Mechanical arm and robot

Abstract

The invention discloses a mechanical arm and a robot, and relates to the technical field of mobile robotics.The mechanical arm comprises a first joint assembly fixedly arranged on a trunk; the second joint assembly comprises a second driving module and a second transmission module, the second driving module is in driving connection with the second transmission module, and the first joint assembly is in driving connection with the second transmission module so as to drive the second joint assembly to rotate along the first center shaft; the third joint assembly comprises a first sleeve and a third driving module, and the second driving module and the third driving module are fixedly arranged in the first sleeve so as to drive the third joint assembly to rotate along a second center shaft; and the third joint assembly is in driving connection with the wrist joint assembly so as to drive the wrist joint assembly to rotate. According to the technical scheme provided by the invention, the size of the mechanical arm arranged in the longitudinal direction is reduced, light weight of the structure is facilitated, the mechanical arm can be prevented from being collided and damaged in the moving process, and the service life is prolonged.

Description

Technical Field

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

[0002] Robots are widely used in industrial production, logistics and transportation, medical assistance, scientific research and exploration and other fields. Usually, robots include three core structures: the torso, the robotic arm and the mobile base. The mobile base, as the core component of the robot's mobile platform, is responsible for bearing the weight of the robot and realizing autonomous displacement and positioning in the working environment, so that the robot can flexibly shuttle between different positions and expand the robot's working field. The torso, as the main body of the robot, carries various electronic components and control systems. The robotic arm completes tasks such as grasping, handling, and assembly by setting precise joint movements and end effectors. In order to achieve the feasibility of arbitrary positions and postures in three-dimensional space, the robotic arm usually adopts multiple joints to achieve multiple degrees of freedom of movement. However, the existing joint connections take up a lot of space, resulting in a bulky drive assembly, which is not conducive to the miniaturization and lightweight of the structure. Summary of the Invention

[0003] The main purpose of the present invention is to provide a robotic arm and a robot, aiming to reduce the space occupied by the robotic arm.

[0004] To achieve the above-mentioned object, the present invention provides a robotic arm for a robot, wherein the robot includes a torso and comprises:

[0005] A first joint assembly is fixed to the torso;

[0006] a second joint assembly, the second joint assembly comprising a second drive module and a second transmission module, the second drive module being drivably connected to the second transmission module, and the first joint assembly being drivably connected to the second transmission module to drive the second joint assembly to rotate along the first central axis;

[0007] a third joint assembly comprising a first sleeve and a third drive module, wherein the second drive module and the third drive module are fixedly disposed inside the first sleeve to drive the third joint assembly to rotate along a second central axis;

[0008] Wrist joint assembly, the third joint assembly is drivingly connected to the wrist joint assembly to drive the wrist joint assembly to rotate.

[0009] In one embodiment, the first joint assembly includes a first housing, a first drive module, a first worm and a first worm gear;

[0010] The first housing is fixed to the trunk, and has a first mounting cavity and a first input port and a first output port communicating with the first mounting cavity. The first worm and the first worm wheel are disposed inside the first mounting cavity.

[0011] The first drive module is arranged on the outside of the first housing, and the output end of the first drive module extends from the first input port into the first installation cavity and is drivingly connected to the first worm in the first installation cavity. The first worm is engaged with the first worm wheel so that the first worm wheel rotates around the first central axis. The output shaft of the first worm wheel is connected to the second joint assembly from the first output port to drive the second joint assembly to rotate along the first central axis.

[0012] In one embodiment, the second joint assembly includes a first support frame and a second housing, and the second transmission module includes a second worm and a second worm gear;

[0013] The first support frame is fixedly connected to the output end of the first worm gear, and the first support frame is provided with a first movable cavity;

[0014] The second housing is arranged in the first active cavity, the second housing has a first cavity and a second cavity connected to the first cavity, the second worm gear is arranged in the first cavity and is rotatably connected to the inner wall of the first cavity, and both ends of the second worm gear are fixedly connected to the first support frame, the second worm is arranged in the second cavity and is rotatably connected to the second cavity, the second worm is engaged with the second worm gear, the second cavity is provided with a second input port, the second drive module is arranged outside the second housing, and the output end of the second drive module extends into the second input port and is drivingly connected to the second worm, the second drive module drives the second worm to rotate, so that the second worm, the second housing, the second drive module and the first sleeve rotate along the axis of the second worm gear.

[0015] In one embodiment, the third driving module is fixedly disposed inside the first sleeve at one end away from the second driving module, and the third driving module adopts a harmonic motor.

[0016] In one embodiment, the robotic arm also includes a fourth joint assembly, the third drive module is driven and connected to the fourth joint assembly to drive the fourth joint assembly to rotate along a third center axis, the fourth joint assembly includes a fourth drive module and a fourth transmission module, and the fourth drive module is connected to the wrist joint assembly through the fourth transmission module to drive the wrist joint assembly to rotate along a fourth center axis.

[0017] In one embodiment, the robotic arm also includes a fifth joint assembly, the fifth joint assembly includes a fifth drive module and a second sleeve, the output end of the fourth drive module is connected to the third joint assembly, the fixed end of the fourth drive module and the fifth drive module are arranged at both ends of the second sleeve to drive the fifth drive module to rotate along the fourth center axis, the fifth drive module adopts a harmonic motor, and the output end of the fifth drive module is driven and connected to the wrist joint assembly to drive the wrist joint assembly to rotate around the fifth center axis.

[0018] In one embodiment, a plurality of through holes are provided on the first sleeve and / or the second sleeve.

[0019] In one embodiment, the cross-section of the through hole is triangular.

[0020] In one embodiment, the wrist joint assembly includes a connecting frame, a sixth drive module and a mounting seat, the mounting seat is used to mount the dexterous hand, the connecting frame is installed at the output end of the fifth drive module, two sixth drive modules are provided, and are respectively arranged on both sides of the connecting frame, and the other end of the connecting frame is driven and connected to the mounting seat to drive the mounting seat and the dexterous hand close to or away from the connecting frame.

[0021] The present invention also provides a robot comprising the robotic arm as described above.

[0022] In the technical solution of the present invention, the first joint assembly is installed on the torso to connect the torso and the second joint assembly, and the first joint assembly, the second joint assembly, the third joint assembly and the wrist joint assembly are connected in sequence, so that the wrist assembly forms a rotation with multiple degrees of freedom, which facilitates the wrist assembly to achieve multiple postures. In addition, since the output end of the second drive module is connected to the first joint assembly, the first joint assembly drives the second drive module to rotate along the first central axis. The fixed end of the second drive module and the fixed end of the third drive module are arranged in the first sleeve. Since the fixed end of the second drive module can rotate along the second central axis compared to the second transmission module, it also drives the third joint assembly to rotate along the second central axis. At the same time, it also reduces the space occupied by the connection between the second joint assembly and the third joint assembly, reduces the volume of the robotic arm arranged longitudinally, and facilitates the lightweight structure. Due to the setting of the first sleeve, the second drive module and the third drive module are covered, which can also prevent the robotic arm from being damaged during the activity and extend its service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0024] Figure 1 A schematic structural diagram of an embodiment of a robotic arm provided by the present invention;

[0025] Figure 2 A schematic diagram of the exploded structure of the robotic arm provided by the present invention;

[0026] Figure 3 A schematic diagram of the exploded structure of the first joint module provided by the present invention;

[0027] Figure 4 A schematic diagram of the exploded structure of the second joint module provided by the present invention;

[0028] Figure 5 A schematic structural diagram of an embodiment of a wrist joint assembly provided by the present invention;

[0029] Figure 6 This is a schematic structural diagram of another embodiment of the wrist joint assembly provided by the present invention.

[0030] Description of Figure Numbers:

[0031] 100, first joint assembly; 110, first housing; 120, first drive module; 130, first worm; 140, first worm gear;

[0032] 200, second joint assembly; 210, second drive module; 220, second transmission module; 221, second worm; 222, second worm gear; 230, first support frame; 231, first mounting plate; 232, second mounting plate; 233, third mounting plate; 240, second housing;

[0033] 300, third joint assembly; 310, first sleeve; 311, through hole; 320, third drive module;

[0034] 400, fourth joint assembly; 410, fourth drive module; 420, fourth transmission module;

[0035] 500, fifth joint assembly; 510, second sleeve; 520, fifth drive module;

[0036] 600, wrist joint assembly; 610, connecting frame; 620, sixth drive module; 621, sixth worm gear; 630, mounting seat; 640, swing block; 650, swing arm; 660, connecting rod; 670, cross U block; 680, cross block; 690, connecting plate.

[0037] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0038] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making any creative efforts shall fall within the scope of protection of the present invention.

[0039] 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 under a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0040] 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 for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of such 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 mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0041] Robots are widely used in industrial production, logistics and transportation, medical assistance, scientific research and exploration and other fields. Usually, robots include three core structures: the torso, the robotic arm and the mobile base. The mobile base, as the core component of the robot's mobile platform, is responsible for bearing the weight of the robot and realizing autonomous displacement and positioning in the working environment, so that the robot can flexibly shuttle between different positions and expand the robot's working field. The torso, as the main body of the robot, carries various electronic components and control systems. The robotic arm completes tasks such as grasping, handling, and assembly by setting precise joint movements and end effectors. In order to achieve the feasibility of arbitrary positions and postures in three-dimensional space, the robotic arm usually adopts multiple joints to achieve multiple degrees of freedom of movement. However, the existing joint connections take up a lot of space, resulting in a bulky drive assembly, which is not conducive to the miniaturization and lightweight of the structure.

[0042] The present invention provides a robotic arm and a robotic arm.

[0043] See also Figure 1 and Figure 2 In one embodiment of the present invention, the robotic arm is used for a robot, the robot includes a torso, the robotic arm includes a first joint assembly 100, a second joint assembly 200, a third joint assembly 300 and a wrist joint assembly 600, the first joint assembly 100 is fixed to the torso; the second joint assembly 200 includes a second drive module 210 and a second transmission module 220, the second drive module 210 is driven and connected to the second transmission module 220, the first joint assembly 100 is driven and connected to the second transmission module 220 to drive the second joint assembly 200 to rotate along the first central axis; the third joint assembly 300 includes a first sleeve 310 and a third drive module 320, the second drive module 210 and the third drive module 320 are fixed inside the first sleeve 310 to drive the third joint assembly 300 to rotate along the second central axis; the wrist joint assembly 600, the third joint assembly 300 is driven and connected to the wrist joint assembly 600 to drive the wrist joint assembly 600 to rotate.

[0044] In the technical solution of the present invention, the first joint assembly 100 is installed on the trunk and is used to connect the trunk and the second joint assembly 200, and the first joint assembly 100, the second joint assembly 200, the third joint assembly 300 and the wrist joint assembly 600 are connected in sequence, so that the wrist assembly forms a rotation with multiple rotational degrees of freedom, which is convenient for the wrist assembly to achieve various postures. In addition, since the output end of the second drive module 210 is connected to the first joint assembly 100, the first joint assembly 100 drives the second drive module 210 to rotate along the first central axis, and the fixed end of the second drive module 210 is connected to the third drive module. The fixed end of group 320 is arranged in the first sleeve 310. Since the fixed end of the second drive module 210 can rotate along the second center axis compared to the second transmission module 220, it also drives the third joint assembly 300 to rotate along the second center axis. At the same time, it also reduces the space occupied by the connection between the second joint assembly 200 and the third joint assembly 300, reduces the volume of the robotic arm along the longitudinal arrangement, and facilitates the lightweight structure. Due to the setting of the first sleeve 310, the second drive module 210 and the third drive module 320 are covered, which can also prevent the robotic arm from being damaged during the activity and extend its service life.

[0045] Please refer to Figure 3 In an embodiment of the present invention, the first joint assembly 100 includes a first housing 110 , a first driving module 120 , a first worm 130 and a first worm gear 140 ;

[0046] The first housing 110 is fixed to the trunk, and has a first mounting cavity and a first input port and a first output port communicating with the first mounting cavity. The first worm 130 and the first worm wheel 140 are disposed inside the first mounting cavity.

[0047] The first drive module 120 is arranged on the outside of the first housing 110, and the output end of the first drive module 120 extends from the first input port into the first mounting cavity and is driven and connected to the first worm 130 in the first mounting cavity. The first worm 130 is engaged with the first worm gear 140 so that the first worm gear 140 rotates around the first central axis. The output shaft of the first worm gear 140 is connected to the second joint assembly 200 from the first output port to drive the second joint assembly 200 to rotate along the first central axis.

[0048] Specifically, a first mounting cavity is formed in the first housing 110, and a first worm gear 140 and a first worm 130 are meshed inside the first mounting cavity, and the first housing 110 has a first input port, so that the output shaft of the first driving module 120 passes through the first input port and is coaxially connected to the first worm 130. When the first driving module 120 drives the first worm 130 to rotate, the first worm 130 drives the first worm gear 140 to rotate. The first worm gear 140 has two ends along its axis, one of which corresponds to the first output port, and the other end corresponds to the first housing 110 fixed to one side of the torso by screws to connect to the torso. The first joint assembly 100 and the first worm gear 140 are coaxially provided with a connecting seat at one end facing the first output port, so that the connecting seat rotates together with the first worm gear 140, and the second joint assembly 200 is installed on the connecting seat, and the axis of the first worm gear 140 is the first center axis, that is, the rotation of the first worm gear 140 drives the connecting seat and the second joint assembly 200 to rotate along the first center axis. Since the first shell 110 is fixed on the torso, and the length of the robotic arm is from the torso toward the wrist assembly, the first drive module 120 is arranged outside the first shell 110, which reduces the longitudinal length of the robotic arm and thereby reduces the occupied space.

[0049] In one embodiment, the first driving module 120 uses a servo motor, and the output shaft of the servo motor is coaxially connected to the first worm 130 to convert the power of the servo motor into rotation of the first worm 130, thereby rotating the first worm gear 140.

[0050] In one embodiment, the first drive module 120 is installed at one end of the first input port of the first housing 110 through the motor plate seat, and the output shaft of the first drive module 120 passes through the motor plate seat and the first input port to enter the first installation cavity and is connected to the first worm 130 for transmission. The two ends of the first worm 130 are connected to the interior of the first installation cavity through ball bearings, and a bearing sleeve is provided on the outer periphery of the first worm 130. A through hole is provided on the side of the bearing sleeve close to the first worm gear 140 to facilitate the engagement of the first worm 130 with the first worm gear 140. An oil seal is provided between the first worm gear 140 and the inner wall of the first installation cavity to improve the sealing of the interior of the first installation cavity and avoid affecting the transmission of the first worm gear 140.

[0051] In the embodiment of the present invention, the second joint assembly 200 includes a first support frame 230 and a second housing 240 , and the second transmission module 220 includes a second worm 221 and a second worm gear 222 ;

[0052] The first support frame 230 is fixedly connected to the output end of the first worm gear 140, and the first support frame 230 is provided with a first movable cavity;

[0053] The second shell 240 is arranged in the first active cavity. The second shell 240 has a first cavity and a second cavity connected to the first cavity. The second worm gear 222 is arranged in the first cavity and is rotatably connected to the inner wall of the first cavity. Both ends of the second worm gear 222 are fixedly connected to the first support frame 230. The second worm 221 is arranged in the second cavity and is rotatably connected to the second cavity. The second worm 221 is engaged with the second worm gear 222. The second cavity is provided with a second input port. The second drive module 210 is arranged outside the second shell 240, and the output end of the second drive module 210 extends into the second input port and is drive-connected to the second worm 221. The second drive module 210 drives the second worm 221 to rotate, so that the second worm 221, the second shell 240, the second drive module 210 and the first sleeve 310 rotate along the axis of the second worm gear 222.

[0054] like Figure 4 As shown, specifically, the first support frame 230 is fixedly mounted on the connecting seat. As the connecting seat rotates along the first central axis, a second shell 240 is rotatably arranged on the first support frame 230, and the axis of rotation of the second shell 240 is the second central axis. A second worm gear 222 and a second worm 221 are arranged in the second shell 240. The two ends of the axis of the second worm gear 222 are the length direction of the second central axis, and the two ends of the second worm gear 222 are fixed in the second support frame. When the second driving module 210 drives the second worm 221 to rotate, because the second worm gear 222 is fixed, the second worm 221 and the second driving module 210 rotate around the outer periphery of the second worm gear 222. Since the fixed end of the second driving module 210 is arranged in the first sleeve 310, the second worm 221, the second driving module 210, the first sleeve 310 and the third driving module 320 are driven to rotate along the third central axis.

[0055] Please refer to Figure 2 and Figure 4 In one embodiment, the first support frame 230 includes a first mounting plate 231, a second mounting plate 232 and a third mounting plate 233. The first mounting plate 231 is fixedly connected to the output end of the second worm gear 222. The second mounting plate 232 and the third mounting plate 233 are installed on the side of the first mounting plate 231 away from the second worm gear 222, and the second mounting plate 232 and the third mounting plate 233 are arranged opposite to each other. A mounting hole is respectively provided on the second mounting plate 232 and the third mounting plate 233. The second worm gear 222 is arranged between the second mounting plate 232 and the third mounting plate 233, and both ends are fixedly connected to the second mounting plate 232 and the third mounting plate 233 respectively.

[0056] Please refer to Figure 2 and Figure 4In one embodiment, the second housing 240 is disposed between the second mounting plate 232 and the third mounting plate 233. The second housing 240 has a first chamber and a second chamber connected to the first chamber. The two ends of the first chamber correspond to the second mounting plate 232 and the third mounting plate 233 respectively. The second worm gear 222 is disposed in the first chamber and is rotatably connected to the inner wall of the first chamber. The second worm 221 is disposed in the second chamber and is rotatably connected to the second chamber. The second worm 221 is engaged with the second worm gear 222. The second chamber is provided with a second input port. The second driving module 210 is disposed outside the second housing 240, and the output end of the second driving module 210 extends into the second input port and is drivingly connected to the second worm 221. The second driving module 210 drives the second worm 221 to rotate, so that the second worm 221, the second housing 240 and the second driving module 210 rotate along the axis of the second worm gear 222.

[0057] In an embodiment of the present invention, the third driving module 320 is fixedly disposed inside the first sleeve 310 at one end away from the second driving module 210 , and the third driving module 320 adopts a harmonic motor.

[0058] Specifically, the fixed end of the third drive module 320 and the second drive module 210 are arranged in the first sleeve 310, which can reduce the space occupied in the longitudinal direction, and the first sleeve 310 can provide certain protection for the second drive module 210 and the third drive module 320. The output end direction of the third drive module 320 is consistent with the axial direction of the first sleeve 310. The output end of the third drive module 320 passes through the first sleeve 310 to connect to the wrist joint assembly 600. The third drive module 320 uses a harmonic motor to drive the wrist joint assembly 600 to rotate. The harmonic motor has a small moment of inertia and high transmission efficiency, which is suitable for refined movements. The wrist joint assembly 600 is driven to rotate by the harmonic motor, which has a compact structure and a small volume at the same reduction ratio, which is conducive to improving the dynamic performance of the system. However, the present design is not limited to this. The harmonic motor can be replaced with other rotating motors that can drive the main body to rotate along its own axis.

[0059] Please refer to Figure 1 In an embodiment of the present invention, the robotic arm also includes a fourth joint assembly 400, and the third drive module 320 is driven and connected to the fourth joint assembly 400 to drive the fourth joint assembly 400 to rotate along the third center axis. The fourth joint assembly 400 includes a fourth drive module 410 and a fourth transmission module 420. The fourth drive module 410 is connected to the wrist joint assembly 600 through the fourth transmission module 420 to drive the wrist joint assembly 600 to rotate along the fourth center axis.

[0060] Specifically, the fourth joint assembly 400 is arranged between the third joint assembly 300 and the wrist joint assembly 600, and is connected to the fourth joint assembly 400 through the output end of the third drive module 320, driving the fourth joint assembly 400 to rotate along the third center axis. The fourth joint assembly 400 drives the wrist joint assembly 600 to rotate along the fourth center axis, so that the entire robotic arm adds one degree of freedom of rotation, making the posture more flexible.

[0061] Please refer to Figure 2 and Figure 4 In one embodiment, the fourth joint assembly 400 has the same structure as the second joint assembly 200. Specifically, the fourth joint assembly 400 includes a second support frame and a third housing, and the fourth transmission module 420 includes a third worm and a third worm gear. The second support frame is fixedly connected to the output end of the third drive module 320, and the second support frame has a second movable cavity.

[0062] The third housing is arranged in the second movable cavity, and the third housing has a third chamber and a fourth chamber connected to the third chamber. The third worm gear is arranged in the third chamber and is rotatably connected to the inner wall of the third chamber, and both ends of the third worm gear are fixedly connected to the second support frame. The third worm is arranged in the fourth chamber and is rotatably connected to the fourth chamber. The third worm is engaged with the third worm gear. The fourth chamber is provided with a fourth input port. The fourth drive module 410 is arranged outside the third housing, and the output end of the fourth drive module 410 extends into the inside of the fourth input port and is drive-connected to the third worm. The fourth drive module 410 drives the third worm to rotate, so that the third worm, the third housing, the fourth drive module 410 and the second sleeve 510 rotate along the axis of the third worm gear.

[0063] like Figure 1 and Figure 2 As shown, in an embodiment of the present invention, the robotic arm also includes a fifth joint assembly 500, the fifth joint assembly 500 includes a fifth drive module 520 and a second sleeve 510, the output end of the fourth drive module 410 is connected to the third joint assembly 300, the fixed end of the fourth drive module 410 and the fifth drive module 520 are arranged at both ends in the second sleeve 510 to drive the fifth drive module 520 to rotate along the fourth center axis, the fifth drive module 520 adopts a harmonic motor, and the output end of the fifth drive module 520 is driven and connected to the wrist joint assembly 600 to drive the wrist joint assembly 600 to rotate around the fifth center axis.

[0064] Specifically, the structure of the fifth joint assembly 500 is the same as that of the third joint assembly 300. The fifth joint assembly 500 includes a second sleeve 510 and a fifth drive module 520, and the fixed ends of the fifth drive module 520 and the fourth drive module 410 are both arranged in the second sleeve 510. Since the fourth transmission module 420 is arranged at the output end of the third joint assembly 300, it can drive the fourth transmission module 420 and the fourth drive module 410 to rotate along the third center axis, and the fourth drive module 410 can rotate along the fourth center axis compared to the fourth transmission module 420, thereby driving the second sleeve 510 and the fifth drive module 520 to rotate along the fourth center axis, and the fourth drive module 410 and the fifth drive module 520 are arranged in the second sleeve 510, reducing the occupied space in the longitudinal direction of the robotic arm, and cooperating with the fifth drive module 520 to drive the wrist joint assembly 600, so that the wrist joint assembly 600 increases the degree of freedom of rotation along the fifth center axis, which facilitates the realization of a variety of different postures. However, the present design is not limited thereto, and the harmonic motor may be replaced by other rotating motors that can drive the main body to rotate along its own axis.

[0065] Please refer to Figure 2 In an embodiment of the present invention, the first sleeve 310 is provided with a plurality of through holes 311. The arrangement of the first sleeve 310 and the second sleeve 510 can be used to include the second drive module 210 and the fourth drive module 410. In order to improve the protection strength, the first sleeve 310 can be made of aluminum alloy. The aluminum alloy material has good wear resistance and impact resistance, can withstand the torque and inertia force generated during the rotation process, and can reduce the weight of the joint assembly and improve the operating efficiency. The material of the first sleeve 310 is not limited here. A plurality of through holes 311 are arranged at intervals on the first sleeve 310. The arrangement of the through holes 311 can make the entire robotic arm lightweight.

[0066] In one embodiment, the second sleeve 510 may have the same structure as the first sleeve 310 , which will not be described in detail herein.

[0067] In one embodiment, the cross-sectional shape of the through hole 311 is triangular. The triangular mounting hole not only reduces the weight of the housing, ensuring the lightweight joint assembly, but also provides a more stable structure. In other embodiments, the cross-sectional shape of the mounting hole can also be an irregular shape such as a rectangle, square, circle, or line, which is not limited here.

[0068] In an embodiment of the present invention, the wrist joint assembly 600 includes a connecting frame 610, a sixth driving module 620 and a mounting seat 630. The mounting seat 630 is used to install the dexterous hand. The connecting frame 610 is installed at the output end of the fifth driving module 520. Two sixth driving modules 620 are provided and are respectively arranged on both sides of the connecting frame 610. The other end of the connecting frame 610 is driven and connected to the mounting seat 630 to drive the mounting seat 630 and the dexterous hand to move closer to or away from the connecting frame 610.

[0069] Please refer to Figure 5 and Figure 6 Specifically, the fifth joint assembly 500 is driven and connected to the connecting frame 610 to drive the connecting frame 610 to rotate. A mounting seat 630 is provided at one end of the connecting frame 610 away from the fifth joint assembly 500. A dexterous hand for grasping or holding is installed on the mounting seat 630. A sixth driving module 620 is provided on both sides of the connecting frame 610. The output end of the sixth driving module 620 drives the sixth worm to rotate, and then drives the sixth worm gear 621 to rotate. The length direction of the sixth worm is the length direction of the connecting frame 610. The sixth worm gear 621 is coaxially connected to the swing arm 650. The other end of the swing arm 650 is rotatably connected to the connecting rod 660. The other end of the connecting rod 660 is provided with a cross U block 670. A connecting plate 690 is provided between the cross U blocks 670 on both sides of the connecting frame 610. A cross block 680 is provided at each end of the connecting plate 690. The cross block 680 is rotatably connected to the U block accordingly. The bottom of the mounting seat 630 is connected to the connecting plate 690 and formed as one piece. The swing block 640 is provided at one end of the connecting frame 610 away from the fifth joint assembly 500, and the swing block 640 is rotatably connected to the connecting plate 690 and the mounting seat 630 through a rotating shaft. That is, the mounting seat 630 can be understood as driving the sixth worm gear 621 to rotate through the sixth driving module 620, driving the swing arm 650 and the connecting rod 660 to rotate, so that the connecting rod 660 moves toward the fifth joint assembly 500 or away from the fifth joint assembly 500, thereby driving the mounting seat 630 to swing. For example, when the connecting rod 660 moves in the direction away from the fifth joint assembly 500, it pushes the bottom of the mounting seat 630 outward, that is, away from the fifth joint assembly 500, and the upper end of the mounting seat 630 rotates with the swing block 640. In addition, when the movement directions of the connecting rods 660 driven by the two sixth driving modules 620 are different, the mounting seat 630 will be driven to rotate compared with the swing block 640, so that the mounting seat 630 and the dexterous hand can achieve grasping in multiple postures.

[0070] The present invention also proposes a robot, including a robotic arm, a torso and a mobile base, the torso is arranged on the mobile base, and the robotic arm is arranged on both sides of the torso away from the mobile base. The specific structure of the robotic arm refers to the above-mentioned embodiment. Since this robot adopts all the technical solutions of all the above-mentioned embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above-mentioned embodiments, which will not be repeated here one by one.

[0071] The above description is merely an exemplary embodiment of the present invention and does not limit the scope of protection of the present invention. Any equivalent structural transformation made by using the contents of the present invention description and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields, is included in the scope of protection of the present invention.

Claims

1. A robotic arm for a robot, the robot comprising a torso, characterized in that: include: A first joint assembly is fixed to the torso; a second joint assembly, the second joint assembly comprising a second drive module and a second transmission module, the second drive module being drivably connected to the second transmission module, and the first joint assembly being drivably connected to the second transmission module to drive the second joint assembly to rotate along the first central axis; a third joint assembly comprising a first sleeve and a third drive module, wherein the second drive module and the third drive module are fixedly disposed inside the first sleeve to drive the third joint assembly to rotate along a second central axis; Wrist joint assembly, the third joint assembly is drivingly connected to the wrist joint assembly to drive the wrist joint assembly to rotate.

2. The robotic arm according to claim 1, wherein: The first joint assembly includes a first housing, a first drive module, a first worm and a first worm gear; The first housing is fixed to the trunk, and has a first mounting cavity and a first input port and a first output port communicating with the first mounting cavity. The first worm and the first worm wheel are disposed inside the first mounting cavity. The first drive module is arranged on the outside of the first housing, and the output end of the first drive module extends from the first input port into the first installation cavity and is drivingly connected to the first worm in the first installation cavity. The first worm is engaged with the first worm wheel so that the first worm wheel rotates around the first central axis. The output shaft of the first worm wheel is connected to the second joint assembly from the first output port to drive the second joint assembly to rotate along the first central axis.

3. The robotic arm according to claim 2, wherein: The second joint assembly includes a first support frame and a second housing, and the second transmission module includes a second worm and a second worm wheel; The first support frame is fixedly connected to the output end of the first worm gear, and the first support frame is provided with a first movable cavity; The second housing is arranged in the first active cavity, the second housing has a first cavity and a second cavity connected to the first cavity, the second worm gear is arranged in the first cavity and is rotatably connected to the inner wall of the first cavity, and both ends of the second worm gear are fixedly connected to the first support frame, the second worm is arranged in the second cavity and is rotatably connected to the second cavity, the second worm is engaged with the second worm gear, the second cavity is provided with a second input port, the second drive module is arranged outside the second housing, and the output end of the second drive module extends into the second input port and is drivingly connected to the second worm, the second drive module drives the second worm to rotate, so that the second worm, the second housing, the second drive module and the first sleeve rotate along the axis of the second worm gear.

4. The robotic arm according to claim 3, wherein: The third driving module is fixedly arranged at one end of the first sleeve away from the second driving module, and the third driving module adopts a harmonic motor.

5. The robotic arm according to claim 4, wherein: The robotic arm also includes a fourth joint assembly, the third drive module is driven and connected to the fourth joint assembly to drive the fourth joint assembly to rotate along the third center axis, the fourth joint assembly includes a fourth drive module and a fourth transmission module, the fourth drive module is connected to the wrist joint assembly through the fourth transmission module to drive the wrist joint assembly to rotate along the fourth center axis.

6. The robotic arm according to claim 5, wherein: The robotic arm also includes a fifth joint assembly, which includes a fifth drive module and a second sleeve. The output end of the fourth drive module is connected to the third joint assembly. The fixed end of the fourth drive module and the fifth drive module are arranged at both ends of the second sleeve to drive the fifth drive module to rotate along the fourth center axis. The fifth drive module adopts a harmonic motor. The output end of the fifth drive module is driven and connected to the wrist joint assembly to drive the wrist joint assembly to rotate around the fifth center axis.

7. The robotic arm according to claim 6, wherein: The first sleeve and / or the second sleeve is provided with a plurality of through holes.

8. The robotic arm according to claim 7, wherein: The cross-sectional shape of the through hole is a triangle.

9. The robotic arm according to any one of claims 6 to 8, characterized in that: The wrist joint assembly includes a connecting frame, a sixth drive module and a mounting seat. The mounting seat is used to install the dexterous hand. The connecting frame is installed at the output end of the fifth drive module. Two sixth drive modules are provided and are respectively arranged on both sides of the connecting frame. The other end of the connecting frame is driven and connected to the mounting seat to drive the mounting seat and the dexterous hand to move closer to or away from the connecting frame.

10. A robot, characterized in that: A robotic arm comprising the robotic arm according to any one of claims 1 to 9.

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