Mechanical arm and robot

Abstract

The invention discloses a mechanical arm and a robot. The mechanical arm comprises a first joint seat and a second joint seat. A joint rotation driving piece is arranged in the first joint seat, and the joint rotation driving piece is provided with a first hollow hole penetrating in the direction of a first rotation axis of the joint rotation driving piece and allowing a wire harness to penetrate through; the second joint seat is in driving connection with the joint rotation driving part, a first wire passing channel penetrating in the second rotation axis direction is formed in the middle of the second joint seat, a second wire passing channel is formed in the side wall of the second joint seat, and inlets in the two ends of the second wire passing channel are a first wire passing hole and a second wire passing hole correspondingly; the first wire passing hole is communicated with the first hollow hole, and the second wire passing hole is communicated with the first wire passing channel; the direction of the first rotation axis intersects with the direction of the second rotation axis, so that the wire harness is not exposed, and the phenomenon that the wire harness is wound and extruded when the joint assembly moves is avoided.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, specifically relating to a robotic arm and a robot. Background Technology

[0002] A humanoid robot is a robot that mimics the structure and movement of the human body, designed to perform human-like tasks. As its core component, the performance of the robotic arm directly determines the robot's operational capabilities and the level of human-robot interaction.

[0003] Currently, the wiring harnesses of many robotic arm drive components are often directly exposed on the outside of the arm, or simply fixed by external cable trays. This exposed or semi-exposed wiring not only affects the overall aesthetics of the robotic arm, but also brings a series of problems in actual operation. In complex working environments, the wiring harness is prone to collisions and scratches with external objects, leading to damage or signal interruption. Furthermore, exposed wiring harnesses may become entangled and interfere with the robotic arm itself or surrounding equipment during operation, reducing the reliability of the robotic arm's operation. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies, this application provides a robotic arm and robot, which aims to solve the technical problem that exposed wiring harnesses reduce the reliability of robotic arm operation.

[0005] To achieve the above objectives, this application provides a robotic arm, comprising a first joint seat and a second joint seat. The first joint seat contains a joint rotation drive component, which has a first hollow hole extending along its first rotation axis and through which a wire harness passes. The second joint seat is drivenly connected to the joint rotation drive component. The middle portion of the second joint seat has a first wire-passing channel extending along a second rotation axis. The sidewall of the second joint seat contains a second wire-passing channel. The two ends of the second wire-passing channel have a first wire-passing hole and a second wire-passing hole, respectively. The first wire-passing hole communicates with the first hollow hole, and the second wire-passing hole communicates with the first wire-passing channel. The first rotation axis direction intersects with the second rotation axis direction.

[0006] In this embodiment, the second joint seat includes a first mounting portion and a second mounting portion. The first mounting portion and the second mounting portion enclose and form a receiving space and a first wire passage arranged sequentially along the second rotation axis. The receiving space is used to receive the joint rotation drive component. The first mounting portion and / or the second mounting portion are provided with a second wire passage.

[0007] In this embodiment, the first mounting part is provided with an inwardly recessed receiving groove on the side away from the second mounting part and a first wire passing hole and a second wire passing hole communicating with the receiving groove; wherein, the upper cover of the receiving groove is provided with an end cap, and the first wire passing hole, the receiving groove and the second wire passing hole communicate to form a second wire passing channel.

[0008] In this embodiment of the application, the robotic arm further includes a shoulder assembly, an upper arm assembly, and a forearm assembly; wherein the shoulder assembly and the upper arm assembly are connected by a joint assembly; and / or, the upper arm assembly and the forearm assembly are connected by a joint assembly.

[0009] In this embodiment of the application, the robotic arm further includes a large arm assembly, which includes a large arm connecting bracket and a large arm rotation drive. A joint assembly is arranged at the proximal end of the large arm connecting bracket, and a mounting cavity is formed inside the large arm connecting bracket. The large arm rotation drive is housed in the mounting cavity and connected to a corresponding second joint seat. The large arm rotation drive has a second hollow hole for the wire harness to pass through, and the second hollow hole communicates with the first wire passage channel.

[0010] In this embodiment, the robotic arm further includes a forearm assembly, which includes a forearm connecting bracket and a forearm rotation drive. A joint assembly is arranged at the proximal end of the forearm connecting bracket, and an installation space is formed in the second joint seat. The forearm rotation drive is housed in the installation space and is drivenly connected to the forearm connecting bracket. The forearm rotation drive has a third hollow hole for the wire harness to pass through, and the third hollow hole communicates with the first wire passage channel.

[0011] In this embodiment, the forearm connecting bracket includes a mounting frame, which is driven by the forearm rotation drive, and a wire groove for accommodating the wire harness is formed on the inner wall of the mounting frame.

[0012] In this embodiment of the application, the mounting frame has a vertically penetrating third wire hole, which is connected to the wire groove. The forearm connecting bracket also includes an adapter plate, and the adapter plate has a vertically penetrating fourth wire hole at the position corresponding to the third wire hole.

[0013] In this embodiment, the forearm connecting bracket further includes a pressure plate, which is detachably located inside the mounting frame.

[0014] In addition, this application also provides a robot, including the robotic arm described above.

[0015] Through the above technical solution, the robotic arm provided in this application embodiment has the following beneficial effects: In the technical solution of this application, the joint rotation drive has a first hollow hole for the wire harness to pass through. The first hollow hole extends along the first rotation axis of the joint rotation drive, allowing the wire harness to run inside the joint rotation drive. The joint drive is driven to a second joint seat, and the joint drive drives the second joint seat to rotate around the first rotation axis. A second wire-passing channel is provided inside the side wall of the second joint seat. The entrance at one end of the second wire-passing channel is a first wire-passing hole, which communicates with the first hollow hole. The entrance at the other end of the second wire-passing channel is a second wire-passing hole, which communicates with the first wire-passing channel in the middle of the second joint seat. The first wire-passing channel extends along the second rotation axis, which intersects with the first rotation axis.

[0016] The wiring harness of the joint rotation drive component can enter the second wiring channel through the first hollow hole and then through the second wiring channel, thus preventing the wiring harness from being exposed and avoiding tangling or compression during joint assembly movement. Furthermore, by enclosing the wiring harness within the joint assembly using the first and second wiring channels, the risk of collision and scratching of the wiring harness is greatly reduced, thereby improving the reliability of the robotic arm's operation.

[0017] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without any inventive effort. In the drawings: Figure 1 This is a schematic diagram of the structure of a robotic arm according to an embodiment of this application; Figure 2 This is a schematic diagram of the structure of the upper arm assembly in a robotic arm according to an embodiment of this application; Figure 3 This is an exploded structural diagram of the upper arm assembly in a robotic arm according to an embodiment of this application; Figure 4 This is a schematic diagram of the shoulder assembly in a robotic arm according to an embodiment of this application; Figure 5 This is an exploded structural diagram of the shoulder assembly in a robotic arm according to an embodiment of this application; Figure 6 This is a schematic diagram of the forearm assembly in a robotic arm according to an embodiment of this application; Figure 7This is an exploded structural diagram of the forearm assembly in a robotic arm according to an embodiment of this application; Figure 8 This is an exploded structural diagram of the forearm connecting bracket in a robotic arm according to an embodiment of this application.

[0019] Explanation of reference numerals in the attached figures 10. Joint assembly; 11. First joint seat; 111. Joint rotation drive; 1111. First hollow hole; 112. Second mounting hole; 12. Second joint seat; 121. First mounting part; 1211. First wire through hole; 1212. Second wire through hole; 1213. Receiving groove; 1214. Insertion groove; 1215. Enclosing plate; 1216. Mounting plate; 1217. Mounting protrusion; 122. Second mounting part; 123. End cap; 1231. Cover part; 1232. Insertion part; 124. Receiving space; 125. First zeroing groove; 126. Mounting space; 127. Base plate; 20. Boom assembly; 21. Boom connecting bracket; 211. Mounting cavity; 212. Second zeroing groove; 213. First mounting hole; 22. Boom rotation drive component; 221. Second hollow hole; 23. Boom adapter flange; 30. Arm assembly; 31. Arm connecting bracket; 311. Mounting frame; 3111. Cable tray; 3112. Third cable hole; 3113. Mounting rod; 3114. Reinforcing rod; 3115. Connecting rod; 3116. Hinge joint; 312. First telescopic drive component; 313. Second telescopic drive component; 314. Cable clamping plate; 315. Connecting seat; 316. Connecting cylinder; 32. Arm rotation drive component; 321. Third hollow hole; 33. Adapter plate; 331. Fourth cable hole; 332. First bearing seat; 333. Second bearing seat; 334. Third shaft; 34. Rotary cross shaft; 341. First shaft; 342. Second shaft; 35. Arm adapter flange; 40. Shoulder assembly; 41. Shoulder connecting bracket; 411. First limiting block; 412. First zero mark hole; 42. Shoulder rotation drive; 421. Fourth hollow hole; 43. Shoulder adapter flange; 431. Second limiting block; 432. Second zero mark hole; 50. Hand components. Detailed Implementation

[0020] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0021] The robotic arm of this application is described below with reference to the accompanying drawings.

[0022] This application provides a robotic arm; please refer to [link / reference]. Figures 1 to 3The robotic arm includes a joint assembly 10. The joint assembly 10 includes a first joint seat 11 and a second joint seat 12. The first joint seat 11 has a joint rotation drive 111 inside, which has a first hollow hole 1111 extending along its first rotation axis and allowing a wire harness to pass through. The second joint seat 12 is drivenly connected to the joint rotation drive 111. The middle of the second joint seat 12 has a first wire-passing channel extending along a second rotation axis. The sidewall of the second joint seat 12 has a second wire-passing channel. The entrances at both ends of the second wire-passing channel are a first wire-passing hole 1211 and a second wire-passing hole 1212, respectively. The first wire-passing hole 1211 communicates with the first hollow hole 1111, and the second wire-passing hole 1212 communicates with the first wire-passing channel. The first rotation axis direction intersects with the second rotation axis direction; in this embodiment, the first rotation axis direction and the second rotation axis direction are perpendicular to each other.

[0023] Therefore, in this embodiment, the joint rotation drive 111 has a first hollow hole 1111 through which the wire harness passes. The first hollow hole 1111 extends along the first rotation axis of the joint rotation drive 111, allowing the wire harness to run inside the joint rotation drive 111. The joint drive is driven to the second joint seat 12, and the joint drive is used to drive the second joint seat 12 to rotate around the first rotation axis. The side wall of the second joint seat 12 has a second wire passage. The entrance at one end of the second wire passage is a first wire passage hole 1211, which communicates with the first hollow hole 1111. The entrance at the other end of the second wire passage is a second wire passage hole 1212, which communicates with the first wire passage in the middle of the second joint seat 12. The first wire passage extends along the second rotation axis.

[0024] Based on the above structural layout, the wiring harness of the joint rotation drive component 111 can enter the second wiring channel through the first wire passage hole 1211 via the first hollow hole 1111, and then enter the first wiring channel through the second wire passage hole 1212, thus preventing the wiring harness from being exposed and avoiding tangling or compression of the wiring harness during the movement of the joint assembly 10. Furthermore, by providing the first and second wiring channels to enclose the wiring harness within the joint assembly 10, the risk of collision and scratching of the wiring harness is greatly reduced, thereby improving the reliability of the robotic arm's operation.

[0025] In the embodiments of this application, please refer to Figure 2 and Figure 3The second joint seat 12 includes a first mounting part 121 and a second mounting part 122. The first mounting part 121 and the second mounting part 122 surround and form a receiving space 124 and a first wire passage arranged sequentially along the second rotation axis. The receiving space 124 is used to receive the joint rotation drive 111. The first mounting part 121 and / or the second mounting part 122 are provided with a second wire passage hole 1212.

[0026] The accommodating space 124 and the first wire-passing channel are arranged sequentially along the second rotation axis, with the accommodating space 124 located above the first wire-passing channel (e.g., Figure 2 (View shown). The accommodating space 124 is used to accommodate the joint rotation drive 111. It has a high degree of integration and a more compact structural layout. Furthermore, the first mounting part 121 and the second mounting part 122 can play a protective role, extending the service life of the joint rotation drive 111.

[0027] A second wire passage may be provided in the first mounting portion 121, or in the second mounting portion 122, or both the first mounting portion 121 and the second mounting portion 122 may have second wire passages. After the joint rotation drive 111 is housed in the receiving space 124, the wire harness of the joint rotation drive 111 enters the second wire passage through the first hollow hole 1111, and then enters the first wire passage below the receiving space 124 through the second wire passage hole 1212.

[0028] In this embodiment, an example is provided where a second wiring channel is provided within the first mounting section 121. Please refer to... Figure 3 The first mounting part 121 has an inwardly recessed receiving groove 1213 on the side away from the second mounting part 122, and a first wire passing hole 1211 and a second wire passing hole 1212 communicating with the receiving groove 1213; wherein, the receiving groove 1213 is covered with an end cap 123.

[0029] The receiving groove 1213 is located on the side of the first mounting part 121 away from the second mounting part 122. The first mounting part 121 is provided with a first wire-passing hole 1211 and a second wire-passing hole 1212 that pass through along the first rotation axis. Both the first wire-passing hole 1211 and the second wire-passing hole 1212 are connected to the receiving groove 1213. The first wire-passing hole 1211, the receiving groove 1213 and the second wire-passing hole 1212 are connected to form a second wire-passing channel. The end cap 123 is provided on the receiving groove 1213. By providing the end cap 123, it is convenient for wire threading and subsequent maintenance. On the other hand, it prevents the wire harness in the second wire-passing channel from being exposed, protects the wire harness in the second wire-passing channel, and reduces the risk of collision and scratching of the wire harness.

[0030] Specifically, the end cap 123 includes a cover portion 1231 and an insertion portion 1232 connected to each other. The cover portion 1231 covers the receiving groove 1213 and is detachably connected to the first mounting portion 121. The first mounting portion 121 is provided with an insertion groove 1214 communicating with the second wire hole 1212. The insertion groove 1214 is used for the insertion portion 1232 to be inserted.

[0031] The cover portion 1231 is detachably connected to the first mounting portion 121, facilitating the installation of the wire harness and making the end cover 123 more flexible and convenient to use. The insertion portion 1232 is inserted into the insertion slot 1214, which communicates with the second wire passage hole 1212. By providing the insertion portion 1232, the wire harness in the second wire passage hole 1212 can be pressed tightly, thus fixing the wire harness in the second wire passage hole 1212. Furthermore, by providing the insertion portion 1232 and the insertion slot 1214 to cooperate, the connection between the end cover 123 and the first mounting portion 121 can be made more stable and reliable.

[0032] In the embodiments of this application, please refer to Figure 1 The robotic arm also includes a shoulder assembly 40, an upper arm assembly 20, and a forearm assembly 30; wherein the shoulder assembly 40 and the upper arm assembly 20 are connected by a joint assembly 10 so that the upper arm assembly 20 can rotate relative to the shoulder assembly 40 along a first rotation axis.

[0033] Specifically, please refer to Figure 4 and Figure 5 The shoulder assembly 40 includes a shoulder connecting bracket 41, a shoulder rotation drive 42, and a shoulder adapter flange 43. The shoulder connecting bracket 41 is used to connect to the robot torso. The shoulder rotation drive 42 is housed within the shoulder connecting bracket 41, and its fourth rotation axis intersects with the first rotation axis. The fixed end of the shoulder rotation drive 42 is connected to the shoulder connecting bracket 41, and its output end is connected to the first joint seat 11 via the shoulder adapter flange 43. The shoulder rotation drive 42 can drive the first adapter seat to rotate around the fourth rotation axis, achieving pitch movement of the entire arm in the horizontal plane. The shoulder rotation drive 42 has a fourth hollow hole 421, and a wire passage gap is provided between the first joint seat 11 and the joint rotation drive 111. The wire harness can enter the wire passage gap from the fourth hollow hole 421 and then enter the first hollow hole 1111 within the joint rotation drive 111.

[0034] The shoulder connecting bracket 41 is provided with a first limiting block 411, and the end face of the shoulder connecting bracket 41 is provided with a first zero-marking hole 412. The shoulder transition flange 43 is provided with a second limiting block 431 and a second zero-marking hole 432. The first limiting block 411 is used to limit and abut against the second limiting block 431. The cooperation of the first limiting block 411 and the second limiting block 431 can prevent the first joint seat 11 from rotating. The first zero-marking hole 412 is used to align with the second zero-marking hole 432 to mark the zero position of the shoulder rotation drive component 42 after the robotic arm is assembled. The outer ring of the shoulder transition flange 43 is connected to the shoulder connecting bracket 41, and the inner ring of the shoulder transition flange 43 is connected to the first joint seat 11. The outer ring and the inner ring form a stable support surface in the circumferential direction, which improves the rigidity of the shoulder assembly 40 and can prevent excessive deformation when the robotic arm is under heavy load or moves quickly.

[0035] The upper arm assembly 20 and the lower arm assembly 30 are connected by a joint assembly 10 so that the lower arm assembly 30 can rotate relative to the upper arm assembly 20.

[0036] In the embodiments of this application, please refer to Figure 2 and Figure 3 The robotic arm also includes a large arm assembly 20, which includes a large arm connecting bracket 21 and a large arm rotation drive 22. A joint assembly 10 is arranged at the proximal end of the large arm connecting bracket 21. An installation cavity 211 is formed inside the large arm connecting bracket 21. The large arm rotation drive 22 is housed in the installation cavity 211 and connected to the corresponding second joint seat 12. The large arm rotation drive 22 has a second hollow hole 221 for the wire harness to pass through, and the second hollow hole 221 communicates with the first wire passage channel.

[0037] The joint assembly 10 is located at the proximal end, i.e., the top, of the upper arm connecting bracket 21, which is the end closest to the heart relative to the torso. A vertically extending mounting cavity 211 is formed within the upper arm connecting bracket 21, which houses and protects the upper arm rotation drive component 22. The fixed end of the upper arm rotation drive component 22 is connected to the corresponding second joint seat 12, and the output end of the upper arm rotation drive component 22 is connected to the upper arm connecting bracket 21. The upper arm rotation drive component 22 can drive the upper arm connecting bracket 21 to rotate around a second rotation axis, achieving rotational movement of the entire arm. The upper arm rotation drive component 22 has a second hollow hole 221, which extends along the second rotation axis and is used for the passage of a wire harness. The second hollow hole 221 communicates with the first wire passage channel.

[0038] The wiring harness of the joint rotation drive 111 can enter the second wire passage through the first wire passage hole 1211 through the first hollow hole 1111, and then enter the first wire passage through the second wire passage hole 1212. Then the wiring harness enters the second hollow hole 221 from the first wire passage to avoid the wiring harness being exposed.

[0039] Specifically, the second joint seat 12 is provided with a first zero-marking slot 125, the boom connecting bracket 21 is provided with a second zero-marking slot 212, and the boom assembly 20 also includes a zero-marking block, which is used to insert into the first zero-marking slot 125 and the second zero-marking slot 212. During assembly, the zero-marking block can be inserted into the first zero-marking slot 125 and the second zero-marking slot 212 to ensure the accuracy of mechanical assembly and achieve the unification of mechanical coordinates and electrical coordinates.

[0040] The boom assembly 20 also includes a boom adapter flange 23, through which the boom rotation drive 22 is connected to the first mounting hole 213 of the boom connecting bracket 21. The bottom end of the boom connecting bracket 21 is connected to the first joint seat 11 of the forearm assembly 30, and the first rotation axis of the joint rotation drive 111 in the forearm assembly 30 intersects with the first rotation axis of the joint rotation drive 111 in the boom assembly 20. The bending and straightening movements between the boom and forearm are achieved through the joint rotation drive 111 in the forearm assembly 30. The boom connecting bracket 21 and the first joint seat 11 of the forearm assembly 30 can adopt an integrated hollow design, which improves the rigidity and stability of the boom and facilitates the routing of the boom rotation drive 22 through the internal space of the boom connecting bracket 21. The joint rotation drive 111 of the forearm assembly 30 can be installed through the second mounting hole 112 on the first joint seat 11, facilitating assembly and disassembly. The forearm assembly 30 adopts a semi-concave design on the front side of the first joint seat 11, which can increase the bending angle of the forearm, thereby increasing the range of motion of the entire robotic arm and making it more human-like.

[0041] In the embodiments of this application, please refer to Figures 6 to 8 The robotic arm also includes a forearm assembly 30, which includes a forearm connecting bracket 31 and a forearm rotation drive 32. A joint assembly 10 is arranged at the proximal end of the forearm connecting bracket 31, and an installation space 126 is formed in the second joint seat 12. The forearm rotation drive 32 is housed in the installation space 126 and is drivenly connected to the forearm connecting bracket 31. The forearm rotation drive 32 has a third hollow hole 321 for the wire harness to pass through, and the third hollow hole 321 communicates with the first wire passage channel.

[0042] The joint assembly 10 is arranged at the upper end of the forearm connecting bracket 31. An installation space 126 is formed within the second joint seat 12, which accommodates the forearm rotation drive 32. The accommodating space 124, the first wire passage, and the installation space 126 are arranged sequentially along the second rotation axis. The forearm rotation drive 32 is driven to connect with the forearm connecting bracket 31, enabling the forearm to rotate around the second rotation axis, thus allowing the forearm to rotate independently and achieve wrist rotation, improving the flexibility and operational accuracy of the robotic arm. Furthermore, the installation space 126 within the second joint seat 12 allows for efficient use of the internal space, shortening the forearm length and improving the overall compactness and integration of the robotic arm.

[0043] The forearm rotation drive 32 has a third hollow hole 321 for the wire harness to pass through, and the third hollow hole 321 is connected to the first wire passage channel. The wire harness can enter the third hollow hole 321 from the first wire passage channel so that the wire harness is not exposed, thus avoiding the phenomenon of the wire harness getting tangled or squeezed when the elbow joint moves.

[0044] Specifically, both the first mounting part 121 and the second mounting part 122 include a connecting enclosure plate 1215 and a mounting plate 1216. The enclosure plates 1215 of the first mounting part 121 and the second mounting part 122 are detachably connected. The forearm rotation drive 32 is provided corresponding to the enclosure plate 1215. The mounting plates 1216 of the first mounting part 121 and the second mounting part 122 are spaced apart. The joint rotation drive 111 is drivenly connected to the mounting plate 1216 of the first mounting part 121.

[0045] The enclosing plate 1215 has an arc-shaped cross-section. The enclosing plates 1215 of the first mounting portion 121 and the second mounting portion 122 enclose and form an installation space 126. The forearm rotation drive 32 is disposed corresponding to the enclosing plate 1215. The enclosing plates 1215 of the first mounting portion 121 and the second mounting portion 122 are detachably connected to facilitate the installation of the forearm rotation drive 32. The mounting plates 1216 of the first mounting portion 121 and the second mounting portion 122 are spaced apart in the left-right direction to facilitate the installation of the joint rotation drive 111. The joint rotation drive 111 drives the mounting plate 1216 of the first mounting portion 121 to drive the second joint seat 12 to rotate, thereby realizing the bending and straightening movements between the upper arm and the forearm.

[0046] Based on this, one of the enclosure plates 1215 of the first mounting part 121 and the second mounting part 122 is provided with a mounting protrusion 1217, and the other is provided with a mounting groove. The mounting protrusion 1217 is inserted into the mounting groove and connected by fasteners.

[0047] like Figure 7As shown, the enclosure plate 1215 of the second mounting part 122 is provided with a mounting protrusion 1217, and the enclosure plate 1215 of the first mounting part 121 is provided with a mounting groove. The mounting protrusion 1217 is inserted into the mounting groove and connected by fasteners. By setting the mounting protrusion 1217 and the mounting groove to cooperate, the connection area between the first mounting part 121 and the second mounting part 122 is increased, improving the rigidity and strength of the connection between the first mounting part 121 and the second mounting part 122, thereby improving the impact resistance of the robotic arm forearm assembly 30. Specifically, the fastener is a bolt, which passes through the mounting protrusion 1217 and the mounting groove in the horizontal direction and is fixed by a nut. Bolts have the advantages of being easy to obtain materials and convenient to install.

[0048] In another embodiment, the enclosure plate 1215 of the first mounting part 121 may be provided with a mounting protrusion 1217, and the enclosure plate 1215 of the second mounting part 122 may be provided with a mounting groove.

[0049] The number of mounting protrusions 1217 is set to at least two, and the number of mounting grooves is set to at least two. The number of mounting protrusions 1217 and mounting grooves are the same and they are set in a one-to-one correspondence, so that the connection between the first mounting part 121 and the second mounting part 122 is more stable and reliable.

[0050] In the embodiments of this application, please refer to Figure 7 The second joint seat 12 also includes a base plate 127, which is integrally formed with the first mounting part 121. The base plate 127 is connected to the fixed end of the forearm rotation drive 32.

[0051] The base plate 127 and the first mounting part 121 are integrally molded, saving assembly steps, reducing assembly errors, and improving structural stability. The base plate 127 is connected to the fixed end of the forearm rotation drive 32, making the connection between the second joint seat 12 and the forearm rotation drive 32 more stable and reliable. Specifically, the base plate 127 is provided with a plurality of bolts spaced circumferentially along the forearm rotation drive 32, and the fixed end of the base plate 127 and the forearm rotation drive 32 are detachably connected by bolts.

[0052] In the embodiments of this application, please refer to Figure 8 The forearm connecting bracket 31 includes a mounting frame 311, which is connected to the forearm rotation drive 32, and a wire groove 3111 for accommodating the wire harness is formed on the inner wall of the mounting frame 311.

[0053] The forearm rotation drive 32 is driven to rotate the mounting frame 311. Furthermore, a wire groove 3111 is formed on the inner wall of the mounting frame 311 to accommodate the wire harness. The wire harness can enter the wire groove 3111 through the third hollow hole 321, preventing it from being exposed.

[0054] In the embodiments of this application, please refer to Figure 8 The mounting frame 311 has a vertically through third wire hole 3112, which is connected to the wire groove 3111. The forearm connecting bracket 31 also includes an adapter plate 33, and the adapter plate 33 has a vertically through fourth wire hole 331 at the position corresponding to the third wire hole 3112.

[0055] The bottom of the mounting frame 311 is provided with a third wire through hole 3112, which penetrates the mounting frame 311 vertically. The adapter plate 33 is used to connect with the hand assembly 50. The adapter plate 33 is provided with a fourth wire through hole 331 corresponding to the position of the third wire through hole 3112, which penetrates the adapter plate 33 vertically.

[0056] The wire harness can enter the third wire passage hole 3112 from the wire groove 3111, and then pass through the fourth wire passage hole 331 on the adapter plate 33 to realize the internal wiring of the forearm connecting bracket 31 and avoid the wire harness being exposed.

[0057] In the embodiments of this application, please refer to Figure 8 The forearm connecting bracket 31 also includes a wire pressing plate 314, which is detachably located inside the mounting frame 311.

[0058] The wire clamping plate 314 is located on the upper inner side of the mounting frame 311, and is detachably connected to the mounting frame 311. After the wire harness enters the wire groove 3111 through the third hollow hole 321, the wire clamping plate 314 is connected to the mounting frame 311. The wire clamping plate 314 presses the wire harness tightly into the wire groove 3111 to prevent the wire harness from detaching from the wire groove 3111 and becoming exposed. Specifically, the wire clamping plate 314 can be detachably connected to the mounting frame 311 by bolts, clips, or other means.

[0059] Understandably, when the robotic arm includes a joint assembly 10, a shoulder assembly 40, an upper arm assembly 20, and a forearm assembly 30, with the shoulder assembly 40 and the upper arm assembly 20 connected by the joint assembly 10, and the upper arm assembly 20 and the forearm assembly 30 connected by the joint assembly 10, the wire harness enters the wire passage gap between the first joint seat 11 and the joint rotation drive 111 from the fourth hollow hole 421 of the shoulder rotation drive 42, then enters the first hollow hole 1111 of the joint rotation drive 111 from the wire passage gap, enters the second wire passage channel through the first wire passage hole 1211, and then enters the first wire passage channel through the second wire passage hole 1212. The wires extend into the second hollow hole 221 of the upper arm rotation drive 22, and then enter the wire passage gap between the first joint seat 11 and the joint rotation drive 111 of the lower arm assembly 30. From the wire passage gap, the wires sequentially enter the first hollow hole 1111, the second wire passage, and the first wire passage of the joint rotation drive 111. From the first wire passage, the wires enter the third hollow hole 321 of the lower arm rotation drive 32, and then sequentially pass through the wire groove 3111, the third wire passage hole 3112, and the fourth wire passage hole 331. The wire harness is completely internally routed, solving the problems of exposed wires being easily damaged and interfered with, and greatly improving the reliability and aesthetics of the robotic arm.

[0060] Please see Figures 6 to 8 The forearm connecting bracket 31 also includes a connecting seat 315, and the forearm assembly 30 also includes a wrist drive module. The mounting frame 311 is a closed frame structure with a first receiving side and a second receiving side recessed inward on both sides in its thickness direction. The connecting seat 315 is located at the distal end of the mounting frame 311 and is rotatably connected to the adapter plate 33. The wrist drive module includes a first telescopic drive member 312 arranged on the first receiving side and a second telescopic drive member 313 arranged on the second receiving side. One end of the first telescopic drive member 312 and the second telescopic drive member 313 are respectively connected to the opposite sides of the mounting frame 311 through ball joints. The other end of the first telescopic drive member 312 and the second telescopic drive member 313 are both connected to the adapter plate 33 through ball joints.

[0061] The mounting frame 311 is designed as a closed frame structure, resulting in better overall rigidity and higher structural stability and reliability. The mounting frame 311 has a first receiving side and a second receiving side recessed inwards on both sides along its thickness direction. The first telescopic drive member 312 is arranged on the first receiving side, and the second telescopic drive member 313 is arranged on the second receiving side. By setting the first and second receiving sides for the first and second telescopic drive members 312 and 313, the structure of the robotic arm forearm assembly 30 is made more compact. The connecting seat 315 is located at the distal end, i.e., the bottom end, of the mounting frame 311, and is rotatably connected to the adapter plate 33.

[0062] The top ends of the first telescopic drive member 312 and the second telescopic drive member 313 are respectively connected to the opposite sides of the mounting frame 311 via ball joints. The bottom ends of both the first telescopic drive member 312 and the second telescopic drive member 313 are connected to the adapter plate 33 via ball joints. When the first telescopic drive member 312 and the second telescopic drive member 313 extend and retract in the same direction, they can drive the adapter plate 33 to rotate around the first axis, realizing the forward and backward swinging of the wrist. When the first telescopic drive member 312 and the second telescopic drive member 313 extend and retract in opposite directions, they can drive the adapter plate 33 to rotate around the second axis, realizing the left and right swinging of the wrist.

[0063] The wrist drive module, by incorporating a first telescopic drive component 312 and a second telescopic drive component 313, provides the wrist with two degrees of freedom, enhancing the flexibility of the robotic arm. Furthermore, the lower inertia at the end effector effectively improves the load-to-weight ratio and dynamic stability of the robotic arm. The wrist drive module is mounted on a closed frame 311, which provides better overall rigidity, higher structural strength, and more uniform stress distribution. This effectively resists deformation during movement, reduces vibration at the end effector, and improves the stability and vibration resistance of the forearm assembly 30.

[0064] A ball joint is a type of mechanical connection consisting of a steel ball and a ball cup, which allows rotation in multiple directions.

[0065] Specifically, please refer to Figures 7 to 8 The forearm assembly 30 also includes a rotary cross shaft 34, which has a first shaft 341 and a second shaft 342. The first shaft 341 extends along a first axis, and the second shaft 342 extends along a second axis. The connecting seat 315 includes two connecting ears, which are rotatably mounted on both ends of the first shaft 341. The adapter plate 33 has a first bearing 332 and a second bearing 333. The second shaft 342 is mounted between the first bearing 332 and the second bearing 333. Both the first bearing 332 and the second bearing 333 are equipped with rotary bearings to improve rotational stability. The second bearing 333 has a third shaft 334, which is parallel to the first shaft 341. The bottom ends of the first telescopic drive member 312 and the second telescopic drive member 313 are respectively connected to both ends of the third shaft 334 via ball joints. The adapter plate 33 can be connected to the hand assembly 50 via a wrist adapter flange.

[0066] The first telescopic drive member 312 and the second telescopic drive member 313 can be electric, pneumatic, or hydraulic devices, and this application does not impose any restrictions on them. The first shaft 341 and the second shaft 342 of the rotary cross shaft 34 can be arranged perpendicular to each other or at other angles, such as 30°, 45°, 60°, etc., and this application does not impose any restrictions on them.

[0067] In the embodiments of this application, please refer to Figure 8 The mounting frame 311 includes a mounting rod 3113, a reinforcing rod 3114, and two connecting rods 3115. The mounting rod 3113 connects the top ends of the two connecting rods 3115, and the reinforcing rod 3114 connects the bottom ends of the two connecting rods 3115. The mounting rod 3113 has hinge positions 3116 on opposite sides of the mounting frame 311 in the thickness direction, which are respectively ball-jointed with the corresponding first telescopic drive member 312 and the second telescopic drive member 313. The connecting seat 315 is located at the connection between the reinforcing rod 3114 and the connecting rod 3115.

[0068] Two connecting rods 3115 are spaced apart in the left-right direction and extend vertically. A mounting rod 3113 connects the top ends of the two connecting rods 3115. The mounting rod 3113 has hinge positions 3116 on opposite sides (front and rear sides) of the mounting frame 311 in the thickness direction. The first telescopic drive member 312 and the second telescopic drive member 313 are respectively ball-jointed to the hinge positions 3116 on the front and rear sides of the mounting rod 3113. A reinforcing rod 3114 connects the bottom ends of the two connecting rods 3115. The mounting rod 3113, reinforcing rod 3114, and two connecting rods 3115 form a closed frame structure, improving the rigidity of the mounting frame 311. A connecting seat 315 is located at the connection between the reinforcing rod 3114 and the connecting rod 3115, facilitating connection between the connecting seat 315 and the rotary cross shaft 34 on the adapter plate 33, making the structure of the robotic arm forearm assembly 30 more compact.

[0069] Based on this, the connecting rod 3115 is gradually widened in the direction from the self-reinforcing rod 3114 to the mounting rod 3113. That is, the size of the connecting rod 3115 gradually increases from bottom to top, and the size of the top end of the connecting rod 3115 is larger than the size of the bottom end of the connecting rod 3115, so as to improve the structural strength of the mounting frame 311. The smaller size of the bottom end of the connecting rod 3115 can avoid interference or obstruction between the connecting rod 3115 and the first telescopic drive member 312 and the second telescopic drive member 313.

[0070] In the embodiments of this application, please refer to Figure 8 The mounting frame 311 and the connecting seat 315 are designed as a single molded part, which saves the installation steps of the mounting frame 311 and the connecting seat 315, reduces assembly errors, makes the overall rigidity better, and improves the structural stability and reliability of the robotic arm forearm assembly 30.

[0071] In the embodiments of this application, please refer to Figure 7The forearm connecting bracket 31 also includes a forearm adapter flange 35 and a connecting cylinder 316 located at the end of the mounting frame 311 away from the adapter plate 33. The forearm rotation drive 32 is driven to connect with the connecting cylinder 316 through the forearm adapter flange 35. The connecting cylinder 316 is located at the top of the mounting frame 311, and the forearm rotation drive 32 is driven to connect with the connecting cylinder 316. The forearm rotation drive 32 can drive the connecting cylinder 316 to rotate, thereby realizing the rotation of the forearm. Furthermore, by setting the connecting cylinder 316, the connection area between the forearm connecting bracket 31 and the forearm rotation drive 32 can be increased, thereby improving the stability and reliability of the robotic arm forearm assembly 30.

[0072] In addition, this application also provides a robot, including the robotic arm described above. Since the robot adopts all the technical solutions of the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated upon here.

[0073] It should be noted that the terms "proximal end" and "distal end" mentioned above are relative to the robot's torso. Specifically, the end of each component on the robotic arm that is closer to the torso is the proximal end, and the end that is farther from the torso is the distal end.

[0074] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0075] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0076] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0077] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A robotic arm, characterized in that, The robotic arm includes a joint assembly (10), the joint assembly (10) comprising: The first joint seat (11) has a joint rotation drive (111) inside, and the joint rotation drive (111) has a first hollow hole (1111) that passes through along its own first rotation axis and allows the wire harness to pass through. The second joint seat (12) is driven to connect with the joint rotation drive (111). The second joint seat (12) has a first wire passage through the middle part along the second rotation axis. The second joint seat (12) has a second wire passage inside the side wall. The entrances at both ends of the second wire passage are a first wire hole (1211) and a second wire hole (1212), respectively. The first wire hole (1211) is connected to the first hollow hole (1111), and the second wire hole (1212) is connected to the first wire passage. Wherein, the direction of the first rotation axis intersects the direction of the second rotation axis.

2. The robotic arm according to claim 1, characterized in that, The second joint seat (12) includes a first mounting part (121) and a second mounting part (122). The first mounting part (121) and the second mounting part (122) surround and form a receiving space (124) and the first wire passage arranged sequentially along the second rotation axis. The receiving space (124) is used to receive the joint rotation drive (111). The first mounting part (121) and / or the second mounting part (122) are provided with the second wire passage.

3. The robotic arm according to claim 2, characterized in that, The first mounting part (121) has an inwardly recessed receiving groove (1213) on the side away from the second mounting part (122) and a first wire through hole (1211) and a second wire through hole (1212) communicating with the receiving groove (1213). The receiving groove (1213) is covered with an end cap (123), and the first wire passage hole (1211), the receiving groove (1213) and the second wire passage hole (1212) are connected to form the second wire passage channel.

4. The robotic arm according to claim 1, characterized in that, The robotic arm also includes a shoulder assembly (40), a large arm assembly (20), and a forearm assembly (30). The shoulder assembly (40) and the upper arm assembly (20) are connected by the joint assembly (10); and / or the upper arm assembly (20) and the forearm assembly (30) are connected by the joint assembly (10).

5. The robotic arm according to claim 1, characterized in that, The robotic arm also includes a large arm assembly (20), which includes a large arm connecting bracket (21) and a large arm rotation drive (22). The joint assembly (10) is arranged at the proximal end of the large arm connecting bracket (21). A mounting cavity (211) is formed in the large arm connecting bracket (21). The large arm rotation drive (22) is housed in the mounting cavity (211) and connected to the corresponding second joint seat (12). The large arm rotation drive (22) has a second hollow hole (221) through which the wire harness passes, and the second hollow hole (221) is connected to the first wire passage.

6. The robotic arm according to any one of claims 1 to 5, characterized in that, The robotic arm also includes a forearm assembly (30), which includes a forearm connecting bracket (31) and a forearm rotation drive (32). The joint assembly (10) is arranged at the proximal end of the forearm connecting bracket (31), and an installation space (126) is formed in the second joint seat (12). The forearm rotation drive (32) is housed in the installation space (126) and is drivenly connected to the forearm connecting bracket (31). The forearm rotation drive (32) has a third hollow hole (321) through which the wire harness passes, and the third hollow hole (321) is connected to the first wire passage.

7. The robotic arm according to claim 6, characterized in that, The forearm connecting bracket (31) includes a mounting frame (311), which is connected to the forearm rotation drive (32), and a wire groove (3111) for accommodating the wire harness is formed on the inner wall of the mounting frame (311).

8. The robotic arm according to claim 7, characterized in that, The mounting frame (311) has a vertically through third wire hole (3112), which is connected to the wire groove (3111). The forearm connecting bracket (31) also includes an adapter plate (33), and the adapter plate (33) has a vertically through fourth wire hole (331) at the position corresponding to the third wire hole (3112).

9. The robotic arm according to claim 7, characterized in that, The forearm connecting bracket (31) also includes a pressure plate (314), which is detachably located on the inner side of the mounting frame (311).

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

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