control arm, and the anti-collision structure of the actuator can protect the actuator, effectively preventing the control arm from being damaged or even paralyzed.

Description

Technical Field

[0001] The present invention relates to the technical field of robot control arms, and in particular to a robot control arm with an anti-collision structure. Background Art

[0002] A robot is a mechanical device that can automatically perform tasks. It integrates multiple technologies such as mechanics, electronics, computers, and control. Structurally, it has a solid mechanical body, including joints, connecting rods, control arms, and other parts, which enable the robot to move flexibly. It usually has multiple degrees of freedom. The drive system provides power for the robot's movement. The perception system is an important part of the robot. It uses sensors such as vision, touch, and hearing to collect information about the surrounding environment and its own state. Through the control system, the collected information is processed according to programs and algorithms to command the robot's actions. Robots can complete industrial production tasks such as welding, assembly, handling, and spraying. They can also be used in the service field, such as providing cleaning, reception, and nursing services. There are also special robots that can perform special tasks such as rescue and detection in dangerous environments. The development of robots is becoming more and more intelligent and can better adapt to complex and changing tasks and environmental requirements.

[0003] The robot control arm is a key part of the robot, similar to a human arm, and is used for operation. It has a structure composed of joints and connecting rods, has multiple degrees of freedom, and can be equipped with a variety of actuators at the end to complete tasks. The work is controlled by kinematics and dynamics principles. The control methods include programmed control and sensor feedback control. It plays a key role in many fields. When the control arm is in use, the movement range of the fixed position of the end effector is larger, and a collision will cause greater damage. Therefore, the control arm needs to be protected from collision. Therefore, we propose a robot control arm with an anti-collision structure. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a robot control arm with an anti-collision structure, comprising:

[0005] A bottom plate, with mounting holes symmetrically opened on both sides of the bottom plate, and a rotating seat rotatably connected to the top of the bottom plate;

[0006] A control arm mechanism, wherein the control arm mechanism is fixedly connected to a side of the rotating seat away from the bottom plate, and a mounting sleeve is fixedly connected to the side of the control arm mechanism away from the rotating seat;

[0007] Wherein, the control arm mechanism comprises:

[0008] A first rotating arm, wherein the first rotating arm is fixedly connected to a side of the rotating base away from the bottom plate, an end of the first rotating arm away from the rotating base is fixedly connected to a first rotating joint, an end of the first rotating joint away from the first rotating arm is fixedly connected to a second rotating arm, an end of the second rotating arm away from the first rotating joint is fixedly connected to a second rotating joint, and an end of the second rotating joint away from the second rotating arm is fixedly connected to a third rotating arm;

[0009] An actuator assembly, wherein the actuator assembly has an anti-collision structure for preventing the third rotating arm from collision, the actuator assembly is fixedly connected to an end of the third rotating arm away from the second rotating joint, and a side of the actuator assembly away from the third rotating arm is fixedly connected to the mounting sleeve;

[0010] The base plate is fixedly connected to the robot through the mounting holes, and the end effector is fixedly connected to the actuator component, such as a gripper, welding tool, paint spray gun, etc., through the mounting sleeve. The rotating seat rotates, the first rotating joint rotates, driving the first rotating arm and the second rotating arm to rotate, the second rotating joint rotates, driving the third rotating arm to rotate, driving the actuator to rotate, and finally driving the end effector to move in all directions, thereby completing various operations. When the control arm is working, its end, that is, the end effector, has a larger movement range, and the force when it collides is greater, and it is more likely to be damaged. The actuator is set at the very end of the entire control arm. The anti-collision structure of the actuator can protect the actuator, thereby effectively avoiding damage to the control arm or even paralysis.

[0011] Furthermore, metal wires are provided inside the first rotating arm, the second rotating arm and the third rotating arm. The metal wires are made of elastic material and are arranged in a hexagon. When the first rotating arm, the second rotating arm and the third rotating arm are bumped and deformed, the metal wires are driven to deform. The metal wires are made of elastic material and can restore the first rotating arm, the second rotating arm and the third rotating arm under the elastic force of the metal wire to restore the deformation. When the rotating arm is squeezed, the hexagonal metal wire can evenly distribute the pressure, thereby avoiding deformation.

[0012] Furthermore, the metal wires are provided in three groups, and each group of the metal wires is provided with a plurality of metal wires. The two ends of the metal wires located inside the second rotating arm are respectively fixedly connected to the side where the first rotating joint and the second rotating joint are close to each other, the two ends of the metal wires located in the first rotating arm are respectively fixedly connected to the side where the first rotating joint and the rotating seat are close to each other, and the two ends of the metal wires located in the third rotating arm are respectively fixedly connected to the side where the second rotating joint and the actuator are close to each other. The first rotating joint and the second rotating joint rotate, thereby driving the metal wire to move, and then driving the first rotating arm, the second rotating arm, and the third rotating arm to rotate.

[0013] Furthermore, the inner side surfaces of the first rotating arm, the second rotating arm and the third rotating arm are fixedly connected to a buffer sleeve, the inner side surface of the buffer sleeve is fixedly connected to the surface of the metal wire, and the buffer sleeve is made of an elastic material. When an impact occurs, the buffer sleeve is deformed, thereby buffering the deformation of the first rotating arm, the second rotating arm and the third rotating arm, thereby preventing the first rotating arm, the second rotating arm and the third rotating arm from being dented or even bent.

[0014] Furthermore, a deformation hole is provided inside the buffer sleeve, and a plurality of the deformation holes are provided and are evenly distributed on the surface of the buffer sleeve. The deformation holes enable the buffer sleeve to deform better. When the first rotating arm, the second rotating arm, and the third rotating arm are bumped and bent, the deformation holes enable the buffer sleeve to deform to a greater extent, thereby preventing the buffer sleeve from breaking.

[0015] Furthermore, the actuator assembly includes an actuator seat, which is fixedly connected to an end of the third rotating arm away from the second rotating joint, and a mounting plate is slidably connected to a side of the actuator seat away from the third rotating arm, and a side of the mounting plate away from the actuator seat is fixedly connected to a mounting sleeve, and the end actuator is fixedly connected to the mounting plate through the mounting sleeve. The slidably connected mounting plate and the actuator seat can more conveniently disassemble the mounting plate, and then more conveniently disassemble the end actuator.

[0016] Furthermore, an inner sleeve is fixedly connected to the outer side surface of the third rotating arm, and the inner sleeve is arranged outside the actuator seat and the mounting plate, and a rib is fixedly connected to the outer side surface of the inner sleeve, and an outer sleeve is fixedly connected to the side of the rib away from the inner sleeve, and the ribs are evenly distributed at the interval between the inner sleeve and the outer sleeve, and the ribs are arranged in an I-shape. The I-shaped ribs can provide better support and withstand greater pressure, thereby protecting the third rotating arm, the actuator seat, and the mounting plate, and the pressure is borne by the ribs, which can reduce the mass, thereby reducing the inertia of the third rotating arm during rotation, and thereby reducing the damage to the end actuator during collision.

[0017] Furthermore, a rubber plate is provided on the inner side surface of the mounting plate, and a slide groove is symmetrically provided on one side of the execution seat close to the mounting plate, and the inner side surface of the slide groove is fixedly connected to the outer side surface of the rubber plate, and the rubber plate is made of rubber material, and an extrusion strip is provided inside the rubber plate, and a plurality of extrusion strips are provided on the circumference of the extrusion strips, and a plurality of arc-shaped protrusions are provided on the surface of the extrusion strips. The mounting plate is inserted to drive a plurality of extrusion strips to be inserted into the rubber plate, and the extrusion strips press against the bottom of the slide groove, and the extrusion strips are deformed, so that the plurality of extrusion strips are separated from each other, and then press against the inner side surface of the rubber plate, thereby achieving a fixing effect, and the surface of the extrusion strip has a plurality of arc-shaped protrusions, and the arc-shaped protrusions of the extrusion strip are more easily deformed, and the arc-shaped protrusions can press against the inner side surface of the rubber plate more firmly, thereby achieving a more secure fixing effect.

[0018] Furthermore, touch plates are symmetrically arranged at the interval between the actuator seat and the mounting plate. The sides of the two touch plates that are far away from each other are fixedly connected to the sides of the actuator seat and the mounting plate that are close to each other. The mounting plate is inserted and the two touch plates contact each other, so that the end actuator fixedly connected to the mounting sleeve is energized, and the two touch plates are pressed against each other, which can make the mounting plate more firmly fixed.

[0019] The present invention has the beneficial effects:

[0020] The present invention sets a control arm mechanism, the rotating seat rotates, the first rotating joint rotates, the first rotating arm and the second rotating arm are driven to rotate, the second rotating joint rotates, the third rotating arm is driven to rotate, the execution component is driven to rotate, and finally the end effector is driven to move in various directions, thereby completing various operations. When the control arm is working, the end thereof, that is, the end effector has a larger movement range, and the force when it collides is greater, and it is more likely to be damaged. The execution component is set at the very end of the entire control arm, and the anti-collision structure of the execution component can protect the execution component, thereby effectively avoiding damage or even paralysis of the control arm.

[0021] The present invention arranges a metal wire, and when the first rotating arm, the second rotating arm, and the third rotating arm are bumped, when the rotating arm is deformed, the metal wire is driven to be deformed. The metal wire is made of elastic material, and can restore the first rotating arm, the second rotating arm, and the third rotating arm under the elastic force of the metal wire to restore the deformation. When the rotating arm is squeezed, the hexagonal metal wire can evenly distribute the pressure, thereby avoiding deformation.

[0022] The present invention provides a buffer sleeve, and when an impact occurs, the buffer sleeve is deformed, thereby buffering the deformation of the first rotating arm, the second rotating arm, and the third rotating arm, thereby avoiding the first rotating arm, the second rotating arm, and the third rotating arm from being dented or even bent. The opening of the deformation hole enables the buffer sleeve to deform better. When the first rotating arm, the second rotating arm, and the third rotating arm are bent by a bump, the opening of the deformation hole enables the buffer sleeve to deform to a greater extent, thereby avoiding the buffer sleeve from breaking.

[0023] The present invention provides an actuator assembly, a slidingly connected mounting plate and an actuator seat, so that the mounting plate can be disassembled more conveniently, and then the end actuator can be disassembled more conveniently. The I-shaped ribs can provide better support and withstand greater pressure, thereby protecting the third rotating arm, the actuator seat, and the mounting plate. The ribs bear pressure, which can reduce the mass, thereby reducing the inertia of the third rotating arm during rotation, and thereby reducing the damage to the end actuator when it is bumped.

[0024] The present invention arranges an extrusion bar, inserts the mounting plate, drives a plurality of extrusion bars to be inserted into the rubber plate, the extrusion bar presses against the bottom of the slide groove, the extrusion bar is deformed, so that the plurality of extrusion bars are separated from each other, and then press against the inner side surface of the rubber plate, thereby achieving a fixing effect, and the surface of the extrusion bar has a plurality of arc-shaped protrusions, the arc-shaped protrusions of the extrusion bar are more easily deformed, and the arc-shaped protrusions can press against the inner side surface of the rubber plate more firmly, thereby achieving a more firm fixing effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic diagram of a robot control arm with an anti-collision structure according to the present invention;

[0026] Figure 2 It is a schematic structural diagram of a robot control arm with an anti-collision structure from another perspective of the present invention;

[0027] Figure 3 It is a schematic diagram of the metal wire structure of the present invention;

[0028] Figure 4 This is a schematic diagram of the structure of the buffer sleeve of the present invention;

[0029] Figure 5 This is a schematic diagram of the structure of the execution components of the present invention;

[0030] Figure 6 This is a schematic diagram of the rib structure of the present invention;

[0031] Figure 7 This is a schematic diagram of the assembly structure of the mounting plate of the present invention;

[0032] Figure 8 It is a schematic diagram of the touch panel structure of the present invention;

[0033] Fig. 9 It is a schematic diagram of the structure of the extruded strip of the present invention.

[0034] In the figure: 1. base plate; 2. mounting hole; 3. rotating seat; 4. control arm mechanism; 41. first rotating arm; 42. first rotating joint; 43. second rotating arm; 44. second rotating joint; 45. third rotating arm; 46. actuator; 461. actuator seat; 462. outer sheath; 463. mounting plate; 464. inner sheath; 465. rib plate; 466. slide groove; 467. rubber plate; 468. touch plate; 4610. extrusion strip; 47. metal wire; 48. buffer sleeve; 49. deformation hole; 5. mounting sleeve. DETAILED DESCRIPTION

[0035] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

[0036] Example 1, please refer to Figure 1-Figure 4 The present invention is a robot control arm with an anti-collision structure, comprising:

[0037] A bottom plate 1, mounting holes 2 are symmetrically provided on both sides of the bottom plate 1, and a rotating seat 3 is rotatably connected to the top of the bottom plate 1;

[0038] A control arm mechanism 4, the control arm mechanism 4 is fixedly connected to a side of the rotating seat 3 away from the bottom plate 1, and a mounting sleeve 5 is fixedly connected to a side of the control arm mechanism 4 away from the rotating seat 3;

[0039] Wherein, the control arm mechanism 4 comprises:

[0040] A first rotating arm 41, the first rotating arm 41 is fixedly connected to a side of the rotating base 3 away from the bottom plate 1, one end of the first rotating arm 41 away from the rotating base 3 is fixedly connected to a first rotating joint 42, one end of the first rotating joint 42 away from the first rotating arm 41 is fixedly connected to a second rotating arm 43, one end of the second rotating arm 43 away from the first rotating joint 42 is fixedly connected to a second rotating joint 44, and one end of the second rotating joint 44 away from the second rotating arm 43 is fixedly connected to a third rotating arm 45;

[0041] The actuator 46 has an anti-collision structure for preventing the third rotating arm 45 from collision. The actuator 46 is fixedly connected to one end of the third rotating arm 45 away from the second rotating joint 44. The side of the actuator 46 away from the third rotating arm 45 is fixedly connected to the mounting sleeve 5.

[0042] The base plate 1 is fixedly connected to the robot through the mounting hole 2, and the end effector is fixedly connected to the actuator component 46, such as a gripper, a welding tool, a paint spray gun, etc., through the mounting sleeve 5. The rotating seat 3 rotates, the first rotating joint 42 rotates, driving the first rotating arm 41 and the second rotating arm 43 to rotate, the second rotating joint 44 rotates, driving the third rotating arm 45 to rotate, driving the actuator component 46 to rotate, and finally driving the end effector to move in various directions, thereby completing various operations. When the control arm is working, its end, that is, the end effector has a larger movement range, and the force when it collides is greater, and it is more likely to be damaged. The actuator component 46 is arranged at the very end of the entire control arm. The anti-collision structure of the actuator component 46 can protect the actuator component 46, thereby effectively avoiding damage or even paralysis of the control arm.

[0043] The first rotating arm 41, the second rotating arm 43 and the third rotating arm 45 are all provided with metal wires 47 inside. The metal wires 47 are made of elastic material and are arranged in a hexagon. When the first rotating arm 41, the second rotating arm 43 and the third rotating arm 45 are bumped and the rotating arms are deformed, the metal wires 47 are driven to deform. The metal wires 47 are made of elastic material and can restore the first rotating arm 41, the second rotating arm 43 and the third rotating arm 45 under the action of the elastic force of the metal wires 47 to restore the deformation. When the rotating arms are squeezed, the hexagonal metal wires 47 can evenly distribute the pressure, thereby avoiding deformation.

[0044] There are three groups of metal wires 47, and each group of metal wires 47 is provided with a plurality of metal wires. The two ends of the metal wire 47 located inside the second rotating arm 43 are respectively fixedly connected to the side where the first rotating joint 42 and the second rotating joint 44 are close to each other, the two ends of the metal wire 47 located in the first rotating arm 41 are respectively fixedly connected to the side where the first rotating joint 42 and the rotating seat 3 are close to each other, and the two ends of the metal wire 47 located in the third rotating arm 45 are respectively fixedly connected to the side where the second rotating joint 44 and the actuator 46 are close to each other. The first rotating joint 42 and the second rotating joint 44 rotate, thereby driving the metal wire 47 to move, and then driving the first rotating arm 41, the second rotating arm 43, and the third rotating arm 45 to rotate.

[0045] The inner side surfaces of the first rotating arm 41, the second rotating arm 43 and the third rotating arm 45 are fixedly connected to the buffer sleeve 48, and the inner side surface of the buffer sleeve 48 is fixedly connected to the surface of the metal wire 47. The buffer sleeve 48 is made of elastic material. When an impact occurs, the buffer sleeve 48 is deformed, thereby buffering the deformation of the first rotating arm 41, the second rotating arm 43 and the third rotating arm 45, thereby preventing the first rotating arm 41, the second rotating arm 43 and the third rotating arm 45 from being dented or even bent.

[0046] A deformation hole 49 is provided inside the buffer sleeve 48. There are a plurality of deformation holes 49, and the deformation holes 49 are evenly distributed on the surface of the buffer sleeve 48. The deformation holes 49 enable the buffer sleeve 48 to deform better. When the first rotating arm 41, the second rotating arm 43, and the third rotating arm 45 are bumped and bent, the deformation holes 49 enable the buffer sleeve 48 to deform to a greater extent, thereby preventing the buffer sleeve 48 from breaking.

[0047] Example 2, please refer to Figure 1-Figure 9 The actuator assembly 46 includes an actuator seat 461, which is fixedly connected to one end of the third rotating arm 45 away from the second rotating joint 44. The side of the actuator seat 461 away from the third rotating arm 45 is slidably connected with a mounting plate 463. The side of the mounting plate 463 away from the actuator seat 461 is fixedly connected to the mounting sleeve 5. The end actuator is fixedly connected to the mounting plate 463 through the mounting sleeve 5. The sliding connection between the mounting plate 463 and the actuator seat 461 makes it easier to disassemble the mounting plate 463, and thus to disassemble the end actuator.

[0048] The outer side surface of the third rotating arm 45 is fixedly connected with the inner sleeve 464, and the inner sleeve 464 is arranged outside the actuator seat 461 and the mounting plate 463, the outer side surface of the inner sleeve 464 is fixedly connected with the rib 465, the side of the rib 465 away from the inner sleeve 464 is fixedly connected with the outer sleeve 462, and the ribs 465 are evenly distributed at the interval between the inner sleeve 464 and the outer sleeve 462, and the ribs 465 are arranged in an I-shape. The I-shaped ribs 465 can provide better support and withstand greater pressure, thereby protecting the third rotating arm 45, the actuator seat 461, and the mounting plate 463, and the pressure borne by the ribs 465 can reduce the mass, thereby reducing the inertia of the third rotating arm 45 during rotation, and thereby reducing the damage to the end actuator when it collides.

[0049] The inner side of the mounting plate 463 is provided with a rubber plate 467, and a slide groove 466 is symmetrically provided on one side of the actuator 461 close to the mounting plate 463. The inner side of the slide groove 466 is fixedly connected to the outer side of the rubber plate 467. The rubber plate 467 is made of rubber material. An extrusion strip 4610 is provided inside the rubber plate 467. A plurality of extrusion strips 4610 are provided around the circumference, and a plurality of arc-shaped protrusions are provided on the surface of the extrusion strip 4610. The extrusion strips 4610 are inserted into the mounting plate 463 to drive the plurality of extrusion strips 4610 to move. 610 is inserted into the rubber sheet 467, and the extrusion strip 4610 presses against the bottom of the slide groove 466, and the extrusion strip 4610 is deformed, so that several extrusion strips 4610 are separated from each other, and then press against the inner side of the rubber sheet 467 to achieve a fixing effect, and the surface of the extrusion strip 4610 has several arc-shaped protrusions, the arc-shaped protrusions of the extrusion strip 4610 are more likely to deform, and the arc-shaped protrusions can press against the inner side of the rubber sheet 467 more firmly, thereby achieving a more secure fixing effect.

[0050] Touch plates 468 are symmetrically arranged at the interval between the actuator seat 461 and the mounting plate 463. The sides of the two touch plates 468 that are far away from each other are fixedly connected to the sides of the actuator seat 461 and the mounting plate 463 that are close to each other. The mounting plate 463 is inserted and the two touch plates 468 contact each other, so that the end actuator fixedly connected to the mounting sleeve 5 is energized, and the two touch plates 468 are pressed against each other, which can make the mounting plate 463 more firmly fixed.

[0051] When in use, the base plate 1 is fixedly connected to the robot through the mounting hole 2, and the end effector is fixedly connected to the execution assembly 46, such as a gripper, a welding tool, a paint spray gun, etc., through the mounting sleeve 5. The rotating seat 3 rotates, the first rotating joint 42 rotates, driving the first rotating arm 41 and the second rotating arm 43 to rotate, the second rotating joint 44 rotates, driving the third rotating arm 45 to rotate, driving the execution assembly 46 to rotate, and finally driving the end effector to move in various directions, thereby completing various operations. At the same time, the rotation of the first rotating joint 42 and the second rotating joint 44 will also drive the metal wire 47 to move, and then drive the first rotating arm 41, the second rotating arm 43, and the third rotating arm 45 to rotate;

[0052] Insert the mounting plate 463, insert the mounting plate 463, the two contact plates 468 contact each other, so that the end effector fixedly connected to the mounting sleeve 5 is energized, driving a plurality of extrusion strips 4610 to be inserted into the rubber plate 467, the extrusion strips 4610 press against the bottom of the slide groove 466, the extrusion strips 4610 are deformed, so that the plurality of extrusion strips 4610 are separated from each other, and then press against the inner side of the rubber plate 467, thereby achieving a fixing effect.

[0053] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field and related fields without creative work should fall within the scope of protection of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention are implemented according to the conventional means in the field unless otherwise specified and limited.

Claims

1. A robot control arm with an anti-collision structure, characterized in that: include: A bottom plate (1), wherein mounting holes (2) are symmetrically provided on both sides of the bottom plate (1), and a rotating seat (3) is rotatably connected to the top of the bottom plate (1); A control arm mechanism (4), the control arm mechanism (4) being fixedly connected to a side of the rotating seat (3) away from the base plate (1), and a mounting sleeve (5) being fixedly connected to a side of the control arm mechanism (4) away from the rotating seat (3); Wherein, the control arm mechanism (4) comprises: a first rotating arm (41), the first rotating arm (41) being fixedly connected to a side of the rotating seat (3) away from the bottom plate (1), one end of the first rotating arm (41) away from the rotating seat (3) being fixedly connected to a first rotating joint (42), one end of the first rotating joint (42) away from the first rotating arm (41) being fixedly connected to a second rotating arm (43), one end of the second rotating arm (43) away from the first rotating joint (42) being fixedly connected to a second rotating joint (44), and one end of the second rotating joint (44) away from the second rotating arm (43) being fixedly connected to a third rotating arm (45); an actuator component (46), the actuator component (46) having an anti-collision structure for preventing the third rotating arm (45) from collision, the actuator component (46) being fixedly connected to an end of the third rotating arm (45) away from the second rotating joint (44), and a side of the actuator component (46) away from the third rotating arm (45) being fixedly connected to the mounting sleeve (5); A metal wire (47) is disposed inside each of the first rotating arm (41), the second rotating arm (43), and the third rotating arm (45); the metal wire (47) is made of an elastic material, and the metal wire (47) is arranged in a hexagonal shape; The metal wires (47) are provided in three groups, each group of the metal wires (47) being provided with a plurality of metal wires, the two ends of the metal wires (47) located inside the second rotating arm (43) being respectively fixedly connected to the side where the first rotating joint (42) and the second rotating joint (44) are close to each other, the two ends of the metal wires (47) located in the first rotating arm (41) being respectively fixedly connected to the side where the first rotating joint (42) and the rotating seat (3) are close to each other, and the two ends of the metal wires (47) located in the third rotating arm (45) being respectively fixedly connected to the side where the second rotating joint (44) and the actuator (46) are close to each other; The inner side surfaces of the first rotating arm (41), the second rotating arm (43) and the third rotating arm (45) are fixedly connected to a buffer sleeve (48), the inner side surface of the buffer sleeve (48) is fixedly connected to the surface of the metal wire (47), and the buffer sleeve (48) is made of an elastic material; A deformation hole (49) is provided inside the buffer sleeve (48), a plurality of the deformation holes (49) are provided, and the plurality of the deformation holes (49) are evenly distributed on the surface of the buffer sleeve (48).

2. The robot control arm with an anti-collision structure according to claim 1, characterized in that: The actuator assembly (46) comprises an actuator seat (461), the actuator seat (461) being fixedly connected to an end of the third rotating arm (45) away from the second rotating joint (44), a side of the actuator seat (461) away from the third rotating arm (45) being slidably connected to a mounting plate (463), and a side of the mounting plate (463) away from the actuator seat (461) being fixedly connected to the mounting sleeve (5).

3. The robot control arm with an anti-collision structure according to claim 2, characterized in that: The outer side surface of the third rotating arm (45) is fixedly connected to an inner sleeve (464), and the inner sleeve (464) is arranged outside the actuator seat (461) and the mounting plate (463). The outer side surface of the inner sleeve (464) is fixedly connected to a rib plate (465), and a side of the rib plate (465) away from the inner sleeve (464) is fixedly connected to an outer sleeve (462), and the rib plates (465) are evenly distributed at the interval between the inner sleeve (464) and the outer sleeve (462), and the rib plates (465) are arranged in an I-shape.

4. The robot control arm with an anti-collision structure according to claim 3, characterized in that: The inner side surface of the mounting plate (463) is provided with a rubber plate (467), and a slide groove (466) is symmetrically provided on one side of the actuator seat (461) close to the mounting plate (463). The inner side surface of the slide groove (466) is fixedly connected to the outer side surface of the rubber plate (467). The rubber plate (467) is made of rubber material. An extrusion strip (4610) is provided inside the rubber plate (467). A plurality of the extrusion strips (4610) are provided on the circumference, and a plurality of arc-shaped protrusions are provided on the surface of the extrusion strip (4610).

5. The robot control arm with an anti-collision structure according to claim 4, characterized in that: Touch panels (468) are symmetrically arranged at the interval between the execution seat (461) and the mounting plate (463), and the sides of the two touch panels (468) that are far away from each other are fixedly connected to the sides of the execution seat (461) and the mounting plate (463) that are close to each other.

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