Mechanical arm and robot with same

Abstract

The mechanical arm comprises a first driving mechanism, a first arm, a second arm, a connecting assembly and a transmission connecting rod assembly, and a second driving assembly and a third driving assembly are connected with the first driving assembly through mounting bases correspondingly; the first end of the first arm is rotationally connected with the mounting seat and can rotate under the driving of the second driving assembly; the second end of the first arm is rotationally connected with the third end of the second arm; a first rotating shaft of the connecting assembly penetrates through the first end and is connected with the output end of the third driving assembly; one end of a first connecting rod structure of the transmission connecting rod assembly is rotationally connected with the second end, the other end of the first connecting rod structure is rotationally connected with one end of a second connecting rod structure and one end of a third connecting rod structure, the other end of the second connecting rod structure is rotationally connected with the connecting assembly, and the other end of the third connecting rod structure is fixedly connected with the third end. The mechanical arm has good rigidity and load capacity.

Description

Technical Field

[0001] The present application relates to the technical field of robotic arms, and in particular to a robotic arm and a robot having the same. Background Art

[0002] In the related technology, since the motor and reducer of the commonly used multi-joint serial robot are usually arranged directly at the joint rotation position, the self-weight of the end mechanism is relatively large. Therefore, in addition to bearing the load torque brought by the load, the start joint reducer also needs to bear the self-weight of the end joint motor and reducer. Therefore, the wall thickness of the start shell has to be thickened to enhance the rigidity, which in turn puts higher requirements on the rigidity and power of the start reducer, and brings great limitations to the self-weight of the end reducer and motor. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a mechanical arm with good rigidity and load capacity.

[0004] The utility model also provides a robot with the mechanical arm.

[0005] The mechanical arm according to the first embodiment of the utility model includes: a first driving mechanism, a first arm, a second arm, a connecting assembly and a transmission connecting rod assembly, the first driving mechanism includes a first driving assembly, a mounting seat, a second driving assembly and a third driving assembly, the second driving assembly and the third driving assembly are respectively connected to the output end of the first driving assembly through the mounting seat; the first end of the first arm is rotatably connected to the mounting seat and can rotate under the drive of the second driving assembly; the second end of the first arm is rotatably connected to the third end of the second arm; the connecting assembly includes a first rotating shaft and a connecting rod seat fixedly sleeved on the first rotating shaft, the first rotating shaft The shaft is passed through the first end and is connected to the output end of the third driving component, and can rotate under the drive of the third driving component; the transmission connecting rod assembly includes a first connecting rod structure, a second connecting rod structure and a third connecting rod structure, one end of the first connecting rod structure is rotatably connected to the second end, the other end of the first connecting rod structure is rotatably connected to one end of the second connecting rod structure and one end of the third connecting rod structure respectively, the other end of the second connecting rod structure is rotatably connected to the connecting rod seat, the other end of the third connecting rod structure is fixedly connected to the third end, and the third driving component can drive the second connecting rod structure through the connecting assembly to drive the first connecting rod structure to rotate around the second end.

[0006] The mechanical arm according to the embodiment of the utility model has at least the following beneficial effects: the mechanical arm includes a first driving mechanism, a first arm, a second arm, a connecting assembly and a transmission link assembly, the first driving mechanism includes a first driving assembly, a mounting seat, a second driving assembly and a third driving assembly, the second driving assembly and the third driving assembly are respectively arranged on the mounting seat, the first end of the first arm is rotatably connected to the mounting seat, the mounting seat is connected to the output end of the first driving assembly, and can rotate under the drive of the first driving assembly, thereby driving the second driving assembly, the third driving assembly and the first arm to rotate; and the first end of the first arm is also connected to the output end of the second driving assembly, so that the first arm can rotate under the drive of the second driving assembly; the third end of the second arm is rotatably connected to the second end of the first arm, the connecting assembly is penetrated through the first end of the first arm, and is connected to the output end of the third driving assembly, the transmission link assembly is respectively connected to the connecting assembly, the second end and the third end, so that the third driving assembly can drive the transmission link assembly through the connecting assembly to drive the third end to rotate around the second end. Specifically, the connecting assembly includes a first rotating shaft and a connecting rod seat, the connecting rod seat is fixedly sleeved on the first rotating shaft, the first rotating shaft is passed through the first end, and can rotate under the drive of the third driving assembly, thereby driving the connecting rod seat to rotate; the transmission connecting rod assembly includes a first connecting rod structure, a second connecting rod structure and a third connecting rod structure, one end of the first connecting rod structure is rotationally connected to the second end, and the other end is rotationally connected to one end of the first connecting rod structure and one end of the third connecting rod structure respectively, the other end of the first connecting rod structure is rotationally connected to the connecting rod seat, and the other end of the third connecting rod structure is fixed to the third end. In summary, the setting of the connecting assembly and the transmission connecting rod assembly enables the third driving assembly to be set on the mounting seat, and avoids being set at a position where the joint rotates. The third driving assembly drives the transmission connecting rod assembly to move by driving the connecting assembly, so that the third end can rotate around the second end, thereby improving the rigidity and load capacity of the robotic arm.

[0007] According to some embodiments of the present utility model, the third connecting rod structure includes a first rod and a second rod, one end of the first rod is fixedly connected to the third end, the other end of the first rod is rotatably connected to one end of the second rod, and the other end of the second rod is rotatably connected to the other end of the first connecting rod structure.

[0008] According to some embodiments of the utility model, the second end and the third end are rotatably connected via a connecting structure, the connecting structure includes a connecting rod and a limiting structure, the two ends of the connecting rod are rotatably connected to the second end and the third end respectively, the limiting structure is connected to the second end and the third end respectively, and the limiting structure is used to limit the third end from sliding relative to the second end.

[0009] According to some embodiments of the present utility model, the limiting structure includes at least one group of limiting ropes, each group of limiting ropes includes two limiting ropes crossing each other, and both ends of each limiting rope are respectively fixed at the second end and the third end.

[0010] According to some embodiments of the utility model, a second driving mechanism, a transmission line group and an end-actuating assembly are also included. The second driving mechanism is arranged on the first arm, and the end-actuating assembly is arranged on the fourth end. The two ends of the transmission line group are respectively connected to the second driving mechanism and the end-actuating assembly. The second driving mechanism can drive the end-actuating assembly to rotate relative to the fourth end through the transmission line group.

[0011] According to some embodiments of the utility model, the end execution assembly includes an end mounting plate, a positioning rod and an end flange, the end mounting plate is connected to the fourth end, the end flange is connected to an end of the end mounting plate away from the fourth end, the two ends of the positioning rod are respectively movably connected between the end mounting plate and the end flange, and the transmission line group includes multiple transmission lines, which are passed through the end mounting plate and are rotatably connected to the end flange.

[0012] According to some embodiments of the utility model, the transmission line group also includes a tensioning assembly. Four transmission lines are provided and are grouped in pairs. One end of each group of transmission lines away from the end actuator is connected through a tensioning assembly. The tensioning assembly is used to adjust the tension of each group of transmission lines.

[0013] According to some embodiments of the utility model, the second drive mechanism includes a fourth drive assembly, a fifth drive assembly and two first rotating wheels, each group of transmission lines are respectively connected to the output end of the fourth drive assembly and the output end of the fifth drive assembly through the first rotating wheels, the fourth drive assembly and the fifth drive assembly are arranged in sequence along the arm length of the first arm, and the plane where the output shaft of the fourth drive assembly and the output shaft of the fifth drive assembly are located is perpendicular to the rotation plane of the second arm.

[0014] According to some embodiments of the present utility model, the first driving mechanism further includes a sixth driving component and a rotating seat connected to the output end of the sixth driving component, and the first driving component is disposed on the rotating seat.

[0015] The robot according to the second embodiment of the utility model comprises the mechanical arm of the first embodiment of the utility model, and further comprises a bracket, and two groups of mechanical arms are symmetrically arranged on the bracket.

[0016] The robot according to the embodiment of the utility model has at least the following beneficial effects: the robot includes a bracket and two sets of mechanical arms symmetrically arranged on the bracket. Through this arrangement, the robot simulates the arms of the human body, realizes transplantation and movement with multiple degrees of freedom, and has good rigidity and load capacity.

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

[0018] The present invention is further described below with reference to the accompanying drawings and embodiments, wherein:

[0019] Figure 1 A schematic diagram of the overall structure of a robot according to an embodiment of the second aspect of the utility model;

[0020] Figure 2 for Figure 1 The robot shown in the figure is a schematic diagram of its structure after some of the outer shells are removed;

[0021] Figure 3 It is a structural schematic diagram of a mechanical arm of an embodiment of the first aspect of the utility model;

[0022] Figure 4 for Figure 3 The schematic diagram of the structure of the robot arm shown in the figure after removing a shell;

[0023] Figure 5 for Figure 3 The schematic diagram of the structure of the robot arm shown in the figure after removing the outer plates of the first arm and the second arm;

[0024] Figure 6 for Figure 3 Schematic diagram of the limiting structure in the robotic arm shown in .

[0025] Reference numerals:

[0026] First drive assembly 100; mounting seat 200; second drive assembly 300; third drive assembly 400; first arm 500; first end 510; second end 520; second arm 600; third end 610; fourth end 620; connecting assembly 700; first rotating shaft 710; connecting rod seat 720; transmission connecting rod assembly 800; first connecting rod structure 810; second connecting rod structure 820; third connecting rod structure 830; first rod 831; second rod 832; connecting rod 910; limiting structure 920; limiting rope 921; fifth end 9211; sixth end 9212; insert 922; fourth drive assembly 1010; fifth drive assembly 1020; first rotating wheel 1030; tensioning assembly 1110; screw rod 1111; nut 1112; transmission line 1120; end mounting plate 1210; positioning rod 1220; end flange 1230; sixth drive assembly 1300; seventh drive assembly 1400; universal joint 1500; rotating seat 1600; bracket 1700. DETAILED DESCRIPTION

[0027] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0028] In the description of the present application, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0029] In the description of this application, "several" means more than one, "more" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0030] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application based on the specific content of the technical solution.

[0031] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0032] Reference below Figures 1 to 6 The present invention describes a mechanical arm and a robot having the same according to an embodiment of the present invention.

[0033] like Figures 1 to 5As shown, the mechanical arm according to the first embodiment of the utility model includes: a first driving mechanism, a first arm 500, a second arm 600, a connecting assembly 700 and a transmission connecting rod assembly 800, the first driving mechanism includes a first driving assembly 100, a mounting seat 200, a second driving assembly 300 and a third driving assembly 400, the second driving assembly 300 and the third driving assembly 400 are respectively connected to the output end of the first driving assembly 100 through the mounting seat 200; the first end 510 of the first arm 500 is rotatably connected to the mounting seat 200, and can rotate under the drive of the second driving assembly 300; the second end 520 of the first arm 500 is rotatably connected to the third end 610 of the second arm 600; the connecting assembly 700 includes a first rotating shaft 710 and a connecting rod seat 720 fixedly sleeved on the first rotating shaft 710 The first rotating shaft 710 is passed through the first end 510 and is connected to the output end of the third driving assembly 400, and can rotate under the drive of the third driving assembly 400; the transmission connecting rod assembly 800 includes a first connecting rod structure 810, a second connecting rod structure 820 and a third connecting rod structure 830, one end of the first connecting rod structure 810 is rotatably connected to the second end 520, the other end of the first connecting rod structure 810 is rotatably connected to one end of the second connecting rod structure 820 and one end of the third connecting rod structure 830 respectively, the other end of the second connecting rod structure 820 is rotatably connected to the connecting rod seat 720, and the other end of the third connecting rod structure 830 is fixedly connected to the third end 610, and the third driving assembly 400 can drive the second connecting rod structure 820 through the connecting assembly 700 to drive the first connecting rod structure 810 to rotate around the second end 520.

[0034] It can be understood that the robot arm includes a first driving mechanism, a first arm 500, a second arm 600, a connecting assembly 700 and a transmission connecting rod assembly 800, the first driving mechanism includes a first driving assembly 100, a mounting seat 200, a second driving assembly 300 and a third driving assembly 400, the second driving assembly 300 and the third driving assembly 400 are respectively arranged on the mounting seat 200, the first end 510 of the first arm 500 is rotatably connected to the mounting seat 200, the mounting seat 200 is connected to the output end of the first driving assembly 100, and can be driven by the first driving assembly 100 to rotate, thereby driving the second driving assembly 300, the third driving assembly 400 and the first The arm 500 rotates; and the first end 510 of the first arm 500 is also connected to the output end of the second drive component 300, so that the first arm 500 can rotate under the drive of the second drive component 300; the third end 610 of the second arm 600 is rotatably connected to the second end 520 of the first arm 500, the connecting component 700 is passed through the first end 510 of the first arm 500, and is connected to the output end of the third drive component 400, and the transmission connecting rod assembly 800 is respectively connected to the connecting component 700, the second end 520, and the third end 610, so that the third drive component 400 can drive the transmission connecting rod assembly 800 through the connecting component 700 to drive the third end 610 to rotate around the second end 520.

[0035] Specifically, the connecting assembly 700 includes a first rotating shaft 710 and a connecting rod seat 720, the connecting rod seat 720 is fixedly mounted on the first rotating shaft 710, the first rotating shaft 710 is passed through the first end 510, and can rotate under the drive of the third driving assembly 400, thereby driving the connecting rod seat 720 to rotate; the transmission connecting rod assembly 800 includes a first connecting rod structure 810, a second connecting rod structure 820 and a third connecting rod structure 830, one end of the first connecting rod structure 810 is rotatably connected to the second end 520, and the other end is rotatably connected to one end of the first connecting rod structure 810 and one end of the third connecting rod structure 830 respectively, the other end of the first connecting rod structure 810 is rotatably connected to the connecting rod seat 720, and the other end of the third connecting rod structure 830 is fixedly arranged on the third end 610. In summary, the arrangement of the connecting assembly 700 and the transmission link assembly 800 enables the third driving assembly 400 to be arranged on the mounting seat 200, rather than being arranged at a position where the joint rotates. The third driving assembly 400 drives the transmission link assembly 800 to move by driving the connecting assembly 700, so that the third end 610 can rotate around the second end 520, thereby improving the rigidity and load capacity of the robotic arm.

[0036] It can be understood that the third connecting rod structure 830 includes a first rod 831 and a second rod 832, one end of the first rod 831 is fixedly connected to the third end 610, the other end of the first rod 831 is rotatably connected to one end of the second rod 832, and the other end of the second rod 832 is rotatably connected to the other end of the first connecting rod structure 810. Figures 3 to 5 As shown, in this embodiment, the two ends of the second rod 832 are rotatably connected to the other end of the first rod 831 and the other end of the first connecting rod structure 810, respectively, so that the setting of the second rod 832 can make the first rod 831 and the first connecting rod structure 810 linked to each other. When the first connecting rod structure 810 rotates relative to the second end 520, the first rod 831 can simultaneously drive the third end 610 to rotate relative to the second end 520.

[0037] It can be understood that the second end 520 and the third end 610 are rotatably connected via a connecting structure, the connecting structure includes a connecting rod 910 and a limiting structure 920, the two ends of the connecting rod 910 are rotatably connected to the second end 520 and the third end 610 respectively, the limiting structure 920 is connected to the second end 520 and the third end 610 respectively, and the limiting structure 920 is used to limit the third end 610 from sliding relative to the second end 520. For example, Figures 3 to 5 As shown, in this embodiment, under the drive of the third driving component 400, the relative movement of the second end 520 and the third end 610 is difficult to control, so through the setting of the connecting rod 910, the connecting rod 910, the first rod 831, the second rod 832 and the first connecting rod structure 810 form a quadrilateral, and then the setting of the limiting structure 920 can avoid relative sliding between the second end 520 and the third end 610. Therefore, under the drive of the third driving component 400, the third end 610 can stably rotate relative to the second end 520.

[0038] It should be understood that the second end 520 can be restricted from sliding relative to the third end 610 by setting the connection structure. Therefore, when the second drive assembly 300 is driven and the third drive assembly 400 stops driving, since the connection assembly 700 and the transmission link assembly 800 are rotationally connected, only the first arm 500 rotates around the first end 510, and the second arm 600 only translates relative to the ground; when the second drive assembly 300 stops driving and the third drive assembly 400 drives the connection assembly 700 to rotate, the third end 610 of the second arm 600 will rotate relative to the second end 520 of the first arm 500; when the rotation paths output by the second drive assembly 300 and the third drive assembly 400 are consistent, the first arm 500 rotates around the first end 510, and the second arm 600 also rotates and remains relatively still with the first arm 500.

[0039] It can be understood that the limiting structure 920 includes at least one group of limiting ropes 921, each group of limiting ropes 921 includes two mutually intersecting limiting ropes 921, and the two ends of each limiting rope 921 are respectively fixed to the second end 520 and the third end 610. Figures 5 and 6 As shown, in this embodiment, the limiting structure 920 includes at least one group of limiting ropes 921, and one group of limiting ropes 921 includes two crossed limiting ropes 921, and the two ends of each limiting rope 921 are respectively fixed to the second end 520 and the third end 610. By fixing the two crossed limiting ropes 921, the relative rotation between the second end 520 and the third end 610 can be achieved to avoid relative sliding. Specifically, the second end 520 is provided with a second rotating shaft, the third end 610 is provided with a third rotating shaft, and the second rotating shaft and the third rotating shaft are both fixed with an insert 922. The sixth end 9212 of the limiting rope 921 is fixed to the insert 922, and the fifth end 9211 of the limiting rope 921 is pressed against the outer shell of the first arm 500 / the second arm 600 by a locking bolt, thereby achieving the fixing of the limiting rope 921.

[0040] It can be understood that it also includes a second driving mechanism, a transmission line 1120 group and an end effector assembly, the second driving mechanism is arranged on the first arm 500, the end effector assembly is arranged on the fourth end 620, and the two ends of the transmission line 1120 group are respectively connected to the second driving mechanism and the end effector assembly, and the second driving mechanism can drive the end effector assembly to rotate relative to the fourth end 620 through the transmission line 1120 group. For example, Figures 3 to 5 As shown, in this embodiment, the second driving mechanism can drive the end actuator located at the fourth end 620 to rotate through the transmission line 1120 group. By setting the second driving mechanism on the first arm 500, the load requirement for the second arm 600 is reduced, and the rigidity and load capacity of the second arm 600 are improved.

[0041] It can be understood that the end-actuator assembly includes an end mounting plate 1210, a positioning rod 1220 and an end flange 1230, the end mounting plate 1210 is connected to the fourth end 620, the end flange 1230 is connected to the end of the end mounting plate 1210 away from the fourth end 620, the two ends of the positioning rod 1220 are respectively movably connected between the end mounting plate 1210 and the end flange 1230, and the transmission line 1120 group includes a plurality of transmission lines 1120, which are passed through the end mounting plate 1210 and are rotatably connected to the end flange 1230. For example, Figure 5 As shown, in this embodiment, the rotation of the end flange 1230 relative to the end mounting plate 1210 is achieved by means of a positioning rod 1220 movably connected between the end mounting plate 1210 and the end flange 1230, and a transmission line 1120 passing through the end mounting plate 1210 and movably connected to the end flange 1230.

[0042] Specifically, it also includes a seventh drive component 1400 and a universal joint 1500. The seventh drive component 1400 is arranged on the second arm 600. The universal joint 1500 is connected to the output end of the seventh drive component 1400 and is connected between the end mounting plate 1210 and the end flange 1230. Therefore, the end flange 1230 can rotate under the drive of the seventh drive component 1400, and the end flange 1230 can make a hemispherical roll relative to the end mounting plate 1210 under the limitation of the universal joint 1500 and the positioning rod 1220.

[0043] It can be understood that the transmission line 1120 group also includes a tensioning assembly 1110, and there are four transmission lines 1120, and two of them form a group. The end of each group of transmission lines 1120 away from the end effector is connected by a tensioning assembly 1110, and the tensioning assembly 1110 is used to adjust the tension of each group of transmission lines 1120. For example, Figure 5 As shown, in this embodiment, the transmission line 1120 group also includes a tensioning assembly 1110, and the transmission lines 1120 are provided with two groups and each group includes two transmission lines 1120. In each group, one end of one transmission line 1120 and another transmission line 1120 are connected through the tensioning assembly 1110, and the other ends of the two transmission lines 1120 are rotatably connected to the end flange 1230. Specifically, the tensioning assembly 1110 includes a screw rod 1111 provided at one end of one transmission line 1120 and a nut 1112 provided at one end of the other transmission line 1120. The degree of threaded connection between the nut 1112 and the bolt can adjust the tensioning degree of the two transmission lines 1120, thereby realizing the connection and pre-tightening between the two transmission lines 1120.

[0044] It can be understood that the second driving mechanism includes a fourth driving assembly 1010, a fifth driving assembly 1020 and two first rotating wheels 1030, each set of transmission lines 1120 are respectively connected to the output end of the fourth driving assembly 1010 and the output end of the fifth driving assembly 1020 through the first rotating wheels 1030, the fourth driving assembly 1010 and the fifth driving assembly 1020 are sequentially arranged along the arm length of the first arm 500, and the plane where the output shaft of the fourth driving assembly 1010 and the output shaft of the fifth driving assembly 1020 are located is perpendicular to the rotation plane of the second arm 600. For example, Figure 5As shown, in this embodiment, one end of each group of transmission lines 1120 away from the end flange 1230 is sleeved on a first rotating wheel 1030, and the second driving mechanism includes a fourth driving assembly 1010 and a fifth driving assembly 1020. The fourth driving assembly 1010 and the fifth driving assembly 1020 drive the corresponding group of transmission lines 1120 through the first rotating wheel 1030, respectively, so as to adjust the rolling angle of the end flange 1230. The fourth driving assembly 1010 and the fifth driving assembly 1020 are arranged along the arm length of the first arm 500, and the plane where the output shafts of the two driving assemblies are located is perpendicular to the rotation plane of the second arm 600, so that the balance of the second driving mechanism in the first arm 500 can be well achieved.

[0045] It can be understood that the first driving mechanism further includes a sixth driving assembly 1300 and a rotating seat 1600 connected to the output end of the sixth driving assembly 1300, and the first driving assembly 100 is disposed on the rotating seat 1600. Figure 1 to Figure 2 As shown, in this embodiment, the first driving mechanism also includes a sixth driving component 1300 and a rotating seat 1600 connected to the output end of the sixth driving component 1300. The first driving component 100 is arranged on the rotating seat 1600 so that it can rotate following the rotating seat 1600 under the drive of the sixth driving component 1300.

[0046] like Figure 1 to Figure 2 As shown, the robot according to the second embodiment of the utility model includes: the two groups of mechanical arms in the above-mentioned first embodiment, and also includes a bracket 1700, and the two groups of mechanical arms are symmetrically arranged on the bracket 1700.

[0047] It can be understood that this robot includes a bracket 1700 and two sets of mechanical arms symmetrically arranged on the bracket 1700. This setting simulates the arms of the human body, realizes transplantation and movement with multiple degrees of freedom, and has good rigidity and load capacity.

[0048] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the present application. In addition, the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

Claims

1. A robotic arm, characterized in that: include: A first driving mechanism, wherein the first driving mechanism comprises a first driving assembly, a mounting seat, a second driving assembly and a third driving assembly, wherein the second driving assembly and the third driving assembly are respectively connected to an output end of the first driving assembly through the mounting seat; A first arm, wherein a first end of the first arm is rotatably connected to the mounting seat and can rotate under the drive of the second driving assembly; a second arm, wherein the second end of the first arm is rotatably connected to the third end of the second arm; A connecting assembly, comprising a first rotating shaft and a connecting rod seat fixedly sleeved on the first rotating shaft, wherein the first rotating shaft is passed through the first end and connected to the output end of the third driving assembly, and can rotate under the drive of the third driving assembly; A transmission connecting rod assembly, the transmission connecting rod assembly includes a first connecting rod structure, a second connecting rod structure and a third connecting rod structure, one end of the first connecting rod structure is rotatably connected to the second end, the other end of the first connecting rod structure is rotatably connected to one end of the second connecting rod structure and one end of the third connecting rod structure respectively, the other end of the second connecting rod structure is rotatably connected to the connecting rod seat, the other end of the third connecting rod structure is fixedly connected to the third end, and the third driving assembly can drive the second connecting rod structure through the connecting assembly to drive the first connecting rod structure to rotate around the second end.

2. The robotic arm according to claim 1, characterized in that: The third connecting rod structure includes a first rod and a second rod, one end of the first rod is fixedly connected to the third end, the other end of the first rod is rotatably connected to one end of the second rod, and the other end of the second rod is rotatably connected to the other end of the first connecting rod structure.

3. The robotic arm according to claim 2, characterized in that: The second end and the third end are rotatably connected via a connecting structure, and the connecting structure includes a connecting rod and a limiting structure. The two ends of the connecting rod are rotatably connected to the second end and the third end respectively, and the limiting structure is connected to the second end and the third end respectively, and the limiting structure is used to limit the third end from sliding relative to the second end.

4. The robotic arm according to claim 3, characterized in that: The limiting structure includes at least one group of limiting ropes, each group of the limiting ropes includes two limiting ropes that cross each other, and both ends of each limiting rope are respectively fixed to the second end and the third end.

5. The robotic arm according to claim 1, characterized in that: It also includes a second driving mechanism, a transmission line group and an end-effector assembly, wherein the second driving mechanism is arranged on the first arm, and the end-effector assembly is arranged on the fourth end of the second arm, and the two ends of the transmission line group are respectively connected to the second driving mechanism and the end-effector assembly, and the second driving mechanism can drive the end-effector assembly to rotate relative to the fourth end through the transmission line group.

6. The robotic arm according to claim 5, characterized in that: The end execution assembly includes an end mounting plate, a positioning rod and an end flange, the end mounting plate is connected to the fourth end, the end flange is connected to an end of the end mounting plate away from the fourth end, both ends of the positioning rod are movably connected between the end mounting plate and the end flange, and the transmission line group includes a plurality of transmission lines, which are passed through the end mounting plate and are rotatably connected to the end flange.

7. The robotic arm according to claim 6, characterized in that: The transmission line group also includes a tensioning assembly. The transmission lines are provided with four and are grouped in pairs. One end of each group of transmission lines away from the end execution assembly is connected through the tensioning assembly. The tensioning assembly is used to adjust the tension of each group of transmission lines.

8. The robot arm according to claim 7, characterized in that: The second driving mechanism includes a fourth driving assembly, a fifth driving assembly and two first rotating wheels. Each group of the transmission lines is respectively connected to the output end of the fourth driving assembly and the output end of the fifth driving assembly through the first rotating wheels. The fourth driving assembly and the fifth driving assembly are arranged in sequence along the arm length of the first arm. The plane where the output shaft of the fourth driving assembly and the output shaft of the fifth driving assembly are located is perpendicular to the rotation plane of the second arm.

9. The mechanical arm according to any one of claims 1 to 8, characterized in that: The first driving mechanism further includes a sixth driving component and a rotating seat connected to the output end of the sixth driving component, and the first driving component is arranged on the rotating seat.

10. A robot, characterized in that: It comprises a mechanical arm as described in any one of claims 1 to 9 above, and also comprises a bracket, wherein the mechanical arm is provided with two groups and is symmetrically arranged on the bracket.

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