Mechanical arm and robot

Abstract

The invention discloses a mechanical arm and a robot, and relates to the technical field of robotics.The mechanical arm comprises a mounting base, a first arm assembly, a second arm assembly and a driving mechanism, and the first arm assembly is rotationally connected with the mounting base; the first arm assembly comprises a first connecting arm and a second connecting arm; the second arm assembly is rotationally connected with the first connecting arm; the driving mechanism comprises a first driving assembly arranged on the first connecting arm and a second driving assembly arranged on the second connecting arm; the first driving assembly is connected with the mounting seat and is in driving connection with the first connecting arm, the first driving assembly drives the first connecting arm to rotate by taking the mounting seat as a fulcrum, and the second driving assembly is in driving connection with the second arm assembly and is used for driving the second arm assembly to rotate. According to the technical scheme, the area occupied by the mounting position of the mechanical arm can be reduced, the minimum turning radius of the mechanical arm is reduced, the influence of the singular point position on the mechanical arm is small, and the movement range is larger.

Description

Technical Field

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

[0002] Robotic arms have a wide range of functions and play an important role in many fields. For example, in the field of industrial manufacturing automation, robotic arms can replace manual labor in repetitive, tedious and high-intensity operations such as welding, spraying and assembly, etc. Robotic arms can improve production efficiency, consistency and quality. However, in the related prior art, there is a problem that the installation location of the robotic arm occupies too large an area. Summary of the invention

[0003] The main purpose of the present invention is to provide a mechanical arm and a robot, aiming to solve the problem that the installation location of the mechanical arm occupies too large an area.

[0004] To achieve the above-mentioned purpose, the present invention proposes a robotic arm, which includes a mounting base, a first arm assembly, a second arm assembly and a driving mechanism, wherein the first arm assembly is rotatably connected to the mounting base; the first arm assembly includes a first connecting arm and a second connecting arm; the second arm assembly is rotatably connected to the first connecting arm; the driving mechanism includes a first driving assembly arranged on the first connecting arm and a second driving assembly arranged on the second connecting arm; the first driving assembly is connected to the mounting base and is drivingly connected to the first connecting arm, the first driving assembly drives the first connecting arm to rotate with the mounting base as a fulcrum, and the second driving assembly is drivingly connected to the second arm assembly for driving the second arm assembly to rotate.

[0005] In one embodiment, the first driving assembly includes a first driving member and a first connecting member, the first driving member is arranged on the first connecting arm; the first connecting member has a first end and a second end opposite to each other, the first end of the first connecting member is connected to the mounting seat, and the second end of the first connecting member is drivingly connected to the first driving member, and the first driving member is used to drive the first connecting member to move along the length direction of the first connecting arm so that the first connecting arm rotates with the mounting seat as a fulcrum.

[0006] In one embodiment, the first driving assembly includes a first screw rod and a first sliding member, the first screw rod is arranged on the first connecting arm, the first screw rod is extended along the length direction of the first connecting arm, one end of the first screw rod is drivingly connected to the first driving member; the first sliding member is slidably arranged on the first screw rod along the length direction of the first screw rod; the second end of the first connecting member is connected to the first sliding member.

[0007] In one embodiment, the first connecting arm includes a first base plate, two first side plates arranged on opposite sides of the first base plate, and two first end plates arranged at opposite ends of the first base plate; the two first side plates are respectively rotatably connected to the mounting seat; a first mounting groove is surrounded by the first base plate, the two first side plates and the two first end plates, and the notch of the first mounting groove is set toward the second connecting arm; the two ends of the first screw rod are respectively connected to the two first end plates, and the first driving member is arranged on the first end plate away from the second arm assembly.

[0008] In one embodiment, the first connecting member and the second connecting arm are rotatably connected to the mounting base via the same rotating shaft.

[0009] In one embodiment, the second driving assembly includes a second driving member and a second connecting member, the second driving member is arranged on the second connecting arm; the second connecting member has a first end and a second end opposite to each other, the first end of the second connecting member is connected to the second arm assembly, and the second end of the second connecting member is drivingly connected to the second driving member, and the second driving member is used to drive the second connecting member to move along the length direction of the second connecting arm, so that the second arm assembly rotates with the first connecting arm as a fulcrum.

[0010] In one embodiment, the second driving assembly includes a second screw rod and a second sliding member, the second screw rod is arranged on the second connecting arm, the second screw rod is extended along the length direction of the second connecting arm, one end of the second screw rod is drivingly connected to the second driving member; the second sliding member is slidably arranged on the second screw rod along the length direction of the second screw rod; the second end of the second connecting member is connected to the second sliding member.

[0011] In one embodiment, the second connecting arm includes a second base plate, two second side plates arranged on opposite sides of the second base plate, and two second end plates arranged at opposite ends of the second base plate, and the two second side plates are respectively rotatably connected to the mounting seat; a second mounting groove is surrounded by the second base plate, the two second side plates and the two second end plates, and the notch of the second mounting groove is arranged toward the first connecting arm; the two ends of the second screw rod are respectively connected to the two second end plates, and the second driving member is arranged at the second end plate away from the second arm assembly.

[0012] In one embodiment, the first arm assembly has two opposite sides, and at least one of the two sides of the first arm assembly is provided with a third connecting member; the third connecting member has two opposite ends; the two ends of the third connecting member are respectively rotatably connected to the first connecting arm and the second connecting arm, so that a four-bar linkage assembly is formed between the first connecting arm and the second connecting arm.

[0013] In one embodiment, the robotic arm further includes two balancing members, which are respectively disposed on opposite sides of the first arm assembly, and the balancing member has opposite ends, which are respectively connected to the mounting seat and the second connecting arm.

[0014] In one embodiment, the second arm assembly includes a connecting seat and a third connecting arm, the connecting seat includes a seat body and a first connecting portion and a second connecting portion provided on the seat body, the first connecting portion is rotatably connected to the first connecting arm, and the second connecting portion is connected to the second driving assembly; the third connecting arm is provided on the seat body, and the third connecting arm is located on a side of the seat body away from the second connecting portion.

[0015] In one embodiment, a clearance opening is provided at a connection between the first base plate and the first end plate close to the second arm assembly, the first connecting portion is located at the clearance opening, and the first connecting portion is rotatably connected to the two first side plates respectively.

[0016] In one embodiment, a connection point between the first connecting portion and the first connecting arm is located on a side of the first connecting arm facing away from the second connecting arm.

[0017] In one embodiment, the mounting base includes a base and a waist seat provided on the base, wherein the waist seat can rotate relative to the base around a rotation axis; the first connecting member is connected to the waist seat, and the first connecting arm and the second connecting arm are respectively connected to the waist seat for rotation.

[0018] In one embodiment, the lumbar seat includes a base and two mounting plates arranged on opposite sides of the base, part of the first connecting arm and part of the second connecting arm are located between the two mounting plates, and the first connecting arm and the second connecting arm are respectively rotatably connected to the two mounting plates; the first connecting member is located between the first connecting arm and the second connecting arm, and the first end of the first connecting member is located between the two mounting plates, and the first end of the first connecting member is respectively rotatably connected to the two mounting plates.

[0019] The present invention also provides a robot, comprising the robotic arm described in any of the aforementioned embodiments.

[0020] The technical solution of the present invention can reduce the area of ​​the mounting seat occupied by the driving mechanism by arranging the first driving component for driving the first arm component to rotate on the first connecting arm, and arranging the second driving component for driving the second arm component to rotate on the second connecting arm, so that the mounting seat can be miniaturized, thereby reducing the area occupied by the installation position of the robot arm, and further reducing the minimum turning radius of the robot arm, so that the robot arm is less affected by the singularity position and has a larger range of motion. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0022] Figure 1 A schematic structural diagram of an embodiment of a mechanical arm provided by the present invention;

[0023] Figure 2 for Figure 1 Another side view of;

[0024] Figure 3 for Figure 1 Another side view of;

[0025] Figure 4 for Figure 1 Another side view of the

[0026] Figure 5 for Figure 1 In the embodiment of the present invention, a schematic diagram of the first arm assembly and the second arm assembly being in another position;

[0027] Figure 6 for Figure 5 Another side view of;

[0028] Figure 7 for Figure 5 Another side view of;

[0029] Figure 8 for Figure 1 In an embodiment, a schematic diagram of the first arm assembly and the second arm assembly in another position;

[0030] Fig. 9 for Figure 8 Another side view of;

[0031] Fig.10 for Figure 8 Another side view of;

[0032] Fig.11 for Figure 1 In the embodiment, a schematic diagram of the first arm assembly and the second arm assembly in another position.

[0033] Description of Figure Numbers:

[0034] 10. Robotic arm;

[0035] 100, first arm assembly; 110, first connecting arm; 111, first bottom plate; 112, first side plate; 113, first end plate; 114, first mounting groove; 115, avoidance opening; 120, second connecting arm; 121, second bottom plate; 122, second side plate; 123, second end plate; 124, second mounting groove;

[0036] 200, second arm assembly; 210, connecting seat; 211, seat body; 212, first connecting part; 213, second connecting part; 220, third connecting arm;

[0037] 300, driving mechanism; 310, first driving assembly; 311, first driving member; 312, first connecting member; 313, first screw rod; 314, first sliding member; 320, second driving assembly; 321, second driving member; 322, second connecting member; 323, second screw rod; 324, second sliding member;

[0038] 400, mounting seat; 410, waist seat; 411, base; 412, mounting plate; 420, pedestal;

[0039] 600. A third connecting member; 700. A balancing member.

[0040] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0043] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0044] A robotic arm is a mechatronic automation device with a simulated structure, high-speed operation, repetitive operation and high precision. It can imitate the movements of human hands and realize automatic grasping, handling and other functions according to given procedures, trajectories and requirements. The mechanical structure of a robotic arm usually includes an arm, a forearm, joints and end-effectors, which are similar to the structure of a human arm, allowing the robotic arm to imitate various movements of the human hand.

[0045] The role of robotic arms is very wide, and they play an important role in many fields. For example, in industrial assembly, robotic arms can automatically complete various assembly tasks according to given procedures, such as automobile manufacturing, electronic equipment assembly, etc., to improve production efficiency and quality; further, in dangerous environments, robotic arms can replace manual operations, such as handling explosives and chemicals; in addition, with the continuous development of technology, robotic arms have also been used in the medical field, such as performing precision surgery and assisted rehabilitation, etc., which will not be explained one by one here.

[0046] There are various driving structures of the robotic arm, such as hydraulic drive, pneumatic drive and electrical drive. Among them, the electrically driven robotic arm converts electrical energy into mechanical energy through the driving motor, thereby driving the movement of the robotic arm. This driving method has the advantages of fast response, large driving force, convenient signal detection, transmission and processing, and can adopt a variety of flexible control schemes.

[0047] However, since the drive motor provides rotational motion, the end of the robotic arm usually requires swinging or translational motion. Secondly, the rotation speed of the drive motor is usually fast, and usually needs to be slowed down before being transmitted to the movement of the robotic arm. Based on this, the electrically driven robotic arm usually also includes a transmission mechanism to convert the rotational motion of the drive motor into swinging or translational motion and reduce the rotation speed of the drive motor. In some embodiments, the rotation speed of the drive motor can be directly reduced by a reducer.

[0048] As mentioned above, the mechanical structure of a robotic arm usually includes an upper arm, a lower arm, a joint module and an end effector. However, the driving mechanism of the upper arm is usually installed on a base connected to the upper arm. The driving mechanism of the upper arm usually includes a driving motor, a reducer, a transmission device, etc., which are installed on the base connected to the upper arm. These driving mechanisms usually need to occupy a large space, especially components such as the motor and the reducer. This causes the problem of the robotic arm occupying too large an area at the installation location.

[0049] The present invention provides a mechanical arm, which reduces the area occupied by the installation position of the mechanical arm by arranging the driving mechanism in the first arm component. Figures 1 to 11 , the solid arrows indicate openings or slots.

[0050] See also Figures 1 to 11 In one embodiment of the present invention, the robotic arm 10 includes a mounting seat 400, an arm assembly, a second arm assembly 200 and a driving mechanism 300. The first arm assembly 100 is rotatably connected to the mounting seat 400, and the first arm assembly 100 includes a first connecting arm 110 and a second connecting arm 120; the second arm assembly 200 is rotatably connected to the first connecting arm 110; the driving mechanism 300 includes a first driving assembly 310 provided on the first connecting arm 110 and a second driving assembly 320 provided on the second connecting arm 120; the first driving assembly 310 is connected to the mounting seat 400 and is drivingly connected to the first connecting arm 110. The first driving assembly 310 drives the first connecting arm 110 to rotate with the mounting seat 400 as a fulcrum, and the second driving assembly 320 is drivingly connected to the second arm assembly 200, and is used to drive the second arm assembly 200 to rotate.

[0051] The mounting base 400 is the main supporting part of the robot arm 10, and serves as a reference platform for the robot arm 10 to connect to other parts (such as shoulders, upper arms, etc.). The mounting base 400 is installed, for example, on the ground, a platform, a robot mobile chassis or a fixed bracket, or is installed on a humanoid robot as an arm of a humanoid robot.

[0052] The first arm assembly 100 usually refers to the main component (such as the upper arm) connected to the mounting base 400, and its function is to support and drive the end effector (such as a clamping device, a welding gun, etc.) to perform specific tasks; the first arm assembly 100 is arranged on the mounting base 400, and the first arm assembly 100 is rotatably connected to the mounting base 400, that is, at least some parts of the first arm assembly 100 can rotate around an axis, which may be the central axis of the connection between the first arm assembly 100 and the mounting base 400, or it may not be the central axis; the rotational connection is usually achieved by a rotating shaft and bearings, a rotating joint or other mechanical structures.

[0053] The first arm assembly 100 includes a first connecting arm 110 and a second connecting arm 120. In the present embodiment, the first connecting arm 110 is disposed on the mounting seat 400, and the first connecting arm 110 is rotatably connected to the mounting seat 400, while the second connecting arm 120 is not limited; the second connecting arm 120 may be mounted on the mounting seat 400, and the second connecting arm 120 is rotatably connected to the mounting seat 400, or the second connecting arm 120 may be mounted on the first connecting arm 110, and the second connecting arm 120 is rotatably connected to the first connecting arm 110.

[0054] The second arm assembly 200 refers to the part of the robot arm 10 located behind the first arm assembly 100, which is usually used to provide more extension and range of motion. The second arm assembly 200 may be a forearm, a connecting arm of the end effector, etc. Its main function is to work together with the first arm assembly 100, thereby increasing the degree of freedom of the robot arm 10, so that the robot arm 10 can perform more complex movements. The rotational connection refers to the use of a rotatable connection structure between the second arm assembly 200 and the first connecting arm 110, which enables the second arm assembly 200 to rotate around an axis, which may be the central axis of the connection between the second arm assembly 200 and the first connecting arm 110, or it may not be the central axis; thereby increasing the flexibility and operating range of the robot arm 10. This rotational connection is usually achieved by a rotary bearing, a joint, a servo motor, or a hydraulic drive device.

[0055] The driving mechanism 300 refers to a device for generating power and controlling the movement of mechanical parts. The main function of the driving mechanism 300 is to convert external energy (such as electrical energy, hydraulic energy or air pressure energy, etc.) into mechanical movement and drive the rotation, translation or other types of movement of the mechanical parts. The driving mechanism 300 includes a driving member (power source), a transmission mechanism and a connecting element.

[0056] Among them, the driving part is used to provide a power source and convert energy into mechanical energy. The driving part can be one or more of a motor, a hydraulic pump or a cylinder; the transmission mechanism is used to transmit the power of the driving source to the parts that need to move. The transmission mechanism includes a screw, gears, belts or chains; the connecting elements are used to connect the driving source and mechanical parts to effectively transmit power, such as couplings, bearings, rotating joints, etc.

[0057] In this embodiment, the driving mechanism 300 includes a first driving assembly 310 and a second driving assembly 320, wherein the first driving assembly 310 and the second driving assembly 320 respectively include the above-mentioned driving member (power source), transmission mechanism and connecting element.

[0058] Further, the first driving component 310 drives the first connecting arm 110 to rotate with the mounting seat 400 as a fulcrum, that is, the first connecting arm 110 is rotatably arranged on the mounting seat 400, and the first driving component 310 is connected to the mounting seat 400 and drives the first connecting arm 110, so that the first connecting arm 110 can rotate with the mounting seat 400 as a fulcrum; wherein, the first driving component 310 is arranged on the first connecting arm 110, that is, the first driving component 310 is mainly supported by the first connecting arm 110; the first driving component 310 is drivingly connected to the first connecting arm 110, that is, the first driving component 310 provides a power source for the rotation of the first connecting arm 110; the first driving component 310 is connected to the mounting seat 400, so that the first connecting arm 110 can rotate around the mounting seat 400 with the mounting seat 400 as a fulcrum.

[0059] Furthermore, the second drive assembly 320 is arranged on the second connecting arm 120, and the second drive assembly 320 is drivingly connected to the second arm assembly 200 for driving the second arm assembly 200 to rotate; wherein, the second drive assembly 320 is arranged on the second connecting arm 120, that is, the second drive assembly 320 is mainly supported by the second connecting arm 120; the second drive assembly 320 is drivingly connected to the second arm assembly 200 for driving the second arm assembly 200 to rotate, that is, the second drive assembly 320 provides a power source for the rotation of the second arm assembly 200, so that the second arm assembly 200 can rotate relative to the first connecting arm 110.

[0060] It is worth mentioning that in this embodiment, the second arm assembly 200 is arranged on the first connecting arm 110. When the first connecting arm 110 can rotate around the mounting seat 400 with the mounting seat 400 as a fulcrum, the second arm assembly 200 will also rotate with the first connecting arm 110. Taking the second arm assembly 200 as the connecting arm of the end effector as an example, the motion trajectory of the end effector is the coupling of the motion trajectory of the first connecting arm 110 rotating around the mounting seat 400 with the mounting seat 400 as a fulcrum and the motion trajectory of the second arm assembly 200 rotating around the first arm assembly 100.

[0061] It is understandable that the robot arm 10 also has a control device, which can receive instructions and control the motion trajectory, speed, acceleration and other parameters of the driving mechanism 300 according to the instructions, thereby controlling the movement of the mounting base 400, the first arm assembly 100 and the second arm assembly 200, so that tasks can be performed according to the instructions.

[0062] It is worth mentioning that the robot 10 has a turning radius, which refers to the maximum horizontal distance of the end effector of the robot 10 relative to the mounting base 400 when the robot 10 is working; the turning radius of the robot 10 includes the maximum turning radius and the minimum turning radius. The working range of the robot 10 is usually limited by the maximum turning radius and the minimum turning radius. The shape of the working range is often close to a circular area, in which the end effector of the robot 10 can move; the maximum turning radius refers to the farthest position that the end effector of the robot 10 can reach, usually when all the joints of the robot 10 are extended to the limit, the farthest distance between the end effector and the mounting base 400; the minimum turning radius refers to the minimum position that the end effector of the robot 10 can reach, usually when the joints of the robot 10 are contracted to the most compact position, the minimum distance between the end effector and the base 420. The singularity position refers to the position where the robot 10 loses freedom or has motion uncertainty under certain configurations.

[0063] The technical solution of the present invention can reduce the area of ​​the mounting base 400 occupied by the driving mechanism 300 by arranging the first driving component 310 for driving the first arm component 100 to rotate on the first connecting arm 110, and arranging the second driving component 320 for driving the second arm component 200 to rotate on the second connecting arm 120, so that the mounting base 400 can be miniaturized, thereby reducing the area occupied by the installation position of the robot arm 10, and further reducing the minimum turning radius of the robot arm 10, so that the robot arm 10 is less affected by the singularity position and has a larger range of motion.

[0064] In some embodiments, see Figure 2 The first driving assembly 310 includes a first driving member 311 and a first connecting member 312. The first driving member 311 is arranged on the first connecting arm 110; the first connecting member 312 has a first end and a second end relative to each other. The first end of the first connecting member 312 is connected to the mounting seat 400, and the second end of the first connecting member 312 is drivingly connected to the first driving member 311. The first driving member 311 is used to drive the first connecting member 312 to move along the length direction of the first connecting arm 110 so that the first connecting arm 110 rotates with the mounting seat 400 as a fulcrum.

[0065] Among them, the first driving member 311 is as in the previous embodiment, and the first driving member 311 is used to provide a power source to the first connecting member 312 to convert energy into mechanical energy. The first driving member 311 can be one or more of a motor, a hydraulic pump or a cylinder.

[0066] The first connecting member 312 is used to connect the mounting seat 400 and the transfer part of the first driving member 311. Since the first driving member 311 is arranged on the first connecting arm 110, the second connecting arm 120 may be provided with a slide rail, and the second end of the second connecting member 322 may be connected thereto through a belt, a chain or a screw assembly, so that the first connecting member 312 plays a role in transmitting the action of the first driving member 311 to the first connecting arm 110. The first connecting member 312 may be a connecting plate, a connecting rod, a connecting column or other structures, which will not be described one by one here.

[0067] Furthermore, the first end of the first connecting member 312 is connected to the mounting seat 400, and the second end of the first connecting member 312 is drivingly connected to the first driving member 311. The first driving member 311 is used to drive the first connecting member 312 to move along the length direction of the first connecting arm 110 so that the first connecting arm 110 rotates with the mounting seat 400 as the fulcrum; that is, in this embodiment, the transmission mechanism is a linear motion mechanism.

[0068] In this embodiment, the transmission mechanism of the first connecting arm 110 is set to a linear motion transmission mechanism to transmit power through more stable sliding or pushing and pulling; secondly, the linear motion transmission mechanism can transmit power more directly, reducing the friction loss caused by rotation, thereby helping to improve the transmission efficiency and seismic resistance of the system. Furthermore, the linear motion mechanism has smaller friction and inertia, which can reduce vibration caused by high-speed rotation or load changes; in addition, the linear transmission mechanism usually has better stability, especially when the load changes, and can transmit power more smoothly.

[0069] Furthermore, the first driving component 310 includes a first screw rod 313 and a first sliding member 314. The first screw rod 313 is arranged on the first connecting arm 110, and the first screw rod 313 is extended along the length direction of the first connecting arm 110. One end of the first screw rod 313 is drivingly connected to the first driving member 311; the first sliding member 314 is slidably arranged on the first screw rod 313 along the length direction of the first screw rod 313, and the second end of the first connecting member 312 is connected to the first sliding member 314.

[0070] The first screw rod 313, that is, the screw rod, plays the role of transmitting driving force in the system to convert rotational motion into linear motion. The first screw rod 313 is arranged on the first connecting arm 110, and the first screw rod 313 extends along the length direction of the first connecting arm 110, wherein the first screw rod 313 extends along the length direction of the first connecting arm 110, which can be understood as the first screw rod 313 is parallel along the length direction of the first connecting arm 110, that is, the length direction of the first screw rod 313 and the length direction of the first connecting arm 110 are parallel or nearly parallel, and nearly parallel can be understood as the angle between the length direction of the first screw rod 313 and the length direction of the first connecting arm 110 is very small, for example, less than 10°, which can be 9°, 8°, 7°, 6°, 5°, 4°, 3°, 2° or 1°, etc.

[0071] The first sliding member 314 is usually a component that cooperates with the first screw rod 313 and can slide along the length direction of the first screw rod 313. In this solution, the first sliding member 314 is installed on the first screw rod 313 and connected to the second end of the first connecting member 312. The first sliding member 314 can slide in response to the rotation drive of the first screw rod 313, and transmit linear displacement through the connection with the first connecting member 312, thereby promoting the rotation of the first connecting arm 110.

[0072] In this embodiment, the first screw rod 313 is extended along the length direction of the first connecting arm 110, and the first sliding member 314 can slide along the length direction of the first screw rod 313, that is, the first sliding member 314 can slide along the length direction of the first connecting arm 110, so that the first sliding member 314 can be expanded as much as possible, thereby expanding the rotation range of the first connecting arm 110. In addition, the screw transmission has the advantages of high transmission rigidity and strong shock resistance. In combination with the above-mentioned embodiment, the first screw rod 313 is extended along the length direction of the first connecting arm 110, which can further reduce the turning radius.

[0073] Exemplarily, the first driving member 311 is a motor, and the first driving assembly 310 includes a first driving member 311, a first connecting member 312, a first screw rod 313 and a first sliding member 314. The first driving member 311 is arranged on the first connecting arm 110; the first connecting member 312 has a first end and a second end opposite to each other, the first end of the first connecting member 312 is connected to the mounting seat 400, and the second end of the first connecting member 312 is drivingly connected to the first driving member 311, and the first driving member 311 is used to drive the first connecting member 312 moves along the length direction of the first connecting arm 110 so that the first connecting arm 110 rotates with the mounting seat 400 as a fulcrum; the first screw rod 313 is provided on the first connecting arm 110, and the first screw rod 313 is extended along the length direction of the first connecting arm 110, and one end of the first screw rod 313 is drivingly connected to the first driving member 311; the first sliding member 314 is slidably provided on the first screw rod 313 along the length direction of the first screw rod 313; the second end of the first connecting member 312 is connected to the first sliding member 314.

[0074] In this embodiment, the rotational motion of the first driving member 311 is converted into linear motion, and then the linear motion is converted into rotation or swinging of the end effector through the first connecting member 312. That is to say, the transmission mechanism of this embodiment is a linear transmission mechanism. Compared with the rotational motion transmission mechanism, the linear motion transmission mechanism transmits power through more stable sliding or push-pull; secondly, the linear motion transmission mechanism can transmit power more directly, reducing the friction loss caused by rotation, thereby helping to improve the transmission efficiency and seismic resistance of the system. Furthermore, the linear motion mechanism has less friction and inertia, which can reduce vibration caused by high-speed rotation or load changes; in addition, the linear transmission mechanism usually has better stability, especially when the load changes, and can transmit power more smoothly.

[0075] In some embodiments, the first connecting arm 110 includes a first base plate 111, two first side plates 112 arranged on opposite sides of the first base plate 111, and two first end plates 113 arranged at opposite ends of the first base plate 111; the two first side plates 112 are respectively rotatably connected to the mounting seat 400; a first mounting groove 114 is surrounded by the first base plate 111, the two first side plates 112 and the two first end plates 113, and the notch of the first mounting groove 114 is set toward the second connecting arm 120; the two ends of the first screw rod 313 are respectively connected to the two first end plates 113, and the first driving member 311 is arranged on the first end plate 113 away from the second arm assembly 200.

[0076] Among them, the first base plate 111, the two first side plates 112 and the two first end plates 113 are arranged in a plate shape, so that the first connecting arm 110 surrounded by the first base plate 111, the two first side plates 112 and the two first end plates 113 has a solid frame structure, which can improve the rigidity and stability of the first connecting arm 110. Since the frame structure not only carries the transmission device, but also can withstand large external forces during use, it can reduce the deformation or vibration of the first connecting arm 110 and improve the overall stability.

[0077] The first base plate 111 is a basic component of the first connecting arm 110 , and is usually a flat plate-like structure, used to support and connect other components and provide a stable basic support to bear the load and transmitted force of the entire first connecting arm 110 .

[0078] The two first side panels 112 are side panels arranged on opposite sides of the first bottom plate 111. The arrangement of the two first side panels 112 can enhance the rigidity of the first connecting arm 110. The two first side panels 112 are usually plate-like structures perpendicular to the first bottom plate 111. Of course, this embodiment does not emphasize that they must be completely vertical, and they can also be close to vertical. For example, the angle between the two first side panels 112 and the first bottom plate 111 is not less than 80° and not more than 100°.

[0079] The two first end plates 113 are end plates arranged at opposite ends of the first base plate 111, and are used to install components such as the first screw rod 313 and the first driving member 311; the first end plates 113 are usually also components perpendicular to the base plate. Of course, this embodiment does not emphasize that it must be completely vertical, and it can also be close to vertical. For example, the angle between the two first side plates 112 and the first base plate 111 is not less than 80° and not more than 100°.

[0080] A groove-shaped structure surrounded by the first base plate 111, the two first side plates 112 and the two first end plates 113, namely the first mounting groove 114, has its groove opening facing the second connecting arm 120, so that the connection between the first arm assembly 100 and the second arm assembly 200 is more compact, thereby further reducing the volume of the first arm assembly 100.

[0081] In this embodiment, by setting the first connecting arm 110 as an enclosure structure (a first base plate 111, two first side plates 112 and two first end plates 113), the structure provides a solid frame to support the entire driving assembly, thereby improving the high rigidity of the first connecting arm 110 during movement and reducing deformation or error caused by external force or vibration; through the rotational connection between the first side plate 112 and the mounting base 400, a certain degree of rotational freedom is provided, so that the connecting arm can be adjusted or adjusted at an angle to meet different working requirements; the first driving member 311 is arranged on the first end plate 113 away from the second arm assembly 200, thereby reducing vibration or unnecessary interference that may occur during the driving process.

[0082] In one embodiment, the second driving component 320 includes a second driving member 321 and a second connecting member 322, and the second driving member 321 is arranged on the second connecting arm 120; the second connecting member 322 has a first end and a second end relative to each other, the first end of the second connecting member 322 is connected to the second arm component 200, and the second end of the second connecting member 322 is drivingly connected to the second driving member 321, and the second driving member 321 is used to drive the second connecting member 322 to move along the length direction of the second connecting arm 120, so that the second arm component 200 rotates with the first connecting arm 110 as the fulcrum.

[0083] Among them, the second driving member 321 is as in the previous embodiment, and the second driving member 321 is used to provide a power source to the second connecting member 322 to convert energy into mechanical energy. The second driving member 321 can be one or more of a motor, a hydraulic pump or a cylinder.

[0084] The second connecting member 322 is used to connect the second driving member 321 and the transfer part of the second arm assembly 200. Since the second driving member 321 is provided on the second connecting arm 120, wherein the second connecting arm 120 may be provided with a slide rail, and the second end of the second connecting member 322 may be connected thereto through a belt, a chain or a screw assembly, so that the second connecting member 322 plays a role in transmitting the action of the second driving member 321 to the first connecting arm 110. The second connecting member 322 may be a connecting plate, a connecting rod, a connecting column or other structures, etc., which will not be described one by one here.

[0085] Furthermore, the first end of the second connecting member 322 is connected to the second arm assembly 200, and the second end of the second connecting member 322 is drivingly connected to the second driving member 321. The second driving member 321 is used to drive the second end of the second connecting member 322 to move along the length direction of the second connecting arm 120, so that the second arm assembly 200 rotates with the first connecting arm 110 as the fulcrum; that is, in this embodiment, the transmission mechanism is a linear motion mechanism.

[0086] In this embodiment, the transmission mechanism of the second arm assembly 200 is set as a linear motion transmission mechanism to transmit power through more stable sliding or pushing and pulling; secondly, the linear motion transmission mechanism can transmit power more directly, reducing the friction loss caused by rotation, thereby helping to improve the transmission efficiency and seismic resistance of the system, and further, the linear motion mechanism has smaller friction and inertia, which can reduce vibration caused by high-speed rotation or load changes; in addition, the linear transmission mechanism generally has better stability, especially when the load changes, and can transmit power more smoothly.

[0087] In one embodiment, the second driving component 320 includes a second screw rod 323 and a second sliding member 324. The second screw rod 323 is disposed on the second connecting arm 120. The second screw rod 323 is extended along the length direction of the second connecting arm 120. One end of the second screw rod 323 is drivingly connected to the second driving member 321; the second sliding member 324 is slidably disposed on the second screw rod 323 along the length direction of the second screw rod 323; the second end of the second connecting member 322 is connected to the second sliding member 324.

[0088] The second screw rod 323 has the same function as the first screw rod 313, that is, a screw rod. The screw rod plays the role of transmitting driving force in the system to convert rotational motion into linear motion. The second screw rod 323 is arranged on the second connecting arm 120, and the second screw rod 323 extends along the length direction of the second connecting arm 120, wherein the second screw rod 323 extends along the length direction of the second connecting arm 120, which can be understood as the second screw rod 323 is parallel along the length direction of the second connecting arm 120, that is, the length direction of the second screw rod 323 is parallel or nearly parallel to the length direction of the second connecting arm 120, and nearly parallel can be understood as the angle between the length direction of the second screw rod 323 and the length direction of the second connecting arm 120 is very small, for example, less than 10°, which can be 9°, 8°, 7°, 6°, 5°, 4°, 3°, 2° or 1°, etc.

[0089] The second sliding member 324 is usually a component that cooperates with the second screw rod 323 and can slide along the length direction of the second screw rod 323. In this solution, the second sliding member 324 is installed on the second screw rod 323 and connected to the second end of the second connecting member 322. The second sliding member 324 can slide in response to the rotation drive of the second screw rod 323, and transmit linear displacement through the connection with the second connecting member 322, thereby promoting the rotation of the second arm assembly 200.

[0090] In this embodiment, the second screw rod 323 is extended along the length direction of the second connecting arm 120, and the second sliding member 324 can slide along the length direction of the second screw rod 323, that is, the second sliding member 324 can slide along the length direction of the second connecting arm 120, so that the second sliding member 324 can be expanded as much as possible, thereby expanding the rotation range of the second connecting arm 120. In addition, the screw transmission has the advantages of high transmission rigidity and strong shock resistance. In combination with the above-mentioned embodiment, the second screw rod 323 is extended along the length direction of the first connecting arm 110, which can further reduce the minimum turning radius.

[0091] Exemplarily, the second driving member 321 is a motor, and the second driving assembly 320 includes a second driving member 321, a second connecting member 322, a second screw rod 323 and a second sliding member 324. The second driving member 321 is arranged on the second connecting arm 120; the second connecting member 322 has a first end and a second end opposite to each other, the first end of the second connecting member 322 is connected to the second arm assembly 200, and the second end of the second connecting member 322 is drivingly connected to the second driving member 321, and the second driving member 321 is used to drive the second connecting member 322. 22 moves along the length direction of the second connecting arm 120 so that the second arm assembly 200 rotates around the connection between it and the first connecting arm 110; the second screw rod 323 is provided on the second connecting arm 120, and the second screw rod 323 is extended along the length direction of the second connecting arm 120, and one end of the second screw rod 323 is drivingly connected to the second driving member 321; the second sliding member 324 is slidably provided on the second screw rod 323 along the length direction of the second screw rod 323; the second end of the second connecting member 322 is connected to the second sliding member 324.

[0092] In this embodiment, the rotational motion of the second driving member 321 is converted into linear motion, and then the linear motion is converted into rotation or swinging of the end effector through the second connecting member 322. That is to say, the transmission mechanism of this embodiment is a linear transmission mechanism. Compared with the transmission mechanism of rotational motion, the transmission mechanism of linear motion transmits power through more stable sliding or push-pull; secondly, the transmission mechanism of linear motion can transmit power more directly, reducing the friction loss caused by rotation, thereby helping to improve the transmission efficiency and seismic resistance of the system. Furthermore, the friction and inertia of the linear motion mechanism are small, which can reduce the vibration caused by high-speed rotation or load changes; in addition, the linear transmission mechanism usually has better stability, especially when the load changes, and can transmit power more smoothly.

[0093] In one embodiment, the second connecting arm 120 includes a second base plate 121, two second side plates 122 arranged on opposite sides of the second base plate 121, and two second end plates 123 arranged at opposite ends of the second base plate 121, and the two second side plates 122 are respectively rotatably connected to the mounting seat 400; a second mounting groove 124 is surrounded by the second base plate 121, the two second side plates 122 and the two second end plates 123, and the notch of the second mounting groove 124 is set toward the first connecting arm 110; the two ends of the second screw rod 323 are respectively connected to the two second end plates 123, and the second driving member 321 is arranged on the second end plate 123 away from the second arm assembly 200.

[0094] Among them, the second base plate 121, the two second side plates 122 and the two second end plates 123 are arranged in a plate shape, so that the second connecting arm 120 surrounded by the second base plate 121, the two second side plates 122 and the two second end plates 123 has a solid frame structure, which can improve the rigidity and stability of the second connecting arm 120. Since the frame structure not only carries the transmission device, but also can withstand large external forces during use, it can reduce the deformation or vibration of the second connecting arm 120 and improve the overall stability.

[0095] The second base plate 121 is the basic component of the second connecting arm 120 , and is usually a flat plate-like structure, used to support and connect other components and provide a stable basic support to bear the load and transmitted force of the entire second connecting arm 120 .

[0096] The two second side panels 122 are side panels arranged on opposite sides of the second bottom plate 121. The arrangement of the two second side panels 122 can enhance the rigidity of the second connecting arm 120. The two second side panels 122 are usually plate-like structures perpendicular to the second bottom plate 121. Of course, this embodiment does not emphasize that they must be completely vertical, and they can also be close to vertical. For example, the angle between the two second side panels 122 and the second bottom plate 121 is not less than 80° and not more than 100°.

[0097] The two second end plates 123 are end plates arranged at opposite ends of the second base plate 121, and are used to install components such as the second screw rod 323 and the second driving member 321; the second end plates 123 are usually also components perpendicular to the base plate. Of course, this embodiment does not emphasize that it must be completely vertical, and it can also be close to vertical. For example, the angle between the two second side plates 122 and the second base plate 121 is not less than 80° and not more than 100°.

[0098] The groove-shaped structure surrounded by the second base plate 121, the two second side plates 122 and the two second end plates 123, that is, the second installation groove 124, has a groove opening facing the first connecting arm 110, further making the connection between the first arm assembly 100 and the second arm assembly 200 more compact, thereby further reducing the volume of the first arm assembly 100.

[0099] In this embodiment, by setting the second connecting arm 120 as an enclosure structure (a second base plate 121, two second side plates 122 and two second end plates 123), the structure provides a solid frame to support the entire driving assembly, thereby improving the high rigidity of the second connecting arm 120 during movement and reducing deformation or error caused by external force or vibration; through the rotational connection between the second side plate 122 and the mounting base 400, a certain degree of rotational freedom is provided, so that the connecting arm can be adjusted or adjusted at an angle to meet different working requirements; the second driving member 321 is arranged on the second end plate 123 away from the second arm assembly 200, thereby reducing vibration or unnecessary interference that may occur during the driving process.

[0100] In a preferred embodiment, see Figure 7 , the first connecting member 312 and the second connecting arm 120 are rotatably connected to the mounting seat 400 through the same rotating shaft. In this way, the mounting structure of the first connecting member 312 and the second connecting arm 120 and the mounting seat 400 can be reduced, thereby simplifying the structure of the robot 10. Further, that is to say, the two second side plates 122 and the first connecting member 312 are rotatably connected to the mounting seat 400 through the same rotating shaft.

[0101] In some embodiments, the first arm assembly 100 has two opposite sides, and at least one of the two sides of the first arm assembly 100 is provided with a third connecting member 600; the third connecting member 600 has two opposite ends; the two ends of the third connecting member 600 are respectively rotatably connected to the first connecting arm 110 and the second connecting arm 120 to form a four-bar linkage assembly between the first connecting arm 110 and the second connecting arm 120.

[0102] In this solution, the four-bar linkage assembly is composed of the first connecting arm 110, the second connecting arm 120, the third connecting member 600 and the two sides of the first arm assembly 100. The four-bar linkage assembly is usually a parallel four-bar linkage assembly, or a structure close to a parallel four-bar linkage assembly, that is, within the preset motion range of the robot arm 10, the first connecting arm 110 and the second connecting arm 120 are connected by the third connecting member 600, and the two can rotate relative to each other, and the first connecting arm 110 and the second connecting arm 120 will not interfere with each other; the third connecting member 600 is similar to the first connecting member 312 and the second connecting member 322, and can be a connecting plate, a connecting rod, a connecting column or other structures.

[0103] In this embodiment, a four-bar linkage assembly is formed by introducing a third connecting member 600 on at least one side of the first arm assembly 100 and connecting it to the first connecting arm 110 and the second connecting arm 120 through a rotational connection; this structural setting enables the first arm assembly 100 to provide better force transmission capability and working stability, so that the robotic arm 10 can operate efficiently in more complex application scenarios.

[0104] It should be noted that in the appended Figures 1 to 11 In the figure, a parallel four-bar linkage assembly is formed between the first connecting arm 110 and the second connecting arm 120. Therefore, the length direction in the figure is the length direction of the first connecting arm 110, the second connecting arm 120, the first screw rod 313 and the second screw rod 323.

[0105] In some embodiments, the robotic arm 10 further includes two balancing members 700 , which are respectively disposed on opposite sides of the first arm assembly 100 . The balancing member 700 has opposite ends, and the two ends of the balancing member 700 are respectively connected to the mounting base 400 and the second connecting arm 120 .

[0106] The balance member 700 is a structural element connected between the mounting base 400 and the second connecting arm 120, and is used to adjust and distribute the torque and enhance the stability of the second connecting arm 120. The balance member 700 is installed on both sides of the first connecting arm 110 to balance the asymmetric load and torque during the movement. The balance member 700 can be a balance cylinder, a balance spring, a hydraulic balance system, or an airbag balance system.

[0107] In this embodiment, the two ends of the balancing member 700 are respectively connected to the mounting base 400 and the second connecting arm 120. Such a structural design helps to evenly distribute the force and load on the key parts of the robotic arm 10, thereby reducing vibration or instability caused by uneven load.

[0108] In some embodiments, the second arm assembly 200 includes a connecting seat 210 and a third connecting arm 220, the connecting seat 210 includes a seat body 211 and a first connecting portion 212 and a second connecting portion 213 provided on the seat body 211, the first connecting portion 212 is rotatably connected to the first connecting arm 110, and the second connecting portion 213 is connected to the second driving assembly 320; the third connecting arm 220 is provided on the seat body 211, and the third connecting arm 220 is located on the side of the seat body 211 away from the second connecting portion 213.

[0109] The connecting base 210 is an important supporting structure of the second arm assembly 200 and is used to connect with the first connecting arm 110 and the second connecting member 322. The connecting base 210 can also be used to fix other components, such as the driving member of the end effector.

[0110] In this embodiment, the connecting seat 210 includes a seat body 211, a first connecting part 212 and a second connecting part 213. The seat body 211, the first connecting part 212 and the second connecting part 213 can be integrally formed or installed by screws and other components; the seat body 211 is the main structure of the connecting seat 210, which plays a supporting and fixing role. It provides structural stability for the second arm assembly 200 and is connected to other components (such as the second connecting arm 120, the first connecting arm 110, etc.); the first connecting part 212 is a part on the seat body 211 specially designed to be rotatably connected to the first connecting arm 110. Through the rotating connection, the first connecting arm 110 can achieve relative movement; the second connecting part 213 is another connecting part on the seat body 211, which is connected to the second drive assembly 320. Through this second connecting part 213, the second drive assembly 320 can provide power for the second arm assembly 200.

[0111] The third connecting arm 220 is the main structure of the second arm assembly 200. When the second arm assembly 200 is used as the connecting arm of the end effector, the third connecting arm 220 can be called a forearm. The third connecting arm 220 is located on the main body of the connecting seat 210 and on the side away from the second connecting part 213, so as to provide better support and force transmission for the second arm assembly 200 in the overall structure.

[0112] In this embodiment, by placing the third connecting arm 220 on a side away from the second connecting portion 213, the asymmetric load that may be generated during power transmission is reduced. The third connecting arm 220 helps to disperse and transfer the load, so that the second arm assembly 200 maintains higher stability during movement, thereby improving the operating accuracy of the robotic arm 10.

[0113] In some embodiments, a clearance opening 115 is provided at the connection between the first base plate 111 and the first end plate 113 close to the second arm assembly 200 , and the first connecting portion 212 is located at the clearance opening 115 , and the first connecting portion 212 is rotatably connected to the two first side plates 112 , respectively.

[0114] In this embodiment, a clearance opening 115 is provided at the connection between the first base plate 121 and the first end plate 113 close to the second arm assembly 200, and the first connecting portion 212 is provided at the clearance opening 115, so that there is more sufficient space when the second arm assembly 200 rotates. By adjusting the shape of the clearance opening 115 (such as increasing the depth or width), the second arm assembly 200 can have a greater degree of freedom when moving, thereby increasing the rotation range.

[0115] In some embodiments, the connection point between the first connection portion 212 and the first connection arm 110 is located on a side of the first connection arm 110 facing away from the second connection arm 120 .

[0116] In this embodiment, the connection between the first connecting portion 212 and the first connecting arm 110 is located on the side of the first connecting arm 110 away from the second connecting arm 120, which can increase the rotation angle of the second arm assembly 200 and thus improve the rotation range.

[0117] In some embodiments, the mounting base 400 includes a base 420 and a waist seat 410 disposed on the base 420, and the waist seat 410 can rotate around a rotation axis relative to the base 420; the first arm assembly 100 is disposed on the waist seat 410, the first connecting member 312 is connected to the waist seat 410, and the first connecting arm 110 and the second connecting arm 120 are respectively rotatably connected to the waist seat 410.

[0118] The usual rotation or angle adjustment mechanism (such as a servo motor, a rotating shaft, etc.) on the mounting base 400 allows the waist base 410 to rotate relative to the base 420 around the axis of the mounting base 400, thereby driving the first arm assembly 100 and the second arm assembly 200 to rotate around the axis of the mounting base 400, thereby expanding the motion range of the robotic arm 10.

[0119] In this embodiment, by rotating the mounting base 400, the robot arm 10 can perform more complex tasks, such as multi-angle operation of the arm or omnidirectional picking work.

[0120] In some embodiments, the lumbar seat 410 includes a base 411 and two mounting plates 412 arranged on opposite sides of the base 411, part of the first connecting arm 110 and part of the second connecting arm 120 are located between the two mounting plates 412, and the first connecting arm 110 and the second connecting arm 120 are rotatably connected to the two mounting plates 412 respectively; the first connecting member 312 is located between the first connecting arm 110 and the second connecting arm 120, and the first end of the first connecting member 312 is located between the two mounting plates 412, and the first end of the first connecting member 312 is rotatably connected to the two mounting plates 412 respectively.

[0121] In this embodiment, through the reasonable design of the base 411 and the mounting plate 412, a stable support platform is provided, so that the robot arm 10 can maintain good structural stability during operation, especially when carrying a large load. The waist seat 410 distributes the force evenly to the entire structure through the base 411 and the mounting plate 412, thereby reducing structural deformation or instability caused by excessive local force.

[0122] In an exemplary embodiment, Figure 2As shown, the robot arm 10 includes a mounting seat 400, a first arm assembly 100, a second arm assembly 200 and a driving mechanism 300, wherein the first arm assembly 100 is rotatably connected to the mounting seat 400; the first arm assembly 100 includes a first connecting arm 110 and a second connecting arm 120; the second arm assembly 200 is rotatably connected to the first connecting arm 110; the driving mechanism 300 includes a first driving assembly 310 disposed on the first connecting arm 110 and a second driving assembly 320 disposed on the second connecting arm 120; the first driving assembly 310 is connected to the mounting seat 400 and is drivingly connected to the first connecting arm 110, the first driving assembly 310 drives the first connecting arm 110 to rotate with the mounting seat 400 as a fulcrum, and the second driving assembly 320 is drivingly connected to the second arm assembly 200, for driving the second arm assembly 200 to rotate. Furthermore, the first driving component 310 includes a first driving member 311 and a first connecting member 312. The first driving member 311 is arranged on the first connecting arm 110. The first connecting member 312 has a first end and a second end relative to each other. The first end of the first connecting member 312 is connected to the mounting seat 400, and the second end of the first connecting member 312 is drivingly connected to the first driving member 311. The first driving member 311 is used to drive the first connecting member 312 to move along the length direction of the first connecting arm 110 so that the first connecting arm 110 rotates with the mounting seat 400 as a fulcrum. Furthermore, the first driving assembly 310 includes a first screw rod 313 and a first sliding member 314. The first screw rod 313 is arranged on the first connecting arm 110. The first screw rod 313 is extended along the length direction of the first connecting arm 110. One end of the first screw rod 313 is drivingly connected to the first driving member 311; the first sliding member 314 is slidably arranged on the first screw rod 313 along the length direction of the first screw rod 313; the second end of the first connecting member 312 is connected to the first sliding member 314. Further, the first connecting arm 110 includes a first bottom plate 111, two first side plates 112 provided at opposite sides of the first bottom plate 111, and two first end plates 113 provided at opposite ends of the first bottom plate 111; the two first side plates 112 are respectively rotatably connected to the mounting seat 400; a first mounting groove 114 is surrounded by the first bottom plate 111, the two first side plates 112 and the two first end plates 113, and the notch of the first mounting groove 114 is arranged toward the second connecting arm 120; the two ends of the first screw rod 313 are respectively connected to the two first end plates 113, and the first driving member 311 is provided at the first end plate 113 away from the second arm assembly 200. Further, the first connecting member 312 and the second connecting arm 120 are rotatably connected to the mounting seat 400 through the same rotating shaft.Furthermore, the second driving component 320 includes a second driving member 321 and a second connecting member 322. The second driving member 321 is arranged on the second connecting arm 120. The second connecting member 322 has a first end and a second end relative to each other. The first end of the second connecting member 322 is connected to the second arm component 200, and the second end of the second connecting member 322 is drivingly connected to the second driving member 321. The second driving member 321 is used to drive the second connecting member 322 to move along the length direction of the second connecting arm 120, so that the second arm component 200 rotates with the first connecting arm 110 as the fulcrum. Furthermore, the second driving component 320 includes a second screw rod 323 and a second sliding member 324. The second screw rod 323 is arranged on the second connecting arm 120, and the second screw rod 323 is extended along the length direction of the second connecting arm 120. One end of the second screw rod 323 is drivingly connected to the second driving member 321; the second sliding member 324 is slidably arranged on the second screw rod 323 along the length direction of the second screw rod 323; the second end of the second connecting member 322 is connected to the second sliding member 324. Furthermore, the second connecting arm 120 includes a second base plate 121, two second side plates 122 arranged on opposite sides of the second base plate 121, and two second end plates 123 arranged at opposite ends of the second base plate 121, and the two second side plates 122 are respectively rotatably connected to the mounting seat 400; a second mounting groove 124 is surrounded by the second base plate 121, the two second side plates 122 and the two second end plates 123, and the notch of the second mounting groove 124 is set toward the first connecting arm 110; the two ends of the second screw rod 323 are respectively connected to the two second end plates 123, and the second driving member 321 is arranged on the second end plate 123 away from the second arm assembly 200. Further, the first arm assembly 100 has two opposite sides, and at least one of the two sides of the first arm assembly 100 is provided with a third connecting member 600; the third connecting member 600 has two opposite ends; the two ends of the third connecting member 600 are respectively rotatably connected to the first connecting arm 110 and the second connecting arm 120, so that a four-bar linkage assembly is formed between the first connecting arm 110 and the second connecting arm 120. Further, the mechanical arm 10 also includes two balancing members 700, which are respectively provided on the opposite sides of the first arm assembly 100, and the balancing members 700 have two opposite ends, and the two ends of the balancing members 700 are respectively connected to the mounting seat 400 and the second connecting arm 120. Furthermore, the second arm assembly 200 includes a connecting seat 210 and a third connecting arm 220, the connecting seat 210 includes a seat body 211 and a first connecting portion 212 and a second connecting portion 213 arranged on the seat body 211, the first connecting portion 212 is rotatably connected to the first connecting arm 110, and the second connecting portion 213 is connected to the second driving assembly 320; the third connecting arm 220 is arranged on the seat body 211, and the third connecting arm 220 is located on the side of the seat body 211 away from the second connecting portion 213.Further, the connection between the second bottom plate 121 and the second end plate 123 near the second arm assembly 200 is provided with an avoidance opening 115, the first connection portion 212 is located at the avoidance opening 115, and the first connection portion 212 is rotatably connected to the two second side edges respectively. Further, the connection between the first connection portion 212 and the first connecting arm 110 is located at the side of the first connecting arm 110 away from the second connecting arm 120. Further, the mounting seat 400 includes a base 420 and a waist seat 410 disposed on the base 420, and the waist seat 410 can rotate around a rotation axis relative to the base 420; the first arm assembly 100 is disposed on the waist seat 410, and the first connecting member 312 is connected to the waist seat 410. Furthermore, the lumbar seat 410 includes a base 411 and two mounting plates 412 arranged on opposite sides of the base 411, part of the first connecting arm 110 and part of the second connecting arm 120 are located between the two mounting plates 412, and the first connecting arm 110 and the second connecting arm 120 are rotatably connected to the two mounting plates 412 respectively; the first connecting member 312 is located between the first connecting arm 110 and the second connecting arm 120, and the first end of the first connecting member 312 is located between the two mounting plates 412, and the first end of the first connecting member 312 is rotatably connected to the two mounting plates 412 respectively.

[0123] The present invention also proposes a robot, which includes a robotic arm 10. The specific structure of the robotic arm 10 refers to the above-mentioned embodiment. Since the robot adopts all the technical solutions of all the above-mentioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be described one by one here.

[0124] The above are only exemplary embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A robotic arm, characterized in that: include: Mounting seat; A first arm assembly is rotatably connected to the mounting seat; the first arm assembly includes a first connecting arm and a second connecting arm; A second arm assembly, rotatably connected to the first connecting arm; The driving mechanism includes a first driving component arranged on the first connecting arm and a second driving component arranged on the second connecting arm; the first driving component is connected to the mounting seat and is drivingly connected to the first connecting arm, the first driving component drives the first connecting arm to rotate with the mounting seat as a fulcrum, and the second driving component is drivingly connected to the second arm component for driving the second arm component to rotate.

2. The robotic arm according to claim 1, characterized in that: The first driving assembly comprises: A first driving member, disposed on the first connecting arm; and The first connecting member has a first end and a second end opposite to each other, the first end of the first connecting member is connected to the mounting seat, the second end of the first connecting member is drivingly connected to the first driving member, and the first driving member is used to drive the first connecting member to move along the length direction of the first connecting arm so that the first connecting arm rotates with the mounting seat as a fulcrum.

3. The robotic arm according to claim 2, characterized in that: The first driving assembly comprises: A first screw rod is provided on the first connecting arm, the first screw rod is extended along the length direction of the first connecting arm, and one end of the first screw rod is drivingly connected to the first driving member; and The first sliding member is slidably disposed on the first screw rod along the length direction of the first screw rod; the second end of the first connecting member is connected to the first sliding member.

4. The mechanical arm according to claim 3, characterized in that: The first connecting arm includes a first bottom plate, two first side plates arranged at opposite sides of the first bottom plate, and two first end plates arranged at opposite ends of the first bottom plate; the two first side plates are rotatably connected to the mounting seat respectively; A first installation groove is formed between the first bottom plate, the two first side plates and the two first end plates, and the opening of the first installation groove is disposed toward the second connecting arm; Two ends of the first screw rod are respectively connected to the two first end plates, and the first driving member is arranged on the first end plate away from the second arm assembly.

5. The mechanical arm according to claim 4, characterized in that: The first connecting member and the second connecting arm are rotatably connected to the mounting seat via the same rotating shaft.

6. The robot arm according to any one of claims 1 to 5, characterized in that: The second driving assembly comprises: A second driving member, disposed on the second connecting arm; and The second connecting member has a first end and a second end opposite to each other. The first end of the second connecting member is connected to the second arm assembly, and the second end of the second connecting member is drivingly connected to the second driving member. The second driving member is used to drive the second connecting member to move along the length direction of the second connecting arm, so that the second arm assembly rotates with the first connecting arm as a fulcrum.

7. The robot arm according to claim 6, characterized in that: The second driving assembly comprises: A second screw rod is provided on the second connecting arm, the second screw rod is extended along the length direction of the second connecting arm, and one end of the second screw rod is drivingly connected to the second driving member; and The second sliding member is slidably disposed on the second screw rod along the length direction of the second screw rod; and the second end of the second connecting member is connected to the second sliding member.

8. The robot arm according to claim 7, characterized in that: The second connecting arm includes a second bottom plate, two second side plates arranged at opposite sides of the second bottom plate, and two second end plates arranged at opposite ends of the second bottom plate, and the two second side plates are rotatably connected to the mounting seat respectively; A second installation groove is formed between the second bottom plate, the two second side plates and the two second end plates, and the notch of the second installation groove is arranged toward the first connecting arm; Two ends of the second screw rod are respectively connected to the two second end plates, and the second driving member is arranged on the second end plate away from the second arm assembly.

9. The mechanical arm according to claim 6, characterized in that: The first arm assembly has two opposite sides, and at least one of the two sides of the first arm assembly is provided with a third connecting member; The third connecting member has two opposite ends; the two ends of the third connecting member are rotatably connected to the first connecting arm and the second connecting arm respectively, so that a four-bar linkage assembly is formed between the first connecting arm and the second connecting arm.

10. The mechanical arm according to claim 9, characterized in that: The mechanical arm further includes two balancing members, which are respectively arranged on opposite sides of the first arm assembly. The balancing member has opposite ends, and the two ends of the balancing member are respectively connected to the mounting seat and the second connecting arm.

11. The mechanical arm according to claim 4, characterized in that: The second arm assembly comprises: A connecting seat, comprising a seat body and a first connecting portion and a second connecting portion provided on the seat body, wherein the first connecting portion is rotatably connected to the first connecting arm, and the second connecting portion is connected to the second driving assembly; and The third connecting arm is arranged on the seat body, and the third connecting arm is located on a side of the seat body away from the second connecting portion.

12. The robot arm according to claim 11, characterized in that: A clearance opening is provided at the connection between the first bottom plate and the first end plate close to the second arm assembly, the first connecting portion is located at the clearance opening, and the first connecting portion is rotatably connected to the two first side plates respectively.

13. The robot arm according to claim 12, characterized in that: The connection point between the first connecting portion and the first connecting arm is located on a side of the first connecting arm away from the second connecting arm.

14. The mechanical arm according to claim 2, characterized in that: The mounting seat includes a base and a waist seat arranged on the base, and the waist seat can rotate around a rotation axis relative to the base; the first connecting member is connected to the waist seat, and the first connecting arm and the second connecting arm are respectively rotatably connected to the waist seat.

15. The mechanical arm according to claim 14, characterized in that: The waist seat includes a base and two mounting plates arranged on opposite sides of the base, part of the first connecting arm and part of the second connecting arm are located between the two mounting plates, and the first connecting arm and the second connecting arm are respectively rotatably connected to the two mounting plates; the first connecting member is located between the first connecting arm and the second connecting arm, the first end of the first connecting member is located between the two mounting plates, and the first end of the first connecting member is respectively rotatably connected to the two mounting plates.

16. A robot, characterized in that: Comprising a robotic arm as claimed in any one of claims 1 to 15.

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