Mechanical arm and robot thereof

Abstract

The mechanical arm comprises a machine frame, an arm mechanism, a mechanical claw assembly and a first driving mechanism, the machine frame is used for being installed on a machine body, and the arm mechanism is used for being rotationally connected with the machine frame; the mechanical claw assembly is arranged at the lower end of the arm mechanism and rotationally connected with the arm mechanism. A power source of the first driving mechanism is connected to the upper end of the arm mechanism, and the first driving mechanism is connected with the mechanical claw assembly to drive the mechanical claw assembly to rotate relative to the arm mechanism. According to the mechanical arm provided by the invention, the power source of the first driving mechanism for driving the mechanical claw assembly to rotate is arranged at the upper end of the arm part, so that the gravity center of the mechanical arm is favorably improved, the rotational inertia of the mechanical arm rotating relative to the machine body is reduced, the energy consumption of the robot is favorably controlled, and the response speed of the robot is improved.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent devices, and in particular to a robotic arm and a robot thereof. Background Art

[0002] With the rapid development of robotics technology, intelligent robots have been widely used in various industrial and life scenarios. The mechanical arms of existing intelligent robots all include mechanical claws, which are usually used to achieve complex operations such as grasping and carrying. Therefore, the mechanical claws often need to use joint motors to drive the mechanical claws to rotate to make the mechanical claws more flexible and convenient for grasping objects.

[0003] Due to the influence of the structural setting of the mechanical claw joint motor, the existing robotic arm has a large rotational inertia when the robotic arm rotates relative to the body, which in turn causes the robot to expend more energy to overcome the inertia of the robotic arm, affects the robot's response time, and affects the flexibility of the robotic arm. Utility Model Content

[0004] In view of this, the present application proposes a robotic arm and a robot thereof.

[0005] A first aspect of the present application provides a mechanical arm for a robot, the mechanical arm comprising:

[0006] A frame, the frame being used for being mounted to the fuselage;

[0007] An arm mechanism, the arm mechanism is used for rotationally connecting with the body of the robot;

[0008] A mechanical claw assembly, which is arranged at the lower end of the arm mechanism and is rotatably connected to the arm mechanism;

[0009] The first driving mechanism has a power source connected to the upper end of the arm mechanism, and the first driving mechanism is connected to the mechanical claw assembly to drive the mechanical claw assembly to rotate relative to the arm mechanism.

[0010] A second aspect of the present application provides a robot, comprising a frame, a body and the above-mentioned robotic arm, wherein the frame is used to be installed in the body, and the robotic arm is rotatably connected to the frame.

[0011] The robotic arm proposed in the present application sets the power source of the first driving mechanism that drives the mechanical claw assembly to rotate at the upper end of the arm. This helps to improve the center of gravity of the robotic arm and reduce the rotational inertia of the robotic arm when it rotates relative to the body, which in turn helps to control the energy consumption of the robot and improve the response speed of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained like these drawings without paying any creative work.

[0013] Figure 1 This is a schematic diagram of the structure of the robot proposed in the embodiment of the present application.

[0014] Figure 2 A schematic diagram of the transformation of the robot arm proposed in an embodiment of the present application.

[0015] Figure 3 This is a schematic diagram of the structure of the robotic arm proposed in an embodiment of the present application.

[0016] Figure 4 This is a schematic diagram of the structure of the robotic arm proposed in an embodiment of the present application from another perspective.

[0017] Figure 5 This is a schematic diagram of the structure of the robotic arm proposed in an embodiment of the present application from another perspective.

[0018] Figure 6 This is a schematic diagram of the explosion of the robotic arm proposed in an embodiment of the present application.

[0019] Figure 7 This is a schematic diagram of the structure of some components of the robotic arm proposed in an embodiment of the present application.

[0020] Figure 8 This is a schematic diagram of the structure of some components of the robotic arm proposed in an embodiment of the present application.

[0021] Fig. 9 This is a schematic diagram of the structure of multiple arm mechanisms of the robotic arm proposed in an embodiment of the present application.

[0022] Fig.10 This is a schematic diagram of the structure of the extended multiple arm mechanisms of the robotic arm proposed in an embodiment of the present application.

[0023] Fig.11 This is a schematic diagram of the structure of the robotic arm proposed in an embodiment of the present application from another perspective.

[0024] Fig.12 This is a schematic diagram of an explosion of some components of the robotic arm proposed in an embodiment of the present application.

[0025] Fig.13 A cross-sectional view of a robotic arm according to an embodiment of the present application.

[0026] Fig.14 for Fig.13 Schematic diagram of the enlarged structure at A.

[0027] Description of reference numerals:

[0028] 100, robot arm; 10, arm mechanism; 10a, first arm mechanism; 10b, second arm mechanism; 11, guide assembly; 111, guide rod; 12, slide; 13, first seat frame; 131, through hole; 14, second seat frame; 10c, n-1th arm mechanism; 10d, nth arm mechanism; 20, frame; 30, first drive mechanism; 30a, first drive member; 31, first motor; 311, motor frame; 32, first transmission assembly; 321, first driving wheel; 322, first transmission wheel; 323, second transmission wheel; 324, first driven wheel; 325, first flexible transmission member; 326, first limiting member; 327, first preload wheel; 30b, second drive member; 33, second motor; 34, second transmission assembly; 341, second driving wheel; 342, a third transmission wheel; 343, a fourth transmission wheel; 344, a second flexible transmission member; 345, a second limiting member; 346, a second preload wheel; 40, a second driving mechanism; 40a, a third driving member; 40b, a fourth driving member; 41, a third motor; 42, a third transmission assembly; 421, a third driving wheel; 422, a second driven wheel; 423, a third flexible transmission member; 424, a fifth transmission wheel; 425, a sixth transmission wheel; 43, a fourth motor; 44, a fourth transmission assembly; 441, a fourth driving wheel; 442, a fourth flexible transmission member; 443, a seventh transmission wheel; 444, a eighth transmission wheel; 50, a supporting frame; 51, a first connecting frame; 52, a second connecting frame; 53, a third connecting frame; 54, a fourth connecting frame; a, a first axis; b, a second axis; 1000, a robot. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0030] It should be understood that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0031] It should also be understood that when an element is referred to as being "fixed" or "disposed on" another element, it can be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or it can be indirectly connected to the other element through an intermediate element.

[0032] The terms used in this specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. For example, the descriptions of "first", "second", etc. in the present application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0033] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0034] Any and all possible combinations of one or more of the listed items are and include these combinations.

[0035] like Figures 1 to 14 The embodiment of the present application proposes a robotic arm 100 for a robot 1000, the robotic arm 100 includes a frame 20, an arm mechanism 10, a robotic claw assembly and a first driving mechanism 30, the frame 20 is used to be installed to the body of the robot 1000, the arm mechanism 10 is used to be rotatably connected to the frame 20; the robotic claw assembly is arranged at the lower end of the arm mechanism 10 and is rotatably connected to the arm mechanism 10; the power source of the first driving mechanism 30 is connected to the upper end of the arm mechanism 10, and the first driving mechanism 30 is connected to the robotic claw assembly to drive the robotic claw assembly to rotate relative to the arm mechanism 10.

[0036] By setting the power source of the first drive mechanism 30 at the upper end of the arm, it is helpful to improve the center of gravity of the robot arm 100 and reduce the rotational inertia of the robot arm 100 when it rotates relative to the body, which is beneficial to control the energy consumption of the robot 1000 and improve the response speed of the robot 1000.

[0037] In some embodiments, the mechanical claw assembly includes a mechanical claw and a claw shaft, wherein the claw shaft is fixedly connected to the mechanical claw, and the claw shaft is rotationally connected to the arm mechanism through a bearing to rotationally connect the mechanical claw and the arm mechanism.

[0038] In some embodiments, the arm mechanism 10 includes a first arm mechanism 10a and a second arm mechanism 10b; the first arm mechanism 10a is used to be rotatably connected to the frame 20; the second arm mechanism 10b is slidably connected to the first arm mechanism 10a; the mechanical claw assembly is arranged at the lower end of the second arm mechanism 10b and is rotatably connected to the second arm mechanism 10b; the first driving mechanism 30 is connected to the first arm mechanism 10a and the second arm mechanism 10b and is used to drive the mechanical claw assembly to rotate relative to the second arm mechanism 10b, and drive the second arm mechanism 10b to move linearly in the up and down directions relative to the first arm mechanism 10a, and the up and down directions are the extension directions of the first arm mechanism 10a.

[0039] It should be noted that the up and down direction of the present application is the extension direction of the first arm mechanism 10a. When the robotic arm is placed vertically, the up and down direction is the vertical direction. When the robotic arm is placed horizontally in reverse, the up and down direction is the horizontal direction.

[0040] That is to say, the first driving mechanism 30 is not only used to drive the mechanical claw assembly to rotate relative to the arm mechanism 10, but also used to drive the arm mechanism 10 to perform telescopic movement.

[0041] The robotic arm 100 proposed in the embodiment of the present application, in addition, due to the linear telescopic setting between the first arm mechanism 10a and the second arm mechanism 10b, the robot 1000 maintains an unchanged force arm during the telescopic process of any telescopic arm mechanism 10, that is, the load force arm borne by the power source remains unchanged during the telescopic process, and under normal circumstances, the force arm of the load borne by the power source is shorter, the power source has low power consumption, strong load capacity, and better stability.

[0042] It should be noted that in the prior art, the arm of the robot 1000 with a connecting rod structure has a connecting rod angle that keeps changing during the extension and retraction process, and the force arm of the load on the power source keeps changing, which makes the control model complex. The robot 1000 with a connecting rod structure has a relatively short force arm, except when the arm is at or close to the longest extension. Most of the time, the arm of the robot 1000 has a certain extension and retraction amount, and is not at the longest state. The force arm is always relatively long, and the robot 1000 is relatively energy-consuming.

[0043] Moreover, the linear telescopic setting of the present application makes the appearance of the robot 1000 more compact, provides greater freedom for the appearance design of the robot 1000, and makes the robot 1000 more in line with humanization and aesthetic requirements.

[0044] In some embodiments, the robotic arm 100 has a first motion state, a second motion state and a third motion state, and the robotic arm 100 can switch freely among the first motion state, the second motion state and the third motion state; in the first motion state, the first driving mechanism 30 is only used to drive the robotic claw assembly to rotate, and the second arm mechanism 10b is stationary relative to the first arm mechanism 10a; in the second motion state, the first driving mechanism 30 is only used to drive the second arm mechanism 10b to move linearly in the up and down directions relative to the first arm mechanism 10a, and the robotic claw assembly does not rotate; in the third motion state, the first driving mechanism 30 is used to drive the robotic claw assembly to rotate while driving the second arm mechanism 10b to move linearly in the up and down directions relative to the first arm mechanism 10a.

[0045] The arm of robot 1000 has multiple motion states, so that the arm of robot 1000 is more flexible and can grasp objects more accurately.

[0046] In addition, the robot 1000 of the present application has two robotic arms 100. Of course, in other embodiments, the robot 1000 may also have only one robotic arm 100, or even three or four robotic arms 100. The number of robotic arms 100 of the robot 1000 is not limited herein.

[0047] The following usage scenario takes two robotic arms 100 as an example.

[0048] In some usage scenarios, when the robot 1000 only needs to rotate the mechanical claw to grab an object, the first driving mechanism drives the mechanical claw assembly to rotate, and clamps the object after reaching the specified angle, but the second arm mechanism remains stationary relative to the first arm mechanism to keep the arm length of the robot 1000 unchanged; in some usage scenarios, the robot 1000 only needs to adjust the arm length of the robot 1000 to reach a suitable height to grab an object, and the first driving mechanism is only used to drive the second arm mechanism to move linearly along the up and down directions relative to the first arm mechanism, and the mechanical claw assembly does not rotate; in some other usage scenarios, the robot 1000 not only needs to adjust the arm length of the robot 1000 but also needs to adjust the angle of the mechanical claw. The first driving mechanism is used to drive the mechanical claw assembly to rotate while driving the second arm mechanism to move linearly along the up and down directions relative to the first arm mechanism.

[0049] In some embodiments, the first driving mechanism 30 includes a first driving member 30a and a second driving member 30b, and the power sources of the first driving member 30a and the second driving member 30b are connected to the upper end of the first arm mechanism 10a, and the first driving member 30a is connected to the first arm mechanism 10a, the second arm mechanism 10b, and the mechanical claw assembly; the second driving member 30b is connected to the first arm mechanism 10a and the second arm mechanism 10b; the first driving member 30a and the second driving member 30b are used to work together to drive the mechanical claw assembly to rotate relative to the second arm mechanism 10b; the first driving member 30a and the second driving member 30b are also used to work together to drive the second arm mechanism 10b to move linearly in the up and down directions relative to the first arm mechanism 10a. Therefore, the first driving member 30a and the second driving member 30b need to cooperate to drive the arm mechanism 10 to extend and retract or drive the mechanical claw assembly to rotate relative to the arm mechanism 10, or the mechanical claw assembly performs a compound movement of rotation and the arm mechanism 10 to extend and retract. The first driving member 30a and the second driving member 30b work together to cooperate to drive the rotation of the mechanical claw assembly and / or the extension and retraction of the arm mechanism 10, so that the power sources of the first driving member 30a and the second driving member 30b are connected in parallel, which can reduce the parameters required for the power source drive, reduce errors, improve the operating speed of the robot 1000, and reduce the cost of use.

[0050] At the same time, the power sources of the first driving component 30a and the second driving component 30b are connected to the upper end of the first arm mechanism 10a, which is beneficial to improve the center of gravity of the robot 100 and reduce the rotational inertia of the robot 100 when it rotates relative to the body, which is beneficial to control the energy consumption of the robot 1000 and improve the response speed of the robot 1000.

[0051] In some embodiments, the first driving member 30a includes a first motor 31 and a first transmission assembly 32, the first motor 31 is connected to the upper end of the arm mechanism 10; the first transmission assembly 32 is connected to the output shaft of the first motor 31 and is connected to the mechanical claw assembly, the first arm mechanism 10a, and the second arm mechanism 10b; the second driving member 30b includes a second motor 33 and a second transmission assembly 34, the second motor 33 is connected to the upper end of the first arm mechanism 10a; the second transmission assembly 34 is connected to the output shaft of the second motor 33 and is connected to the first arm mechanism 10a and the second arm mechanism 10b; the first motor 31 and the second motor 33 are used to respectively drive the first transmission assembly 32 and the second transmission assembly 34 to cooperate with each other to drive the mechanical claw assembly to rotate relative to the second arm mechanism 10b and drive the second arm mechanism 10b to move linearly in the up and down directions relative to the first arm mechanism 10a.

[0052] The first motor 31 and the second motor 33 are arranged in parallel, thereby driving the first transmission assembly 32 and the second transmission assembly 34 to work together to drive the mechanical claw assembly to rotate and / or the arm mechanism 10 to extend and retract, which can reduce the parameters required for the motor drive, reduce errors, increase the operating speed of the robot 1000, and reduce the cost of use.

[0053] In some embodiments, in a first motion state, when the first motor 31 and the second motor 33 rotate in the same direction and the output torques of the first motor 31 and the second motor 33 are the same, the mechanical claw assembly rotates, and the second arm mechanism 10b remains stationary relative to the first arm mechanism 10a; in a second motion state, when the first motor 31 and the second motor 33 rotate in opposite directions and the output torques of the first motor 31 and the second motor 33 are the same, the mechanical claw assembly does not rotate, and the second arm mechanism 10b moves linearly in the up and down directions relative to the first arm mechanism 10a; in a third motion state, when the first motor 31 and the second motor 33 rotate in the same or opposite directions but the output torques of the first motor 31 and the second motor 33 are different, the mechanical claw assembly rotates while the second arm mechanism 10b moves linearly in the up and down directions relative to the first arm mechanism 10a.

[0054] It should be noted that the reference object for the rotation direction of the two motors here is the earth. The following are several situations of the two motor settings. When the two motors are set relative to each other, that is, mirrored, with the earth as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise; but if the motor is used as the reference object, when one of the motors rotates counterclockwise, the other rotates clockwise. When the two motors are set at intervals but not mirrored, that is, with the earth as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise; if the motor is used as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise.

[0055] In this embodiment, the rotation axis of the mechanical claw assembly is parallel to the rotation axes of the first motor 31 and the second motor 33 .

[0056] In this example, the rotation axis of the mechanical claw assembly is parallel to the left-right direction.

[0057] like Figure 6In some embodiments, the first transmission assembly 32 includes a first driving wheel 321, at least one first transmission wheel 322, at least one second transmission wheel 323, a first flexible transmission member 325 and at least one first driven wheel 324; the second transmission assembly 34 includes a second driving wheel 341, at least one third transmission wheel 342, at least one fourth transmission wheel 343 and a second flexible transmission member 344; the first driving wheel 321 is connected to the output shaft of the first motor 31, the first driven wheel 324 is rotatably connected to the second arm mechanism 10b and is connected to the mechanical claw assembly, and the first driven wheel 324 can rotate when it rotates The mechanical claw assembly is driven to rotate; the second driving wheel 341 is connected to the output shaft of the second motor 33; the first transmission wheel 322 is arranged between the first driving wheel 321 and the first driven wheel 324 and is rotatably arranged on the first arm mechanism 10a; the second transmission wheel 323 is rotatably arranged on the second arm mechanism 10b, when the second arm mechanism 10b is extended to the longest relative to the first arm mechanism 10a, the height of the highest point of the second transmission wheel 323 is not lower than the height of the lowest point of the first transmission wheel 322; the height of the highest point of the fourth transmission wheel 343 is not lower than the height of the lowest point of the third transmission wheel 342; the third transmission wheel The fourth transmission wheel 343 is rotatably arranged on the second arm mechanism 10b. When the second arm mechanism 10b is extended to the maximum relative to the first arm mechanism 10a, the fourth transmission wheel 343 is arranged above the third transmission wheel 342. The first flexible transmission member 325 is transmission-connected with the first driving wheel 321, the first transmission wheel 322, the second transmission wheel 323 and the first driven wheel 324 to form a closed transmission loop. The second flexible transmission member 344 is transmission-connected with the second transmission wheel 323, the third transmission wheel 343 and the first driven wheel 324 to form a closed transmission loop. The driving wheel 342, the fourth transmission wheel 343, and the first driven wheel 324 are connected in transmission to form a closed transmission loop; the flexible transmission member between the first driving wheel 321 and the first driven wheel 324 is at least partially configured to be parallel to the up and down direction; the flexible transmission member between the second driving wheel 341 and the first driven wheel 324 is at least partially configured to be parallel to the up and down direction; the flexible transmission member between the first transmission wheel 322 and the second transmission wheel 323 is at least partially configured to be parallel to the up and down direction; the flexible transmission member between the third transmission wheel 342 and the fourth transmission wheel 343 is at least partially configured to be parallel to the up and down direction.

[0058] In this embodiment, the second transmission wheel is arranged on the outside of the first transmission wheel, and the fourth transmission wheel is arranged on the outside of the third transmission wheel; of course, in other embodiments, the second transmission wheel can also be arranged on the inside of the first transmission wheel, and the fourth transmission wheel can be arranged on the inside of the third transmission wheel.

[0059] In some embodiments, the driven wheel is tightly connected to the claw shaft, the claw shaft is tightly connected to the mechanical claw, and the claw shaft is rotatably connected to the second arm mechanism through a bearing.

[0060] In some embodiments, the second arm mechanism 10b includes a second mount 14, and the claw shaft is rotatably connected to the second mount 14 via a bearing.

[0061] It should be noted that in this embodiment, one first driven wheel 324 is provided. Of course, in other embodiments, two driven wheels may also be provided, wherein the first flexible transmission member 325 and the second flexible transmission member 344 are respectively connected to the two first driven wheels 324. Among them, the first driven wheel 324 and the second driven wheel 422 are fixedly connected to the mechanical claw assembly, and when the first flexible transmission member 325 and the second flexible transmission member 344 respectively drive the first driven wheel 324 and the second driven wheel 422 to rotate synchronously, the mechanical claw assembly rotates.

[0062] In some embodiments, the transmission of the mechanical claw assembly can be achieved by setting a driven wheel, and the structure is simple and compact.

[0063] In some embodiments, one first transmission wheel 322, one second transmission wheel 323, one third transmission wheel 342, and one fourth transmission wheel 343 are each provided. Of course, in other embodiments, in order to install other components, there may be interference with the first flexible transmission member 325 and the second flexible transmission member 344. The first transmission wheel 322, the second transmission wheel 323, the third transmission wheel 342, and the fourth transmission wheel 343 may also be provided in plurality to facilitate the movement of the first flexible transmission member 325 and the second flexible transmission member 344. The first transmission wheel 322 and the second transmission wheel 323 of this embodiment refer to the transmission wheels rotatably arranged on the first arm mechanism 10a and the second arm mechanism 10b respectively, and the third transmission wheel 342 and the fourth transmission wheel 343 refer to the transmission wheels rotatably arranged on the first arm mechanism 10a and the second arm mechanism 10b respectively, that is, the transmission wheel rotatably arranged on the first arm mechanism 10a and transmitting with the first flexible transmission member 325 can be called the first transmission wheel 322; the transmission wheel rotatably arranged on the second arm mechanism 10b and transmitting with the first flexible transmission member 325 can be called the second transmission wheel 323; the transmission wheel rotatably arranged on the first arm mechanism 10a and transmitting with the second flexible transmission member 344 can be called the third transmission wheel 342; the transmission wheel rotatably arranged on the second arm mechanism 10b and transmitting with the second flexible transmission member 344 can be called the fourth transmission wheel 343.

[0064] In some embodiments, at least a portion of the flexible transmission member between the first driving wheel 321 and the first driven wheel 324 is configured to be parallel to the up-down direction. Due to the spatial structure arrangement, the flexible transmission member between the first driving wheel 321 and the first driven wheel 324 may not be able to ensure that the entire section is parallel to the up-down direction, but it is sufficient as long as the flexible transmission member between the transmission wheel connected to the first arm mechanism 10a and the transmission wheel connected to the second arm mechanism 10b remains parallel to the up-down direction.

[0065] In some embodiments, a rotating wheel is provided between the first driving wheel 321 and the first driven wheel 324, and is rotatably connected to the flexible transmission member. When the rotating wheel is rotatably provided on the first arm mechanism 10a, it is necessary to ensure that the flexible transmission member between the rotating wheel and the first driven wheel 324 remains parallel to the up-down direction; when the rotating wheel is rotatably provided on the second arm mechanism 10b, it is necessary to ensure that the flexible transmission member between the rotating wheel and the first driving wheel 321 remains parallel to the up-down direction; when the flexible transmission member between the first driving wheel 321 and the first driven wheel 324 is transmitted There are two rotating wheels, which are rotatably arranged on the first arm mechanism 10a and the second arm mechanism 10b respectively. In this way, it is sufficient to ensure that the flexible transmission member between the two rotating wheels remains parallel to the up and down direction, that is to say, it is sufficient to ensure that the flexible transmission member between the transmission wheel connected to the first arm mechanism 10a and the transmission wheel connected to the second arm mechanism 10b remains parallel to the up and down direction. It should be noted that the rotating wheel is also a kind of transmission wheel, and the wheels rotatably connected to the flexible transmission member can be called transmission wheels, that is, when the flexible transmission member is transmitted, the rotating wheel rotates.

[0066] At least a portion of the flexible transmission member between the second driving wheel 341 and the first driven wheel 324 is configured to be parallel to the up-down direction, similar to the above.

[0067] Similarly, due to the arrangement of the spatial structure, the flexible transmission member between the first transmission wheel 322 and the second transmission wheel 323 may not be able to ensure that the entire section is parallel to the up-down direction, but it is sufficient to ensure that the flexible transmission member between the transmission wheel connected to the first arm mechanism 10a and the transmission wheel connected to the second arm mechanism 10b remains parallel to the up-down direction. In some embodiments, there may be multiple first transmission wheels 322 and second transmission wheels 323, and the first flexible transmission member 325 may be connected to several first transmission wheels 322 after being connected to the first driving wheel 321, and then connected to the second transmission wheel 323. At this time, it is sufficient to ensure that the flexible transmission member between the transmission wheel connected to the first arm mechanism 10a and the transmission wheel connected to the second arm mechanism 10b remains parallel to the up-down direction, that is, the first flexible transmission member 325 passes through the last first transmission wheel 322 on the first arm mechanism 10a and the flexible transmission member between the first second transmission wheel 323 on the second arm mechanism 10b remains parallel to the up-down direction.

[0068] Alternatively, in order to ensure that the flexible transmission member between the first transmission wheel 322 and the second transmission wheel 323 at least partially remains parallel to the up-down direction, the flexible transmission member between the first transmission wheel 322 and the second transmission wheel 323 is rotatably connected to a rotating wheel. When the rotating wheel is rotatably set on the first arm mechanism 10a, it is necessary to ensure that the flexible transmission member between the rotating wheel and the second transmission wheel 323 on the second arm mechanism 10b remains parallel to the up-down direction; when the rotating wheel is rotatably set on the second arm mechanism 10b, it is necessary to ensure that the flexible transmission member between the rotating wheel and the first transmission wheel 322 on the first arm mechanism 10a remains parallel to the up-down direction.

[0069] At least a portion of the flexible transmission member between the third transmission wheel 342 and the fourth transmission wheel 343 is configured to be parallel to the up-down direction, similar to the above.

[0070] In some embodiments, the entire section of the flexible transmission member between the first transmission wheel 322 and the second transmission wheel 323 is configured to be parallel to the up-down direction, and the flexible transmission member between the third transmission wheel 342 and the fourth transmission wheel 343 is configured to be parallel to the up-down direction.

[0071] When the second arm mechanism 10b makes a linear extension motion relative to the first arm mechanism 10a, the first driven wheel 324 moves away from the first driving wheel 321 as the second arm mechanism 10b moves, the length of the first flexible transmission member 325 between the first driving wheel 321 and the first driven wheel 324 increases, and the length of the first flexible transmission member 325 between the first transmission wheel 322 and the second transmission wheel 323 decreases synchronously. At the same time, the length of the second flexible transmission member 344 between the second driving wheel 341 and the first driven wheel 324 increases synchronously, and the length of the second flexible transmission member 344 between the third transmission wheel 342 and the fourth transmission wheel 343 decreases synchronously.

[0072] When the second arm mechanism 10b makes a linear shortening motion relative to the first arm mechanism 10a, the first driven wheel 324 moves closer to the first driving wheel 321 as the second arm mechanism 10b moves, the length of the first flexible transmission member 325 between the first driving wheel 321 and the first driven wheel 324 decreases, and the length of the first flexible transmission member 325 between the first transmission wheel 322 and the second transmission wheel 323 increases synchronously. At the same time, the length of the second flexible transmission member 344 between the second driving wheel 341 and the first driven wheel 324 decreases synchronously, and the length of the second flexible transmission member 344 between the third transmission wheel 342 and the fourth transmission wheel 343 increases synchronously.

[0073] It should be noted that when the second arm mechanism 10b makes a linear motion relative to the first arm mechanism 10a, since the first driving wheel 321, the second driving wheel 341, the first transmission wheel 322, and the third transmission wheel 342 are rotationally connected to the first arm mechanism 10a, the second driven wheel 422, the fourth transmission wheel 343 and the first driven wheel 324 are rotationally connected to the second arm mechanism 10b, the length of the first flexible transmission member 325 between the first driving wheel 321 and the first transmission wheel 322 remains unchanged, the length of the first flexible transmission member 325 between the second transmission wheel 323 and the first driven wheel 324 remains unchanged, the length of the second flexible transmission member 344 between the second driving wheel 341 and the third transmission wheel 342 remains unchanged, and the length of the second flexible transmission member 344 between the fourth transmission wheel 343 and the first driven wheel 324 remains unchanged. When the second arm mechanism 10b makes a linear motion relative to the first arm mechanism 10a, only the first driving wheel 321, the first transmission wheel 324, the second driving wheel 341, and the third transmission wheel 342 rotate and transmit, and the first driven wheel 324, the second transmission wheel 323, and the fourth transmission wheel 343 do not rotate.

[0074] However, when the mechanical claw assembly rotates, the first driving wheel 321, the first transmission wheel 322, the second transmission wheel 323, the second driving wheel 341, the third transmission wheel 342, the fourth transmission wheel 343, and the first driven wheel 324 all rotate and transmit. However, the length of the flexible transmission member between each transmission wheel remains unchanged. It should be noted that the first driving wheel 321, the second driving wheel 341, the first transmission wheel 322, the second transmission wheel 323, the third transmission wheel 342, the fourth transmission wheel 343, and the first driven wheel 324 are all transmission wheels.

[0075] It should be noted that when the second arm mechanism 10b performs a linear extension motion relative to the first arm mechanism 10a, the second transmission wheel 323 and the fourth transmission wheel 343 cannot continue to move downward at a certain position, otherwise, the first flexible transmission member 325 cannot drive the second arm mechanism 10b to move downward relative to the first arm mechanism 10a by applying a downward force to the second transmission wheel 323, and the second flexible transmission member 344 cannot drive the second arm mechanism 10b to move downward relative to the first arm mechanism 10a by applying a downward force to the fourth transmission wheel 343. For example, when the second arm mechanism 10b is extended to the longest length relative to the first arm mechanism 10a, the lowest point height of the first transmission wheel 322 is A, and the highest point height of the second transmission wheel 323 is B, and B cannot be lower than A. In this way, the first flexible transmission member 325 can drive the second arm mechanism 10b to move downward relative to the first arm mechanism 10a by applying a downward force to the second transmission wheel 323. When the second arm mechanism 10b is extended to the longest length relative to the first arm mechanism 10a, the lowest point height of the third transmission wheel 342 is C, and the highest point height of the fourth transmission wheel 343 is D, and D cannot be less than C. The second flexible transmission member 344 applies a downward force to the fourth transmission wheel 343, and the second arm mechanism 10b moves downward relative to the first arm mechanism 10a. That is, when the second transmission wheel 323 moves downward to be tangent to the first transmission wheel 322, the second transmission wheel 323 cannot continue to move; when the fourth transmission wheel 343 moves downward to be tangent to the third transmission wheel 342, the fourth transmission wheel 343 cannot continue to move. The second arm mechanism 10b of the present application is provided with a limit block, and the first arm mechanism 10a is provided with a corresponding limit member. When the second arm mechanism 10b moves downward to a certain position, the limit block abuts against the limit member, and the second arm mechanism 10b cannot continue to move downward, so as to ensure that B cannot be lower than A and C cannot be less than D.

[0076] In some embodiments, there are other ways to set the first transmission assembly 32 and the second transmission assembly 34, such as the motor is connected to a plurality of gear structures and then the gears are connected to the flexible transmission member.

[0077] In some embodiments, when the rotation directions of the first flexible transmission member 325 and the second flexible transmission member 344 are the same and the output torques of the first motor 31 and the second motor 33 are the same, the torques of the first flexible transmission member 325 and the second flexible transmission member 344 acting on the first driven wheel 324 are in the same direction, and the upward pulling force of the first flexible transmission member 325 on the first driven wheel 324 and the downward pulling force of the second flexible transmission member 344 on the fourth transmission wheel 343 are the same in magnitude, or the upward pulling force of the second flexible transmission member 344 on the first driven wheel 324 and the downward pulling force of the first flexible transmission member 325 on the second transmission wheel 323 are the same in magnitude, the second arm mechanism 10b is stationary relative to the first arm mechanism 10a, and the mechanical claw assembly rotates.

[0078] The first flexible transmission member 325 and the second flexible transmission member 344 rotate in opposite directions, the first motor 31 and the second motor 33 have the same output torque, and the first flexible transmission member 325 and the second flexible transmission member 344 act on the first driven wheel 324 to pull it upward, or the first flexible transmission member 325 acts on the second transmission wheel 323 to pull it downward, and the second flexible transmission member 344 acts on the fourth transmission wheel 343 to pull it downward, the second arm mechanism 10b moves linearly in the up and down directions relative to the first arm mechanism 10a, and the mechanical claw assembly does not rotate; the first flexible transmission member 325 and the second flexible transmission member 344 act on the first driven wheel 324 to pull it upward, and the second flexible transmission member 344 acts on the fourth transmission wheel 343 to pull it downward, and the second arm mechanism 10b moves linearly in the up and down directions relative to the first arm mechanism 10a, and the mechanical claw assembly does not rotate; The rotation directions are opposite and the output torques of the first motor 31 and the second motor 33 are different in magnitude. The torques applied by the first flexible transmission member 325 and the second flexible transmission member 344 to the first driven wheel 324 are opposite in direction but different in magnitude. The first flexible transmission member 325 and the second flexible transmission member 344 apply an upward pulling force to the first driven wheel 324 or the first flexible transmission member 325 applies a downward pulling force to the second transmission wheel 323 and the second flexible transmission member 344 applies a downward pulling force to the fourth transmission wheel 343. While the second arm mechanism 10b moves linearly in the up and down directions relative to the first arm mechanism 10a, the mechanical claw assembly rotates.

[0079] The first flexible transmission member 325 and the second flexible transmission member 344 have the same rotation direction and the first motor 31 and the second motor 33 have different output torques, the first flexible transmission member 325 and the second flexible transmission member 344 act on the first driven wheel 324 with the same torque direction, and the upward pulling force of the first flexible transmission member 325 on the first driven wheel 324 and the downward pulling force of the second flexible transmission member 344 on the fourth transmission wheel 343 are different in magnitude, or the upward pulling force of the second flexible transmission member 344 on the first driven wheel 324 and the downward pulling force of the first flexible transmission member 325 on the second transmission wheel 323 are different in magnitude, and while the second arm mechanism 10b moves linearly in the up and down directions relative to the first arm mechanism 10a, the mechanical claw assembly rotates.

[0080] It should be noted that, in this embodiment, when the first motor 31 and the second motor 33 rotate in the same direction and the torque of the first motor 31 and the second motor 33 are the same, the second arm mechanism 10b is stationary relative to the first arm mechanism 10a, and the mechanical claw assembly rotates.

[0081] When the first motor 31 and the second motor 33 rotate in opposite directions and the torques of the first motor 31 and the second motor 33 are the same, the second arm mechanism 10b moves linearly in the up-down direction relative to the first arm mechanism 10a, and the mechanical claw assembly does not rotate.

[0082] When the first motor 31 and the second motor 33 rotate in opposite directions and the torques of the first motor 31 and the second motor 33 are different, the second arm mechanism 10b moves linearly in the up-down direction relative to the first arm mechanism 10a, and the mechanical claw assembly rotates.

[0083] When the first motor 31 and the second motor 33 rotate in the same direction and the torques of the first motor 31 and the second motor 33 are different, the second arm mechanism 10b moves linearly in the up-down direction relative to the first arm mechanism 10a, and the mechanical claw assembly rotates.

[0084] It should be noted that the reference object for the rotation direction of the two motors here is the earth. The following are several situations of the two motor settings. When the two motors are set relative to each other, that is, mirrored, with the earth as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise; but if the motor is used as the reference object, when one of the motors rotates counterclockwise, the other rotates clockwise. When the two motors are set at intervals but not mirrored, that is, with the earth as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise; if the motor is used as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise.

[0085] It should be noted that, when the second arm mechanism 10b moves downward relative to the first arm mechanism 10a, the first flexible transmission member 325 and the second flexible transmission member 344 respectively act on the second transmission wheel 323 and the fourth transmission wheel 343 downward, or the upward pulling force of the first flexible transmission member 325 on the first driven wheel 324 is smaller than the downward force of the second flexible transmission member 344 on the fourth transmission wheel 343, or the upward pulling force of the second flexible transmission member 344 on the first driven wheel 324 is smaller than the downward force of the first flexible transmission member 325 on the second transmission wheel 323, so that the second arm mechanism 10b as a whole is subjected to a combined force downward and greater than 0, so that the second arm mechanism 10b moves downward relative to the first arm mechanism 10a. Mechanism 10a moves downward; when the second arm mechanism 10b moves upward relative to the first arm mechanism 10a, the upward force exerted by the first flexible transmission member 325 and the second flexible transmission member 344 on the first driven wheel 324 is greater than the downward force exerted by the second flexible transmission member 344 on the fourth transmission wheel 343, or the upward force exerted by the second flexible transmission member 344 on the first driven wheel 324 is greater than the downward force exerted by the first flexible transmission member 325 on the second transmission wheel 323, so that the second arm mechanism 10b as a whole is subjected to a combined force upward and greater than 0, so that the second arm mechanism 10b moves upward relative to the first arm mechanism 10a.

[0086] In some embodiments, the robotic arm 100 has a left and right direction, which is perpendicular to the up and down direction; the first motor 31 and the second motor 33 are symmetrically arranged in the left and right directions and rotate coaxially; the first flexible transmission member 325 and the second flexible transmission member 344 are mirror-arranged; the first transmission wheel 322 and the third transmission wheel 342 are symmetrically arranged; the second transmission wheel 323 and the fourth transmission wheel 343 are symmetrically arranged; the direction of the rotation axis of the first motor 31 and the second motor 33 is parallel to the direction of the rotation axis of the robotic claw assembly.

[0087] In this embodiment, the rotation axes of the first motor 31, the second motor 33, and the mechanical claw assembly are parallel to the left-right direction.

[0088] In some embodiments, the first motor 31 and the second motor 33 can rotate about different axes. The axes of the first motor 31 and the second motor 33 are parallel, and the two axes are staggered.

[0089] In this embodiment, the shafts of the first motor 31 and the second motor 33 are arranged relative to each other. In some other embodiments, the shafts of the first motor 31 and the second motor 33 may be arranged to be nested with each other.

[0090] Since the downward and upward moving distance of the second arm mechanism 10b is not only limited by the distance between the first transmission wheel 322 and the second transmission wheel 323, but also by the distance between the third transmission wheel 342 and the fourth transmission wheel 343, for example, when the extension of the second arm mechanism 10b relative to the first arm mechanism 10a is 0, the distance between the first transmission wheel 322 and the second transmission wheel 323 is E, and the distance between the third transmission wheel 342 and the fourth transmission wheel 343 is F, when E is less than F, the maximum movement distance of the second arm mechanism 10b relative to the first arm mechanism 10a is E, that is, the movement distance of the second arm mechanism 10b is the smallest one between E and F.

[0091] In this embodiment, the first flexible transmission member 325 and the second flexible transmission member 344 are arranged in a mirror image; the first transmission wheel 322 and the third transmission wheel 342 are arranged symmetrically; the second transmission wheel 323 and the fourth transmission wheel 343 are arranged symmetrically, so that the distance between E and F is consistent, making the structure compact, the mechanical arm 100 of the robot 1000 is small, and the moving stroke of the second arm mechanism 10b is maximized as much as possible within the limited structural space.

[0092] In this embodiment, the first driving wheel 321, the second transmission wheel 323, the fourth transmission wheel 343, the second driving wheel 341, and the first driven wheel 324 are synchronous pulleys, the first flexible transmission member 325 and the second flexible transmission member 344 are synchronous belts, the first flexible transmission member 325 is meshed with the first driving wheel 321, the first driven wheel 324, and the second transmission wheel 323 for transmission, and the second flexible transmission member 344 is meshed with the first driven wheel 324, the second driving wheel 341, and the fourth transmission wheel 343 for transmission; the first transmission wheel 322 and the third transmission wheel 342 are non-toothed rotating wheels, the non-toothed surface of the first flexible transmission member 325 is wound around and connected with the first transmission wheel 322, and the non-toothed surface of the second flexible transmission member 344 is wound around and connected with the third transmission wheel 342.

[0093] Optionally, the first flexible transmission member 325 and the second flexible transmission member 344 can also be ropes or other flexible transmission members, so as to play a buffering role, reduce the impact of the impact force directly acting on the motor, and increase the durability and operational stability of the drive mechanism.

[0094] In this embodiment, the radius of the first driving wheel 321 and the second driving wheel 341 are the same, and the radius of the first driven wheel 324 is larger than the radius of the first driving wheel 321 and the second driving wheel 341. This is beneficial to increase the transmission ratio of the driving wheel and the transmission wheel, increase the torque of the first driven wheel 324, increase the gripping force of the robot arm, and be able to grip heavier objects.

[0095] In this embodiment, the first transmission assembly 32 includes a first limiting member 326; the first limiting member 326 rotates on the second arm mechanism 10b; the first limiting member 326 is arranged between the first driving wheel 321 and the first driven wheel 324 and is arranged on the outside of the first flexible transmission member 325, and the first limiting member 326 is used to make the first flexible transmission member 325 between the first limiting member 326 and the first driving wheel 321 remain parallel to the up and down direction, so that when the first flexible transmission member 325 between the first driving wheel 321 and the first driven wheel 324 increases or decreases, the first flexible transmission member 325 between the first transmission wheel 322 and the second transmission wheel 323 can be synchronously reduced or reduced accordingly Increase; the second transmission assembly 34 includes a second limiting member 345, and the second limiting member 345 is rotatably arranged on the second arm mechanism 10b; the second limiting member 345 is arranged between the second driving wheel 341 and the first driven wheel 324 and is arranged on the outside of the second flexible transmission member 344, and the second limiting member 345 is used to make the second flexible transmission member 344 between the second limiting member 345 and the second driving wheel 341 remain parallel to the up and down directions, so that when the second flexible transmission member 344 between the second driving wheel 341 and the first driven wheel 324 increases or decreases, the second flexible transmission member 344 between the third transmission wheel 342 and the fourth transmission wheel 343 can be correspondingly reduced or increased synchronously.

[0096] Since the radius of the first driven wheel 324 is larger than the radius of the first driving wheel 321 and the second driving wheel 341, the first flexible transmission member 325 connecting the first driven wheel 324 and the first driving wheel 321 is biased outward from top to bottom, and the second flexible transmission member 344 connecting the first driven wheel 324 and the second driving wheel 341 is set outward from top to bottom. At this time, the first limiting member 326 and the second limiting member 345 are rotatably set on the second arm mechanism 10b, and the first limiting member 326 is set on the outside of the first flexible transmission member 325 and the second limiting member 345 is set on the outside of the second flexible transmission member 344. This not only allows the first flexible transmission member 325 between the first limiting member 326 and the first driving wheel 321 and the second flexible transmission member 344 between the second limiting member 345 and the second driving wheel 341 to remain parallel to the up and down directions, but also allows the flexible transmission member to be retracted to the inside of the arm mechanism 10, reducing the space occupied by the flexible transmission member, making the robot arm 100 more compact.

[0097] Of course, the first limiting member 326 and the second limiting member 345 are rotatably set on the first arm mechanism 10a, but because the radius of the first driven wheel 324 is larger than the radius of the first driving wheel 321 and the second driving wheel 341, the first limiting member 326 and the second limiting member 345 are required to be respectively set on the inner sides of the first flexible transmission member 325 and the second flexible transmission member 344, so that the flexible transmission members between the first limiting member 326 and the first driven wheel 324 and the second limiting member 345 and the first driven wheel 324 remain parallel to the up and down directions. However, this will cause the flexible transmission members to lean to the outside, which will take up more space, and the mechanical arm 100 of the robot 1000 will not be small enough.

[0098] It should be noted that, in other embodiments, the radius of the first driven wheel 324 may be smaller than the radius of the first driving wheel 321 and the second driving wheel 341 .

[0099] In other embodiments, the limiting member may also be other structures, such as a protrusion provided on the second arm mechanism 10b, which is provided on the outside of the flexible transmission member to keep the flexible transmission member between the first driving wheel 321 and the second driving wheel 341 and the limiting member parallel to the up and down directions.

[0100] In this embodiment, the first limiting member 326 and the second limiting member 345 are both non-toothed rollers; the first limiting member 326 is rotatably connected to the first flexible transmission member 325 ; and the second limiting member 345 is rotatably connected to the second flexible transmission member 344 .

[0101] By configuring the limiting member as a roller, the friction between the limiting member and the flexible transmission member can be reduced.

[0102] In this embodiment, the first transmission assembly 32 includes a first pre-tensioning wheel 327, which is rotatably arranged on the second arm mechanism 10b; the first pre-tensioning wheel 327 is arranged on the outside of the first flexible transmission member 325 between the second transmission wheel 323 and the first driven wheel 324 and is rotatably connected to the first flexible transmission member 325; the second transmission assembly 34 includes a second pre-tensioning wheel 346, which is rotatably arranged on the second arm mechanism 10b, and the second pre-tensioning wheel 346 is arranged on the outside of the second flexible transmission member 344 between the fourth transmission wheel 343 and the first driven wheel 324 and is rotatably connected to the second flexible transmission member 344.

[0103] By setting the first pre-tensioning wheel 327 and the second pre-tensioning wheel 346, the flexible transmission member can be pre-tightened. At the same time, the first pre-tensioning wheel 327 is set on the outside of the flexible transmission member between the second transmission wheel 323 and the first driven wheel 324, and the second pre-tensioning wheel 346 is set on the outside of the flexible transmission member between the fourth transmission wheel 343 and the first driven wheel 324. The flexible transmission member can be retracted inward, reducing the space occupied by the flexible transmission member, making the robot arm 100 more compact.

[0104] In this embodiment, the first arm mechanism 10a includes a guide assembly 11, and the second arm mechanism 10b includes a slide 12, which is slidably connected to the guide assembly 11; the guide assembly 11 includes a guide rod 111, which extends in the up and down directions and passes through the slide 12 and is slidably connected to the slide 12.

[0105] In this embodiment, the first arm mechanism 10 a includes a first frame 13 , the guide rod 111 is connected to the first frame 13 , and the second arm mechanism 10 b includes a second frame 14 , on which a slide 12 is disposed.

[0106] By providing the guide assembly 11, the sliding of the second arm mechanism 10b can be guided, so that the second arm mechanism 10b moves in the up and down directions, thereby enhancing the stability of the robot arm 100 when extending and retracting.

[0107] In this embodiment, the driving mechanism includes a first driving member 30a and a second driving member 30b. The first driving member 30a is used to drive the mechanical claw assembly to rotate relative to the second arm mechanism 10b, and the second driving member 30b is also used to drive the second arm mechanism 10b to move linearly in the up and down directions relative to the first arm mechanism 10a.

[0108] In this embodiment, the first driving member 30a includes a first motor 31 and a first transmission assembly 32, the first motor 31 is used to be connected to the upper end of the first arm mechanism 10a, the first transmission assembly 32 is connected to the output shaft of the first motor 31 and is connected to the mechanical claw assembly, the first motor 31 is used to drive the first transmission assembly 32 to move, and the first transmission assembly 32 is configured to drive the mechanical claw assembly to rotate relative to the second arm mechanism 10b; the second driving member 30b includes a second motor 33 and a second transmission assembly 34, the second motor 33 is used to be connected to the upper end of the first arm mechanism 10a, the second transmission assembly 34 is connected to the output shaft of the second motor 33 and is connected to the second arm mechanism 10b, the second motor 33 is used to drive the second transmission assembly 34 to move, and the second transmission assembly 34 is configured to drive the second arm mechanism 10b to move linearly in the up and down directions relative to the first arm mechanism 10a. In some embodiments, the first transmission assembly 32 and / or the second transmission assembly 34 is configured to drive the second arm mechanism 10b to move linearly in the up and down directions relative to the first arm mechanism 10a through belt transmission, chain transmission, rope transmission or screw nut transmission.

[0109] like Figures 9 and 10 As shown, in this embodiment, the arm mechanism 10 includes a first arm mechanism 10a, a second arm mechanism 10b and an n-th arm mechanism 10d. When the arm length of the arm mechanism 10 is at its longest, the first arm mechanism to the n-th arm mechanism 10d are arranged from top to bottom; the first arm mechanism 10a is used for rotational connection with the frame 20; the second arm mechanism 10b is used for sliding connection with the first arm mechanism 10a; and so on, the n-th arm mechanism 10d is slidingly connected with the n-1-th arm mechanism 10c, where n>2; the mechanical claw assembly is connected to the n-th arm mechanism 10d. The first driven wheel 324 rotates to drive the mechanical claw assembly to rotate relative to the nth arm mechanism 10d; the first driving mechanism 30 is connected to the first arm mechanism 10a to the nth arm mechanism 10d and is used to drive the second arm mechanism 10b to move linearly in the up-down direction relative to the first arm mechanism 10a, and so on, the first driving mechanism 30 is also used to drive the nth arm mechanism 10d to move linearly in the up-down direction relative to the n-1th arm mechanism 10c, and the up-down direction is the extension direction of the first arm mechanism 10a. By setting a multi-section arm, the maximum extension length of the mechanical arm 100 can be increased.

[0110] The first driving mechanism 30 includes a first driving member 30a and a second driving member 30b, and the power sources of the first driving member 30a and the second driving member 30b are connected to the upper end of the first arm mechanism 10a. The first driving member 30a is connected to the mechanical claw assembly and the first arm mechanism 10a to the nth arm mechanism 10d; the second driving member 30b is connected to the first arm mechanism 10a to the nth arm mechanism 10d.

[0111] The first driving member 30a and the second driving member 30b are used to work together to drive the mechanical claw assembly to rotate relative to the nth arm mechanism 10d; the first driving member 30a and the second driving member 30b are also used to work together to drive the second arm mechanism 10b to move linearly in the up-down direction relative to the first arm mechanism 10a; and by analogy, the first driving member 30a and the second driving member 30b are also used to work together to drive the nth arm mechanism 10d to move linearly in the up-down direction relative to the n-1th arm mechanism 10c, and the up-down direction is the extension direction of the first arm mechanism 10a. The first driving member 30a and the second driving member 30b work together to drive the rotation of the mechanical claw assembly and / or the extension and retraction of the arm mechanism 10, so that the power sources of the first driving member 30a and the second driving member 30b are connected in parallel, which can reduce the parameters required for the power source drive, reduce errors, improve the running speed of the robot 1000, and reduce the use cost.

[0112] At the same time, the power sources of the first driving component 30a and the second driving component 30b are connected to the upper end of the first arm mechanism 10a, which is beneficial to improve the center of gravity of the robot 100 and reduce the rotational inertia of the robot 100 when it rotates relative to the body, which is beneficial to control the energy consumption of the robot 1000 and improve the response speed of the robot 1000.

[0113] The first driving member 30a and the second driving member 30b work together to drive the rotation of the mechanical claw assembly and / or the extension and retraction of the arm mechanism 10, so that the power sources of the first driving member 30a and the second driving member 30b are connected in parallel, which can reduce the parameters required for the power source drive, reduce errors, improve the operating speed of the robot 1000, and reduce the cost of use. In this embodiment, the robot arm 100 has a first motion state, a second motion state and a third motion state, and the robot arm 100 can switch freely between the first motion state, the second motion state and the third motion state; in the first motion state, the first driving mechanism 30 is used to drive the mechanical claw assembly to rotate, the second arm mechanism 10b is stationary relative to the first arm mechanism 10a, and so on, the nth arm mechanism 10d is stationary relative to the n-1th arm mechanism 10c; in the second motion state, the first driving mechanism 30 is used to drive the second arm mechanism 10b to rotate relative to the first arm mechanism 10a. For the first arm mechanism 10a to move linearly in the up-down direction, and so on, the first drive mechanism 30 is also used to drive the nth arm mechanism 10d to move linearly in the up-down direction relative to the n-1th arm mechanism 10, and the mechanical claw assembly does not rotate; in the third motion state, the first drive mechanism 30 is used to drive the mechanical claw assembly to rotate while driving the second arm mechanism 10b to move linearly in the up-down direction relative to the first arm mechanism 10a, and so on, the first drive mechanism 30 is also used for the nth arm mechanism 10d to move linearly in the up-down direction relative to the n-1th arm mechanism 10c.

[0114] The arm of robot 1000 has multiple motion states, so that the arm of robot 1000 is more flexible and can grasp objects more accurately.

[0115] It should be noted that when the arm mechanism 10 of the robot 1000 is extending or retracting, since the robot arm 100 is in contact with the ground, when all the arm mechanisms 10 of the robot 1000 are extended, the nth arm mechanism 10d remains stationary relative to the ground, and the n-1th arm mechanism 10c moves up and down relative to the nth arm mechanism 10d to achieve the extension and retraction of the robot arm 100.

[0116] In some embodiments, the first driving component 30a includes a first motor 31 and a first transmission assembly 32, the first motor 31 is connected to the upper end of the first arm mechanism 10a; the first transmission assembly 32 is connected to the output shaft of the first motor 31 and is connected to the mechanical claw assembly, the first arm mechanism 10a, the second arm mechanism 10b to the nth arm mechanism 10d; the second driving component 30b includes a second motor 33 and a second transmission assembly 34, the second motor 33 is connected to the upper end of the first arm mechanism 10a; the second transmission assembly 34 is connected to the output shaft of the second motor 33 and is connected to the first arm mechanism 10a, the second arm mechanism 10b to the nth arm mechanism 10d; the first motor 31 and the second motor 33 are used to respectively drive the first transmission assembly 32 and the second transmission assembly 34 to cooperate to drive the mechanical claw assembly to rotate relative to the nth arm mechanism 10d and drive the nth arm mechanism 10d to move linearly in the up and down directions relative to the n-1th arm mechanism 10.

[0117] The first motor 31 and the second motor 33 are arranged in parallel, thereby driving the first transmission assembly 32 and the second transmission assembly 34 to work together to drive the mechanical claw assembly to rotate and / or the arm mechanism 10 to extend and retract, which can reduce the parameters required for the motor drive, reduce errors, increase the operating speed of the robot 1000, and reduce the cost of use.

[0118] In this embodiment, the first transmission assembly 32 includes a first driving wheel 321, at least one first transmission wheel 322, at least one second transmission wheel 323, a first flexible transmission member 325 and at least one first driven wheel 324; the second transmission assembly 34 includes a second driving wheel 341, at least one third transmission wheel 342, at least one fourth transmission wheel 343 and a second flexible transmission member 344; the first driving wheel 321 is connected to the output shaft of the first motor 31, the first driven wheel 324 is rotationally connected to the nth arm mechanism 10d and is connected to the mechanical claw assembly, and the first driven wheel 324 can drive the mechanical claw assembly to rotate when it rotates; the second driving wheel 341 is connected to the output shaft of the second motor 33.

[0119] The first transmission wheel 322 is rotatably set on the first arm mechanism to the n-1th arm mechanism 10c; the second transmission wheel 323 is rotatably set on the second arm mechanism to the n-1th arm mechanism 10d; the third transmission wheel 342 is rotatably set on the first arm mechanism to the n-1th arm mechanism 10c; the fourth transmission wheel 343 is rotatably set on the second arm mechanism to the n-1th arm mechanism 10d.

[0120] The first transmission wheel 322 on the first arm mechanism 10a is arranged between the first driving wheel 321 and the first driven wheel 324; the first transmission wheel 322 on the second arm mechanism 10b is arranged between the second transmission wheel 323 rotatably arranged on the second arm mechanism 10b and the first driven wheel 324; and so on, the first transmission wheel 322 on the n-1th arm mechanism 10c is arranged between the second transmission wheel 323 rotatably arranged on the n-1th arm mechanism 10c and the first driven wheel 324.

[0121] The third transmission wheel 342 on the first arm mechanism 10a is arranged between the second driving wheel 341 and the first driven wheel 324; the third transmission wheel 342 of the second arm mechanism 10b is arranged between the fourth transmission wheel 343 rotatably arranged on the second arm mechanism 10b and the first driven wheel 324; and so on, the third transmission wheel 342 on the n-1th arm mechanism 10c is arranged between the fourth transmission wheel 343 rotatably arranged on the n-1th arm mechanism 10c and the first driven wheel 324.

[0122] When the arm mechanism 10 is extended to the maximum, the highest point height of the second transmission wheel 323 on the second arm mechanism 10b is not lower than the lowest point height of the first transmission wheel 322 on the first arm mechanism 10a, and so on, the highest point height of the second transmission wheel 323 of the nth arm mechanism 10d is not lower than the lowest point height of the first transmission wheel 322 on the n-1th arm mechanism 10c; and the highest point height of the fourth transmission wheel 343 of the second arm mechanism 10b is not lower than the lowest point height of the third transmission wheel 342 on the first arm mechanism 10a, and so on, the fourth transmission wheel 343 of the nth arm mechanism 10d is arranged above the third transmission wheel 342 on the n-1th arm mechanism 10c.

[0123] The first flexible transmission member 325 is connected to the first driving wheel 321, the first transmission wheel 322 on the first arm mechanism to the n-1 arm mechanism 10c, the second transmission wheel 323 on the second arm mechanism to the n-1 arm mechanism 10d, and the first driven wheel 324 to form a closed transmission loop; the second flexible transmission member 344 is connected to the second driving wheel 341, the third transmission wheel 342 on the first arm mechanism to the n-1 arm mechanism 10c, the fourth transmission wheel 343 on the second arm mechanism to the n-1 arm mechanism 10d, and the first driven wheel 324 to form a closed transmission loop; the flexible transmission member between the first driving wheel 321 and the first driven wheel 324 is at least partially configured to be parallel to the up and down direction; the flexible transmission member between the second driving wheel 341 and the first driven wheel 324 is at least partially configured to be parallel to the up and down direction parallel to the up-down direction; the flexible transmission member between the first transmission wheel 324 on the first arm mechanism 10a and the second transmission wheel 323 on the second arm mechanism 10b is at least partially configured to be parallel to the up-down direction; and so on; the flexible transmission member between the first transmission wheel on the n-1th arm mechanism 10c and the second transmission wheel 323 on the n-th arm mechanism 10d is at least partially configured to be parallel to the up-down direction; the flexible transmission member between the third transmission wheel 342 on the first arm mechanism 10a and the fourth transmission wheel 343 on the second arm mechanism 10b is at least partially configured to be parallel to the up-down direction; and so on, the flexible transmission member between the third transmission wheel 342 on the n-1th arm mechanism 10c and the fourth transmission wheel 343 on the n-th arm mechanism 10d is at least partially configured to be parallel to the up-down direction.

[0124] It should be noted that the first transmission wheel 322 is rotatably arranged on the first arm mechanism to the n-1 arm mechanism 10c, and the second transmission wheel 323 is rotatably arranged on the second arm mechanism to the n-1 arm mechanism 10d; the third transmission wheel 342 is rotatably arranged on the first arm mechanism to the n-1 arm mechanism 10d; the fourth transmission wheel 343 is rotatably arranged on the second arm mechanism to the n-1 arm mechanism 10c; here, the number of the first transmission wheel 322, the second transmission wheel 323, the third transmission wheel 342 and the fourth transmission wheel 343 is not limited. Due to the interference problem between the structures, the number of transmission wheels arranged between different arms may be different, and the number of transmission wheels is set according to the actual situation. For example, three second transmission wheels 323 are arranged on the second arm mechanism 10b, and four second transmission wheels 323 are arranged on the third arm mechanism.

[0125] Due to structural interference issues, the flexible transmission member connected between different transmission wheels may not remain parallel to the up-and-down direction throughout the entire section, but it is sufficient to ensure that the flexible transmission member between the transmission wheel directly connected to the first arm mechanism 10a and the transmission wheel connected to the second arm mechanism 10b remains parallel to the up-and-down direction. For example, a rotating wheel rotatably connected to the flexible transmission member may be provided between the first driving wheel 321 and the first driven wheel 324. When the rotating wheel is rotatably provided on the first arm mechanism 10a, it is sufficient to ensure that the flexible transmission member between the rotating wheel and the first driven wheel 324 remains parallel to the up-and-down direction. When the rotating wheel is rotatably provided on the second arm mechanism 10b, it is sufficient to ensure that the flexible transmission member between the rotating wheel and the first driving wheel 321 is parallel to the up-and-down direction. The flexible transmission member between the second driving wheel 341 and the first driven wheel 324 is at least partially configured to be parallel to the up-and-down direction. Similarly, as described above.

[0126] Similarly, due to the spatial structure arrangement, the flexible transmission member between the first transmission wheel 322 on the n-1 arm mechanism 10c and the second transmission wheel 323 on the n arm mechanism 10d may not be able to ensure that the entire section is parallel to the up-down direction, but it is sufficient to ensure that the flexible transmission member connecting the n-1 arm mechanism 10c and the n arm mechanism 10d remains parallel to the up-down direction. In some embodiments, there may be multiple first transmission wheels 322 and second transmission wheels 323. After the first flexible transmission member 325 is connected to the first driving wheel 321, it may be connected to several first transmission wheels 322 and then to the second transmission wheel 323. At this time, it is sufficient to ensure that the flexible transmission member between the transmission wheel connected to the n-1 arm mechanism 10c and the transmission wheel connected to the n arm mechanism 10d remains parallel to the up and down direction, that is, the first flexible transmission member 325 remains parallel to the up and down direction through the flexible transmission member between the last first transmission wheel 322 connected to the n-1 arm mechanism 10c and the first second transmission wheel 323 connected to the n arm mechanism 10d.

[0127] Alternatively, in order to ensure that the flexible transmission member between the first transmission wheel 322 and the second transmission wheel 323 on the nth arm mechanism 10d on the n-1th arm mechanism 10c at least partially remains parallel to the up-down direction, the flexible transmission member between the first transmission wheel 322 and the second transmission wheel 323 is rotatably connected to a rotating wheel. When the rotating wheel is rotatably set on the n-1th arm mechanism 10c, it is necessary to ensure that the flexible transmission member between the rotating wheel and the second transmission wheel 323 on the nth arm mechanism 10d remains parallel to the up-down direction; when the rotating wheel is rotatably set on the nth arm mechanism 10d, it is necessary to ensure that the flexible transmission member between the rotating wheel and the first transmission wheel 322 on the n-1th arm mechanism 10c remains parallel to the up-down direction.

[0128] The reason why at least a portion of the flexible transmission member between the third transmission wheel 342 on the (n-1)th arm mechanism 10c and the fourth transmission wheel 343 on the n-th arm mechanism 10d is arranged to be parallel to the up-down direction is the same as described above.

[0129] It should be noted that when the nth arm mechanism 10d makes a linear extension motion relative to the n-1th arm mechanism 10c, the second transmission wheel 323 and the fourth transmission wheel 343 cannot move downward any further after reaching a certain position. Otherwise, the first flexible transmission member 325 cannot drive the nth arm mechanism 10d to move downward relative to the n-1th arm mechanism 10c by applying a downward force to the second transmission wheel 323, and the second flexible transmission member 344 cannot drive the nth arm mechanism 10d to move downward relative to the n-1th arm mechanism 10c by applying a downward force to the fourth transmission wheel 343. For example, when the n-th arm mechanism 10d is extended to its longest length relative to the n-1-th arm mechanism 10c, the lowest point height of the first transmission wheel 322 on the n-1-th arm mechanism 10c is A, and the highest point height of the second transmission wheel 323 on the n-1-th arm mechanism 10d is B, and B cannot be lower than A, so that the first flexible transmission member 325 can drive the n-th arm mechanism 10d to move downward relative to the n-1-th arm mechanism 10c by applying a downward force to the second transmission wheel 323. When the n-th arm mechanism 10d is extended to its longest length relative to the n-1-th arm mechanism 10c, the lowest point height of the third transmission wheel 342 on the n-1-th arm mechanism 10c is C, and the highest point height of the fourth transmission wheel 343 on the n-1-th arm mechanism 10d is D, and C cannot be lower than D, and the second flexible transmission member 344 can drive the n-th arm mechanism 10d to move downward relative to the n-1-th arm mechanism 10c by applying a downward force to the fourth transmission wheel 343. That is, when the second transmission wheel 323 moves downward to be tangent to the first transmission wheel 322, the second transmission wheel 323 cannot move further; when the fourth transmission wheel 343 moves downward to be tangent to the third transmission wheel 342, the fourth transmission wheel 343 cannot move further. Each arm mechanism 10 of the present application is provided with a limit position structure, so that when the nth arm mechanism 10d moves downward to a certain position relative to the n-1th arm mechanism 10c, it cannot move downward further, so as to ensure that B cannot be lower than A and C cannot be smaller than D.

[0130] In some embodiments, when the first motor 31 and the second motor 33 rotate in the same direction and the output torques of the first motor 31 and the second motor 33 are the same, the mechanical claw assembly rotates, and the second arm mechanism 10b remains stationary relative to the first arm mechanism 10a, and so on, the nth arm mechanism 10d remains stationary relative to the n-1th arm mechanism 10c.

[0131] When the first motor 31 and the second motor 33 rotate in opposite directions and the output torques of the first motor 31 and the second motor 33 are the same, the mechanical claw assembly does not rotate, and the second arm mechanism 10b moves linearly in the up and down directions relative to the first arm mechanism 10a, and so on, the nth arm mechanism 10d moves linearly in the up and down directions relative to the n-1th arm mechanism 10c.

[0132] When the first motor 31 and the second motor 33 rotate in the same or opposite directions but the output torques of the first motor 31 and the second motor 33 are different, the second arm mechanism 10b moves linearly in the up and down directions relative to the first arm mechanism 10a while the mechanical claw assembly rotates, and similarly the nth arm mechanism 10d moves linearly in the up and down directions relative to the n-1th arm mechanism 10c.

[0133] It should be noted that the reference object for the rotation direction of the two motors here is the earth. The following are several situations of the two motor settings. When the two motors are set relative to each other, that is, mirrored, with the earth as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise; but if the motor is used as the reference object, when one of the motors rotates counterclockwise, the other rotates clockwise. When the two motors are set at intervals but not mirrored, that is, with the earth as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise; if the motor is used as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise.

[0134] In some embodiments, the robotic arm 100 also includes a second drive mechanism 40, the power source of which is connected to the frame 20; the second drive mechanism 40 includes a third drive member 40a and a fourth drive member 40b; the third drive member 40a and the fourth drive member 40b are used to work together to drive the arm mechanism 10 to rotate as a whole around the first axis a, and are also used to work together to drive the arm mechanism 10 to rotate as a whole around the second axis b; the first axis and the second axis are not parallel.

[0135] By connecting the power source of the second drive mechanism 40 to the body of the robot 1000, the moment of inertia of the robot arm 100 can be reduced, and the flexibility of the robot arm 100 can be improved. By setting the second drive mechanism 40, the robot arm 100 can have more degrees of freedom, the robot arm 100 is more flexible, and can more accurately grasp objects. The third drive member 40a and the fourth drive member 40b work together to cooperate with the two degrees of freedom of the drive arm mechanism 10, so that the power sources of the third drive member 40a and the fourth drive member 40b are connected in parallel, which can reduce the parameters required for the power source drive, reduce errors, improve the operating speed of the robot 1000, and reduce the cost of use.

[0136] like Figures 11 to 14 As shown, in some embodiments, the third driving member 40a includes a third motor 41 and a third transmission assembly 42, and the fourth driving member 40b includes a fourth motor 43 and a fourth transmission assembly 44; the third motor 41 and the fourth motor 43 are used to be connected to the frame 20; the third motor 41 and the fourth motor 43 rotate coaxially and the third motor 41 and the fourth motor 43 rotate around the first axis a or the second axis b; the third transmission assembly 42 is connected to the output shaft of the third motor 41 and is connected to the arm mechanism 10; the fourth transmission assembly 44 is connected to the output shaft of the fourth motor 43 and is connected to the arm mechanism 10; the third motor 41 and the fourth motor 43 respectively drive the third transmission assembly 42 and the fourth transmission assembly 44 to jointly drive the arm mechanism 10 to rotate around the first axis a as a whole, and are also used to work together to drive the arm mechanism 10 as a whole to rotate around the second axis b.

[0137] By connecting the third motor 41 and the fourth motor 43 to the body, it is helpful to improve the center of gravity of the robot 100, reduce the rotational inertia of the robot 100 when rotating relative to the body, and thus help control the energy consumption of the robot 1000 and improve the response speed of the robot 1000. In this embodiment, the third motor 41 and the fourth motor 43 rotate around the first axis a. Of course, in other embodiments, the third motor 41 and the fourth motor 43 can also rotate around the second axis b.

[0138] In some embodiments, the robot arm has a front-to-back direction and a left-to-right direction, the front-to-back direction is perpendicular to the left-to-right direction, the first axis is parallel to the front-to-back direction, the second axis is parallel to the left-to-right direction, the robot arm 100 has a fourth motion state, a fifth motion state and a sixth motion state, and the robot arm 100 can switch freely between the fourth motion state, the fifth motion state and the sixth motion state; in the fourth motion state, the second drive mechanism 40 is only used to drive the arm mechanism 10 as a whole to rotate around the first axis a, and the arm mechanism 10 is stationary in the front-to-back direction; in the fifth motion state, the second drive mechanism 40 is only used to drive the arm mechanism 10 as a whole to rotate around the second axis b, and the arm mechanism 10 is stationary in the left-to-right direction; in the sixth motion state, the second drive mechanism 40 is used to drive the arm mechanism 10 as a whole to rotate around the first axis a while driving the arm mechanism 10 as a whole to rotate around the second axis b. The robot 1000 arm has multiple motion states, so that the robot 1000 arm is more flexible and can more accurately grasp objects.

[0139] In some embodiments, the third transmission assembly 42 includes a third driving wheel 421, at least one second driven wheel 422, and a third flexible transmission member 423; the third motor and the fourth motor are arranged opposite to each other; the third driving wheel 421 is connected to the output shaft of the third motor 41, and the second driven wheel 422 is fixedly connected to the arm mechanism 10; the third flexible transmission member 423 is connected to the third driving wheel 421 and the second driven wheel 422; the fourth transmission assembly 44 includes a fourth driving wheel 441 and a fourth flexible transmission member 442; the fourth driving wheel 441 is connected to the output shaft of the fourth motor 43 The fourth flexible transmission member 442 is connected to the fourth driving wheel 441 and the second driven wheel 422; the fourth transmission assembly 44 is connected to the arm mechanism 10 through the second driven wheel 422; the rotation axes of the third driving wheel 421 and the fourth driving wheel 441 are coaxial; the third driving wheel 421 and the fourth driving wheel 441 rotate around the first axis a, and the second driven wheel 422 rotates around the second axis b; the first axis a and the second axis b are perpendicular to each other; when the second driven wheel 422 rotates around the second axis b, the arm mechanism 10 rotates with the rotation of the second driven wheel 422.

[0140] In this embodiment, the third transmission assembly 42 includes at least one second driven wheel 422. Of course, in the embodiment, the third transmission assembly 42 may include two second driven wheels 422, and the third flexible transmission member 423 and the fourth flexible transmission member 442 are respectively connected to the second driven wheels 422. In this embodiment, by providing a second driven wheel 422, the rotation of the robot arm 100 with two degrees of freedom can be achieved.

[0141] In this embodiment, the flexible transmission member can realize the rotation of two degrees of freedom, that is, the rotation of the first axis a and the second axis b, which has a simple and compact structure and low cost. Of course, in other embodiments, multiple gear transmissions can also be used, and there is no need to drive the arm mechanism 10 to rotate with two degrees of freedom through the transmission of the flexible transmission member.

[0142] In this embodiment, the third driving wheel 421 and the fourth driving wheel 441 rotate around the first axis a, and the second driven wheel 422 rotates around the second axis b.

[0143] Of course, in other embodiments, the third driving wheel 421 and the fourth driving wheel 441 may also rotate around the second axis b, and at this time, the second driven wheel 422 rotates around the first axis a.

[0144] In some embodiments, when the third flexible transmission member 423 and the fourth flexible transmission member 442 rotate in the same direction and the output torques of the third motor 41 and the fourth motor 43 are the same, the arm mechanism 10 rotates around the first axis a, and the arm mechanism 10 is stationary in the front-to-back direction; when the third flexible transmission member 423 and the fourth flexible transmission member 442 rotate in opposite directions and the output torques of the third motor 41 and the fourth motor 43 are the same, the arm mechanism 10 rotates around the second axis b, and the arm mechanism 10 is stationary in the left-right direction; when the third flexible transmission member 423 and the fourth flexible transmission member 442 rotate in opposite or same directions and the output torques of the third motor 41 and the fourth motor 43 are different, the arm mechanism 10 rotates around the first axis a and the second axis b at the same time.

[0145] In this embodiment, the third motor and the fourth motor are arranged opposite to each other; when the third motor 41 and the fourth motor 43 rotate in the same direction and the torque of the third motor 41 and the fourth motor 43 is the same, the arm mechanism 10 rotates around the first axis a, and the arm mechanism 10 is stationary in the front-to-back direction; when the third motor 41 and the fourth motor 43 rotate in opposite directions and the torque of the third motor 41 and the fourth motor 43 is the same, the arm mechanism 10 rotates around the second axis b, and the arm mechanism 10 is stationary in the left-right direction; when the third motor 41 and the fourth motor 43 rotate in opposite or same directions and the torque of the third motor 41 and the fourth motor 43 is different, the arm mechanism 10 rotates around the first axis a and the second axis b at the same time.

[0146] It should be noted that the reference object for the rotation direction of the two motors here is the earth. The following are several situations of the two motor settings. When the two motors are set relative to each other, that is, mirrored, with the earth as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise; but if the motor is used as the reference object, when one of the motors rotates counterclockwise, the other also rotates clockwise. When the two motors are set at intervals but not mirrored, that is, with the earth as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise; if the motor is used as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise.

[0147] In some embodiments, the third driving wheel 421 and the fourth driving wheel 441 have the same radius, and the radius of the second driven wheel 422 is larger than the radius of the third driving wheel 421 and the fourth driving wheel 441. This is beneficial to increase the transmission ratio of the driving wheel and the transmission wheel, and increase the torque of the second driven wheel 422.

[0148] like Figures 11 to 14 As shown, the robotic arm 100 includes a support frame 50, which is rotatably connected to the arm mechanism 10; when the arm mechanism 10 rotates around the first axis a, the support frame 50 and the arm mechanism 10 rotate around the first axis a as a whole; when the arm mechanism 10 rotates around the second axis b, the support frame remains stationary; the third transmission assembly 42 includes at least one fifth transmission wheel 424 and at least one sixth transmission wheel 425, and the fifth transmission wheel 424 and the sixth transmission wheel 425 are rotatably arranged on the upper and lower sides of the support frame 50; the fourth transmission assembly 44 includes at least a seventh transmission wheel 443 and at least an eighth transmission wheel 444, and the seventh transmission wheel 443 and the eighth transmission wheel 444 are rotatably arranged on the upper and lower sides of the support frame 50; the fifth transmission wheel 424 and the sixth transmission wheel 425 are transmission-connected to the third flexible transmission member 423; the seventh transmission wheel 443 and the eighth transmission wheel 444 are transmission-connected to the fourth flexible transmission member 442.

[0149] By setting up a support frame 50, a fifth transmission wheel 424, a sixth transmission wheel 425, a seventh transmission wheel 443, and an eighth transmission wheel 444 are provided on the support frame 50. By setting these transmission wheels, when the motor drives the arm mechanism 10 to rotate around the first axis a, the flexible transmission member can transmit the force to the support frame 50 through the fifth transmission wheel 424, the sixth transmission wheel 425, the seventh transmission wheel 443, and the eighth transmission wheel 444, and the support frame 50 drives the arm mechanism 10 to rotate around the first axis a. In this way, there is no need to drive the arm mechanism 10 to rotate only through the second driven wheel 422, so that the structural stability of the robot 1000 is improved.

[0150] In some embodiments, the third driving wheel 421, the second driven wheel 422, and the fourth driving wheel 441 are synchronous pulleys, and the third flexible transmission member 423 and the fourth flexible transmission member 442 are synchronous belts; after the third flexible transmission member 423 is flipped, the non-toothed surface of the third flexible transmission member 423 is transmission connected to the fifth transmission wheel 424 and the sixth transmission wheel 425; after the fourth flexible transmission member 442 is flipped, the non-toothed surface of the fourth flexible transmission member 442 is transmission connected to the seventh transmission wheel 443 and the eighth transmission wheel 444.

[0151] Optionally, the third flexible transmission member 423 and the fourth flexible transmission member 442 can also be ropes or other flexible transmission members, so as to play a buffering role, reduce the impact of the impact force directly acting on the motor, and increase the durability and operational stability of the driving mechanism.

[0152] In some embodiments, the support frame 50 includes a first connecting frame 51, a second connecting frame 52 and a third connecting frame 53, and the first connecting frame 51, the second connecting frame 52 and the third connecting frame 53 are connected; the third connecting frame 53 is rotatably connected to the arm mechanism 10; the third motor 41 and the fourth motor 43 are symmetrically arranged; the first connecting frame 51 is arranged on the side of the third driving wheel 421 away from the third motor 41; the second connecting frame 52 is arranged on the side of the fourth driving wheel 441 away from the fourth motor 43; the first driving mechanism 30 includes a first motor 31, and the first motor 31 is used to drive the mechanical claw assembly to rotate; the first motor 31 is arranged between the third motor 41 and the fourth motor 43 and is located in the space enclosed by the first connecting frame 51, the second connecting frame 52 and the third connecting frame 53.

[0153] By configuring the support frame 50 to be a first connecting frame 51, a second connecting frame 52 and a third connecting frame 53, the first connecting frame 51 and the second connecting frame 52 are respectively arranged on the sides of the third motor 41 and the fourth motor 43, so that the third motor 41 and the fourth motor 43 can be limited and the stability of the motor can be improved.

[0154] At the same time, the first motor 31 is arranged in the space enclosed by the first connecting frame 51, the second connecting frame 52 and the third connecting frame 53, which can improve the space utilization and make the robot 1000 look more compact.

[0155] In some embodiments, the motor frame 311 of the first motor 31 is fixedly connected to the second driven wheel 422, the motor frame 311 rotates with the rotation of the second driven wheel 422, and the motor frame 311 is used to fix the motor; the support frame 50 also includes a fourth connecting frame 54, the fourth connecting frame 54 is connected to the first connecting frame 51 and the second connecting frame 52, the first motor 31 is located in the space enclosed by the first connecting frame 51, the second connecting frame 52, the third connecting frame 53, and the fourth connecting frame 54, and the fourth connecting frame 54 is rotatably connected to the motor frame 311. By connecting the motor frame 311 to the support frame 50, the first motor 31 is supported by the support frame 50, and the stability of the structure can be improved.

[0156] In some embodiments, the arm mechanism 10 includes a first mount 13, which is provided with a through hole 131; the output shaft of the first motor 31 passes through the through hole 131 and is rotatably connected to the first mount 13; the first mount 13 is fixedly connected to the second driven wheel 422 and is rotatably connected to the third connecting frame 53.

[0157] In the second aspect, the present embodiment provides a robot 1000, including a frame, a fuselage, and the mechanical arm 100 of the first aspect, wherein the frame 20 is used to be mounted on the fuselage, and the mechanical arm 100 is rotatably connected to the frame 20. Among them, the mechanical arm 100 in the embodiment of the present application can have the same structure as any of the mechanical arms 100 in the above embodiments, and can bring the same or similar beneficial effects, and the specific description can be referred to the description in the above embodiments, which will not be repeated in this embodiment. In addition, the mechanical arm 100 arranged on the fuselage can be one or more, and those skilled in the art can set it accordingly according to actual needs.

[0158] Those skilled in the art may combine and associate different embodiments or examples and features of different embodiments or examples described in this specification without mutual contradiction.

[0159] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A mechanical arm for a robot, characterized in that: The robotic arm comprises: A frame, the frame being used to be mounted to a body of the robot; An arm mechanism, the arm mechanism being used for being rotatably connected to the frame; A mechanical claw assembly, the mechanical claw assembly is arranged at the lower end of the arm mechanism and is rotatably connected to the arm mechanism; A first driving mechanism, wherein a power source of the first driving mechanism is connected to the upper end of the arm mechanism, and the first driving mechanism is connected to the mechanical claw assembly to drive the mechanical claw assembly to rotate relative to the arm mechanism.

2. The robotic arm according to claim 1, characterized in that: The arm mechanism comprises a first arm mechanism and a second arm mechanism; The first arm mechanism is used to be rotatably connected to the frame; The second arm mechanism is slidably connected to the first arm mechanism; The mechanical claw assembly is disposed at the lower end of the second arm mechanism and is rotatably connected to the second arm mechanism; The first driving mechanism is connected to the first arm mechanism and the second arm mechanism and is used to drive the mechanical claw assembly to rotate relative to the second arm mechanism, and to drive the second arm mechanism to move linearly along the up and down directions relative to the first arm mechanism, and the up and down directions are the extension directions of the first arm mechanism.

3. The robotic arm according to claim 2, characterized in that: The mechanical arm has a first motion state, a second motion state and a third motion state, and the mechanical arm can freely switch between the first motion state, the second motion state and the third motion state; In the first motion state, the first driving mechanism is only used to drive the mechanical claw assembly to rotate, and the second arm mechanism is stationary relative to the first arm mechanism; In the second motion state, the first driving mechanism is only used to drive the second arm mechanism to move linearly in the up and down directions relative to the first arm mechanism, and the mechanical claw assembly does not rotate; In the third motion state, the first driving mechanism is used to drive the mechanical claw assembly to rotate and at the same time drive the second arm mechanism to move linearly along the up-down direction relative to the first arm mechanism.

4. The mechanical arm according to claim 2, characterized in that: The first driving mechanism includes a first driving member and a second driving member, the power sources of the first driving member and the second driving member are connected to the upper end of the first arm mechanism, and the first driving member is connected to the first arm mechanism, the second arm mechanism, and the mechanical claw assembly; The second driving member is connected to the first arm mechanism and the second arm mechanism; The first driving member and the second driving member are used to work together to drive the mechanical claw assembly to rotate relative to the second arm mechanism; The first driving member and the second driving member are further used to work together to drive the second arm mechanism to move linearly along the up-down direction relative to the first arm mechanism.

5. The mechanical arm according to claim 4, characterized in that: The first driving member includes a first motor and a first transmission assembly, and the first motor is connected to the upper end of the first arm mechanism; The first transmission assembly is connected to the output shaft of the first motor and is connected to the mechanical claw assembly, the first arm mechanism, and the second arm mechanism; The second driving member includes a second motor and a second transmission assembly, and the second motor is connected to the upper end of the first arm mechanism; The second transmission assembly is connected to the output shaft of the second motor and is connected to the first arm mechanism and the second arm mechanism; The first motor and the second motor are used to drive the first transmission assembly and the second transmission assembly respectively, and together drive the mechanical claw assembly to rotate relative to the second arm mechanism and drive the second arm mechanism to move linearly along the up and down directions relative to the first arm mechanism.

6. The mechanical arm according to claim 5, characterized in that: When the first motor and the second motor rotate in the same direction and the output torques of the first motor and the second motor are the same, the mechanical claw assembly rotates, and the second arm mechanism remains stationary relative to the first arm mechanism; When the first motor and the second motor rotate in opposite directions and the output torques of the first motor and the second motor are the same, the mechanical claw assembly does not rotate, and the second arm mechanism moves linearly along the up-down direction relative to the first arm mechanism; When the first motor and the second motor rotate in the same or opposite directions but the output torques of the first motor and the second motor are different, the second arm mechanism moves linearly in the up and down directions relative to the first arm mechanism while the mechanical claw assembly rotates.

7. The mechanical arm according to claim 5, characterized in that: The first transmission assembly includes a first driving wheel, at least one first transmission wheel, at least one second transmission wheel, a first flexible transmission member and at least one first driven wheel; The second transmission assembly includes a second driving wheel, at least one third transmission wheel, at least one fourth transmission wheel and a second flexible transmission member; The first driving wheel is connected to the output shaft of the first motor, the first driven wheel is rotatably connected to the second arm mechanism and connected to the mechanical claw assembly, and the first driven wheel can drive the mechanical claw assembly to rotate when rotating; The second driving wheel is connected to the output shaft of the second motor; The first transmission wheel is disposed between the first driving wheel and the first driven wheel and is rotatably disposed on the first arm mechanism; The second transmission wheel is rotatably disposed on the second arm mechanism, and when the second arm mechanism is extended to the maximum relative to the first arm mechanism, the height of the highest point of the second transmission wheel is not lower than the height of the lowest point of the first transmission wheel; The third transmission wheel is arranged between the second driving wheel and the first driven wheel and is rotatably arranged on the first arm mechanism; The fourth transmission wheel is rotatably arranged on the second arm mechanism, and when the second arm mechanism is extended to the maximum relative to the first arm mechanism, the height of the highest point of the fourth transmission wheel is not lower than the height of the lowest point of the third transmission wheel; The first flexible transmission member is in transmission connection with the first driving wheel, the first transmission wheel, the second transmission wheel, and the first driven wheel to form a closed transmission loop; The second flexible transmission member is in transmission connection with the second driving wheel, the third transmission wheel, the fourth transmission wheel and the first driven wheel to form a closed transmission loop; The flexible transmission member between the first driving wheel and the first driven wheel is at least partially configured to be parallel to the up-down direction; The flexible transmission member between the second driving wheel and the first driven wheel is at least partially configured to be parallel to the up-down direction; The flexible transmission member between the first transmission wheel and the second transmission wheel is at least partially configured to be parallel to the up-down direction; At least a portion of the flexible transmission member between the third transmission wheel and the fourth transmission wheel is configured to be parallel to the up-down direction.

8. The mechanical arm according to claim 7, characterized in that: The entire section of the flexible transmission member between the first transmission wheel and the second transmission wheel is configured to be parallel to the up-down direction, and the entire section of the flexible transmission member between the third transmission wheel and the fourth transmission wheel is configured to be parallel to the up-down direction.

9. The mechanical arm according to claim 8, characterized in that: When the second arm mechanism is extended to its longest length relative to the first arm mechanism, the height of the lowest point of the first transmission wheel is A, the height of the highest point of the second transmission wheel is B, B cannot be less than A, the height of the lowest point of the third transmission wheel is C, the height of the highest point of the fourth transmission wheel is D, and D cannot be less than C.

10. The mechanical arm according to claim 7, characterized in that: When the first flexible transmission member and the second flexible transmission member have the same rotation direction and the first motor and the second motor have the same output torque, the first flexible transmission member and the second flexible transmission member have the same torque direction on the first driven wheel, and the upward pulling force of the first flexible transmission member on the first driven wheel and the downward pulling force of the second flexible transmission member on the fourth transmission wheel are the same, or the upward pulling force of the second flexible transmission member on the first driven wheel and the downward pulling force of the first flexible transmission member on the second transmission wheel are the same, the second arm mechanism is stationary relative to the first arm mechanism, and the mechanical claw assembly rotates; The first flexible transmission member and the second flexible transmission member rotate in opposite directions and the first motor and the second motor have the same output torque, the first flexible transmission member and the second flexible transmission member transmit torques to the first driven wheel in opposite directions and have the same magnitude, and the first flexible transmission member and the second flexible transmission member exert upward pulling forces on the first driven wheel or the first flexible transmission member exerts downward pulling forces on the second transmission wheel and the second flexible transmission member exerts downward pulling forces on the fourth transmission wheel, the second arm mechanism moves linearly along the up-down direction relative to the first arm mechanism, and the mechanical claw assembly does not rotate; The first flexible transmission member and the second flexible transmission member rotate in opposite directions and the first motor and the second motor have different output torques. The first flexible transmission member and the second flexible transmission member act on the first driven wheel with torques in opposite directions but different in magnitude. The first flexible transmission member and the second flexible transmission member act on the first driven wheel with an upward pulling force or the first flexible transmission member acts on the second transmission wheel with a downward pulling force and the second flexible transmission member acts on the fourth transmission wheel with a downward pulling force. When the second arm mechanism moves linearly along the up-down direction relative to the first arm mechanism, the mechanical claw assembly rotates. The first flexible transmission member and the second flexible transmission member have the same rotation direction and the first motor and the second motor have different output torques, the first flexible transmission member and the second flexible transmission member have the same torque direction on the first driven wheel, and the upward pulling force of the first flexible transmission member on the first driven wheel and the downward pulling force of the second flexible transmission member on the fourth transmission wheel are different in magnitude, or the upward pulling force of the second flexible transmission member on the first driven wheel and the downward pulling force of the first flexible transmission member on the second transmission wheel are different in magnitude, and the second arm mechanism moves linearly along the up and down directions relative to the first arm mechanism, while the mechanical claw assembly rotates.

11. The mechanical arm according to claim 7, characterized in that: The mechanical arm has a left-right direction, which is perpendicular to the up-down direction; The first motor and the second motor are symmetrically arranged in the left-right direction and rotate coaxially; The first flexible transmission member and the second flexible transmission member are arranged in mirror image; The first transmission wheel and the third transmission wheel are symmetrically arranged; The second transmission wheel and the fourth transmission wheel are symmetrically arranged.

12. The mechanical arm according to claim 7, characterized in that: The first driving wheel, the second transmission wheel, the fourth transmission wheel, the second driving wheel, and the first driven wheel are synchronous pulleys, the first flexible transmission member and the second flexible transmission member are synchronous belts, the first flexible transmission member meshes with the first driving wheel, the first driven wheel, and the second transmission wheel for transmission, and the second flexible transmission member meshes with the second driving wheel, the first driven wheel, and the fourth transmission wheel for transmission; The first transmission wheel and the third transmission wheel are non-toothed rotating wheels, the non-toothed surface of the first flexible transmission member is wound and connected with the first transmission wheel, and the non-toothed surface of the second flexible transmission member is wound and connected with the third transmission wheel.

13. The mechanical arm according to claim 7, characterized in that: The radius of the first driving wheel is consistent with that of the second driving wheel, and the radius of the first driven wheel is larger than that of the first driving wheel and the second driving wheel.

14. The mechanical arm according to claim 13, characterized in that: The first transmission assembly includes a first limiting member, the first limiting member rotates on the second arm mechanism, the first limiting member is arranged between the first driving wheel and the first driven wheel and arranged on the outside of the first flexible transmission member, the first limiting member is used to make the first flexible transmission member between the first limiting member and the first driving wheel remain parallel to the up-down direction, so that when the first flexible transmission member between the first driving wheel and the first driven wheel increases or decreases, the first flexible transmission member between the first transmission wheel and the second transmission wheel can be correspondingly reduced or increased synchronously; The second transmission assembly includes a second limiting member, which is rotatably arranged on the second arm mechanism, and the second limiting member is arranged between the second driving wheel and the first driven wheel and on the outside of the second flexible transmission member. The second limiting member is used to make the second flexible transmission member between the second limiting member and the second driving wheel remain parallel to the up and down directions, so that when the second flexible transmission member between the second driving wheel and the first driven wheel increases or decreases, the second flexible transmission member between the third transmission wheel and the fourth transmission wheel can be correspondingly reduced or increased synchronously.

15. The mechanical arm according to claim 14, characterized in that: The first limiting member and the second limiting member are both non-toothed rollers; The first limiting member is rotatably connected to the first flexible transmission member; The second limiting member is rotatably connected to the second flexible transmission member.

16. The mechanical arm according to claim 7, characterized in that: The first transmission assembly comprises a first pre-tightening wheel, and the first pre-tightening wheel is rotatably arranged on the second arm mechanism; The first preload wheel is arranged outside the first flexible transmission member between the second transmission wheel and the first driven wheel and is rotatably connected to the first flexible transmission member; The second transmission assembly includes a second pre-tensioning wheel, which is rotatably arranged on the second arm mechanism. The second pre-tensioning wheel is arranged outside the second flexible transmission member between the fourth transmission wheel and the first driven wheel and is rotatably connected to the second flexible transmission member.

17. The mechanical arm according to claim 7, characterized in that: The first arm mechanism includes a guide assembly, and the second arm mechanism includes a slide seat, which is slidably connected to the guide assembly; The guide assembly comprises a guide rod, which extends in the up-down direction and passes through a slide seat and is slidably connected with the slide seat.

18. The mechanical arm according to claim 2, characterized in that: The first driving mechanism includes a first driving member and a second driving member. The first driving member is used to drive the mechanical claw assembly to rotate relative to the second arm mechanism, and the second driving member is also used to drive the second arm mechanism to move linearly along the up and down direction relative to the first arm mechanism.

19. The mechanical arm according to claim 18, characterized in that: The first driving member includes a first motor and a first transmission assembly, wherein the first motor is used to be connected to the upper end of the first arm mechanism, the first transmission assembly is connected to the output shaft of the first motor and is connected to the mechanical claw assembly, the first motor is used to drive the first transmission assembly to move, and the first transmission assembly is configured to drive the mechanical claw assembly to rotate relative to the second arm mechanism; The second driving member includes a second motor and a second transmission assembly, the second motor is used to be connected to the upper end of the first arm mechanism, the second transmission assembly is connected to the output shaft of the second motor and is connected to the second arm mechanism, the second motor is used to drive the second transmission assembly to move, and the second transmission assembly is configured to drive the second arm mechanism to move linearly along the up and down directions relative to the first arm mechanism.

20. The mechanical arm according to claim 19, characterized in that: The first transmission assembly and / or the second transmission assembly is configured to drive the second arm mechanism to move linearly along the up-down direction relative to the first arm mechanism through belt transmission, chain transmission, rope transmission or screw nut transmission.

21. The mechanical arm according to claim 1, characterized in that: The arm mechanism comprises a first arm mechanism, a second arm mechanism and up to the nth arm mechanism, and when the arm length of the arm mechanism is at the longest, the first arm mechanism to the nth arm mechanism are arranged from top to bottom; The first arm mechanism is used to be rotatably connected to the frame; The second arm mechanism is used for sliding connection with the first arm mechanism; Similarly, the nth arm mechanism is slidably connected to the n-1 arm mechanism, where n>2; The mechanical claw assembly is connected to the lower end of the nth arm mechanism and is rotationally connected to the nth arm mechanism; The first driving mechanism is connected to the first arm mechanism to the nth arm mechanism and is used to drive the second arm mechanism to move linearly along the up and down direction relative to the first arm mechanism, and so on. The first driving mechanism is also used to drive the nth arm mechanism to move linearly along the up and down direction relative to the n-1th arm mechanism, and the up and down direction is the extension direction of the first arm mechanism.

22. The mechanical arm according to claim 21, characterized in that: The first driving mechanism includes a first driving member and a second driving member, wherein the power sources of the first driving member and the second driving member are connected to the upper end of the first arm mechanism, and the first driving member is connected to the mechanical claw assembly and the first arm mechanism to the nth arm mechanism; A second driving member is connected to the first arm mechanism to the nth arm mechanism; The first driving member and the second driving member are used to work together to drive the mechanical claw assembly to rotate relative to the nth arm mechanism; The first driving member and the second driving member are also used to work together to drive the second arm mechanism to move linearly along the up-down direction relative to the first arm mechanism; And by analogy, the first driving member and the second driving member are also used to work together to drive the nth arm mechanism to move linearly along the up-down direction relative to the n-1th arm mechanism, and the up-down direction is the extension direction of the first arm mechanism.

23. The mechanical arm according to claim 22, characterized in that: The mechanical arm has a first motion state, a second motion state and a third motion state, and the mechanical arm can freely switch between the first motion state, the second motion state and the third motion state; In the first motion state, the first driving mechanism is used to drive the mechanical claw assembly to rotate, the second arm mechanism is stationary relative to the first arm mechanism, and so on, the nth arm mechanism is stationary relative to the n-1th arm mechanism; In the second motion state, the first driving mechanism is used to drive the second arm mechanism to move linearly along the up-down direction relative to the first arm mechanism, and similarly, the first driving mechanism is also used to drive the nth arm mechanism to move linearly along the up-down direction relative to the n-1th arm mechanism, and the mechanical claw assembly does not rotate; In the third motion state, the first driving mechanism is used to drive the mechanical claw assembly to rotate while driving the second arm mechanism to move linearly along the up and down direction relative to the first arm mechanism, and so on. The first driving mechanism is also used to drive the nth arm mechanism to move linearly along the up and down direction relative to the n-1th arm mechanism.

24. The mechanical arm according to claim 23, characterized in that: The first driving member includes a first motor and a first transmission assembly, wherein the first motor is connected to the upper end of the first arm mechanism; The first transmission assembly is connected to the output shaft of the first motor and is connected to the mechanical claw assembly, the first arm mechanism, and the second arm mechanism to the nth arm mechanism; The second driving member includes a second motor and a second transmission assembly, and the second motor is connected to the upper end of the first arm mechanism; The second transmission assembly is connected to the output shaft of the second motor and is connected to the first arm mechanism and the second arm mechanism to the nth arm mechanism; The first motor and the second motor are used to drive the first transmission assembly and the second transmission assembly respectively to cooperate with each other to drive the mechanical claw assembly to rotate relative to the nth arm mechanism and drive the nth arm mechanism to move linearly along the up and down directions relative to the n-1th arm mechanism.

25. The mechanical arm according to claim 24, characterized in that: The first transmission assembly includes a first driving wheel, at least one first transmission wheel, at least one second transmission wheel, a first flexible transmission member and at least one first driven wheel; The second transmission assembly includes a second driving wheel, at least one third transmission wheel, at least one fourth transmission wheel and a second flexible transmission member; The first driving wheel is connected to the output shaft of the first motor, the first driven wheel is rotatably connected to the nth arm mechanism and connected to the mechanical claw assembly, and the first driven wheel can drive the mechanical claw assembly to rotate when rotating; The second driving wheel is connected to the output shaft of the second motor; The first transmission wheel is rotatably disposed on the first arm mechanism to the n-1th arm mechanism; The second transmission wheel is rotatably disposed on the second arm mechanism to the nth arm mechanism; The third transmission wheel is rotatably disposed on the first arm mechanism to the n-1th arm mechanism; The fourth transmission wheel is rotatably disposed on the second arm mechanism to the nth arm mechanism; The first transmission wheel on the first arm mechanism is arranged between the first driving wheel and the first driven wheel; The first transmission wheel of the second arm mechanism is arranged between the second transmission wheel rotatably arranged on the second arm mechanism and the first driven wheel; By analogy, the first transmission wheel on the n-1th arm mechanism is arranged between the second transmission wheel rotatably arranged on the n-1th arm mechanism and the first driven wheel; The third transmission wheel on the first arm mechanism is arranged between the second driving wheel and the first driven wheel; The third transmission wheel of the second arm mechanism is arranged between the fourth transmission wheel rotatably arranged on the second arm mechanism and the first driven wheel; Similarly, the third transmission wheel on the n-1th arm mechanism is arranged between the fourth transmission wheel rotatably arranged on the n-1th arm mechanism and the first driven wheel; When the arm mechanism is extended to a long extent, the height of the highest point of the second transmission wheel on the second arm mechanism is not lower than the height of the lowest point of the first transmission wheel on the first arm mechanism; By analogy, the height of the highest point of the second transmission wheel on the nth arm mechanism is not lower than the height of the lowest point of the first transmission wheel on the n-1th arm mechanism; and the height of the highest point of the fourth transmission wheel of the second arm mechanism is not lower than the height of the lowest point of the third transmission wheel on the first arm mechanism, and so on, the height of the highest point of the fourth transmission wheel of the nth arm mechanism is not lower than the height of the lowest point of the third transmission wheel on the n-1th arm mechanism; The first flexible transmission member is connected to the first driving wheel, the first transmission wheel on the first arm mechanism to the n-1th arm mechanism, the second transmission wheel on the second arm mechanism to the nth arm mechanism, and the first driven wheel to form a closed transmission loop; The second flexible transmission member is connected to the second driving wheel, the third transmission wheel on the first arm mechanism to the n-1th arm mechanism, the fourth transmission wheel on the second arm mechanism to the nth arm mechanism, and the first driven wheel to form a closed transmission loop; The flexible transmission member between the first driving wheel and the first driven wheel is at least partially configured to be parallel to the up-down direction; The flexible transmission member between the second driving wheel and the first driven wheel is at least partially configured to be parallel to the up-down direction; The flexible transmission member between the first transmission wheel on the first arm mechanism and the second transmission wheel on the second arm mechanism is at least partially configured to be parallel to the up-down direction; And so on; the flexible transmission member between the first transmission wheel on the n-1th arm mechanism and the second transmission wheel on the nth arm mechanism is at least partially configured to be parallel to the up-down direction; The flexible transmission member between the third transmission wheel on the first arm mechanism and the fourth transmission wheel on the second arm mechanism is at least partially configured to be parallel to the up-down direction; By analogy, at least a portion of the flexible transmission member between the third transmission wheel on the (n-1)th arm mechanism and the fourth transmission wheel on the (n)th arm mechanism is configured to be parallel to the up-down direction.

26. The mechanical arm according to claim 25, characterized in that: When the first motor and the second motor rotate in the same direction and the output torques of the first motor and the second motor are the same, the mechanical claw assembly rotates, the second arm mechanism remains stationary relative to the first arm mechanism, and so on, the nth arm mechanism remains stationary relative to the n-1th arm mechanism; When the first motor and the second motor rotate in opposite directions and the output torques of the first motor and the second motor are the same, the mechanical claw assembly does not rotate, and the second arm mechanism moves linearly along the up-down direction relative to the first arm mechanism, and so on, the nth arm mechanism moves linearly along the up-down direction relative to the n-1th arm mechanism; When the first motor and the second motor rotate in the same or opposite directions but the output torques of the first motor and the second motor are different, the second arm mechanism moves linearly in the up and down directions relative to the first arm mechanism while the mechanical claw assembly rotates, and so on, the nth arm mechanism moves linearly in the up and down directions relative to the n-1th arm mechanism.

27. The robotic arm according to any one of claims 1 to 26, characterized in that: The robot arm further comprises a second driving mechanism, a power source of which is connected to the frame of the robot; The second drive mechanism includes a third drive member and a fourth drive member; The third driving member and the fourth driving member are used to work together to drive the arm mechanism as a whole to rotate around the first axis, and are also used to work together to drive the arm mechanism as a whole to rotate around the second axis; The first axis and the second axis are non-parallel.

28. The mechanical arm according to claim 27, characterized in that: The third driving member includes a third motor and a third transmission assembly, and the fourth driving member includes a fourth motor and a fourth transmission assembly; The third motor and the fourth motor are used to be connected to the frame; The third motor and the fourth motor rotate coaxially and the third motor and the fourth motor rotate around the first axis or the second axis; The third transmission assembly is connected to the output shaft of the third motor and is connected to the arm mechanism; A fourth transmission assembly is connected to the output shaft of the fourth motor and is connected to the arm mechanism; The third motor and the fourth motor respectively drive the third transmission assembly and the fourth transmission assembly to cooperate with each other to drive the arm mechanism to rotate around the first axis as a whole, and are also used to work together to cooperate with the arm mechanism to rotate around the second axis as a whole.

29. The mechanical arm according to claim 28, characterized in that: The robot arm has a front-to-back direction and a left-to-right direction, the front-to-back direction is perpendicular to the left-to-right direction, the first axis is parallel to the front-to-back direction, and the second axis is parallel to the left-to-right direction; The robot arm has a fourth motion state, a fifth motion state and a sixth motion state, and the robot arm can freely switch between the fourth motion state, the fifth motion state and the sixth motion state; In the fourth motion state, the second driving mechanism is only used to drive the arm mechanism as a whole to rotate around the first axis, and the arm mechanism is stationary in the front-rear direction; In the fifth motion state, the second driving mechanism is only used to drive the arm mechanism as a whole to rotate around the second axis, and the arm mechanism is stationary in the left-right direction; In the sixth movement state, the second driving mechanism is used to drive the arm mechanism to rotate as a whole around the first axis while driving the arm mechanism as a whole to rotate around the second axis.

30. The mechanical arm according to claim 28, characterized in that: The third transmission assembly includes a third driving wheel, at least one second driven wheel, and a third flexible transmission member; The third motor and the fourth motor are arranged opposite to each other; The third driving wheel is connected to the output shaft of the third motor, and the second driven wheel is fixedly connected to the arm mechanism; The third flexible transmission member is connected to the third driving wheel and the second driven wheel; The fourth transmission assembly includes a fourth driving wheel and a fourth flexible transmission member; The fourth driving wheel is connected to the output shaft of the fourth motor, and the fourth flexible transmission member is connected to the fourth driving wheel and the second driven wheel; The fourth transmission assembly is connected to the arm mechanism through the second driven wheel; The rotation axes of the third driving wheel and the fourth driving wheel are coaxial; The third driving wheel and the fourth driving wheel rotate around the first axis, and the second driven wheel rotates around the second axis; The first axis and the second axis are perpendicular to each other; When the second driven wheel rotates around the second axis, the arm mechanism rotates along with the rotation of the second driven wheel.

31. The mechanical arm according to claim 30, characterized in that: When the third flexible transmission member and the fourth flexible transmission member rotate in the same direction and the output torques of the third motor and the fourth motor are the same, the arm mechanism rotates around the first axis, and the arm mechanism remains stationary in the front-rear direction; When the third flexible transmission member and the fourth flexible transmission member rotate in opposite directions and the output torques of the third motor and the fourth motor are the same, the arm mechanism rotates around the second axis, and the arm mechanism remains stationary in the left and right directions; When the third flexible transmission member and the fourth flexible transmission member rotate in opposite or same directions and the output torques of the third motor and the fourth motor are different in magnitude, the arm mechanism rotates around the first axis and the second axis at the same time.

32. The mechanical arm of claim 30, wherein: The radius of the third driving wheel is consistent with that of the fourth driving wheel, and the radius of the second driven wheel is larger than that of the third driving wheel and the fourth driving wheel.

33. The mechanical arm according to claim 32, characterized in that: The mechanical arm comprises a support frame, and the support frame is rotatably connected to the arm mechanism; When the arm mechanism rotates around the first axis, the support frame and the arm mechanism rotate around the first axis as a whole; When the arm mechanism rotates around the second axis, the support frame remains stationary; The third transmission assembly includes at least one fifth transmission wheel and at least one sixth transmission wheel, and the fifth transmission wheel and the sixth transmission wheel are rotatably arranged on the upper and lower sides of the support frame; The fourth transmission assembly includes at least one seventh transmission wheel and at least one eighth transmission wheel, wherein the seventh transmission wheel and the eighth transmission wheel are rotatably disposed on the upper and lower sides of the support frame; The fifth transmission wheel and the sixth transmission wheel are transmission-connected with the third flexible transmission member; The seventh transmission wheel and the eighth transmission wheel are transmission-connected to the fourth flexible transmission member.

34. The mechanical arm according to claim 33, characterized in that: The third driving wheel, the second driven wheel and the fourth driving wheel are synchronous pulleys, and the third flexible transmission member and the fourth flexible transmission member are synchronous belts; After the third flexible transmission member is turned over, the non-toothed surface of the third flexible transmission member is in transmission connection with the fifth transmission wheel and the sixth transmission wheel; After the fourth flexible transmission member is turned over, the non-toothed surface of the fourth flexible transmission member is transmission-connected with the seventh transmission wheel and the eighth transmission wheel.

35. The mechanical arm of claim 33, wherein: The support frame includes a first connecting frame, a second connecting frame and a third connecting frame, the first connecting frame, the second connecting frame and the third connecting frame are connected; the third connecting frame is rotatably connected to the arm mechanism, the third motor and the fourth motor are symmetrically arranged, the first connecting frame is arranged on the side of the third driving wheel away from the third motor; the second connecting frame is arranged on the side of the fourth driving wheel away from the fourth motor; the first driving mechanism includes a first motor, the first motor is used to drive the mechanical claw assembly to rotate; the first motor is arranged between the third motor and the fourth motor and is located in the space enclosed by the first connecting frame, the second connecting frame and the third connecting frame.

36. The mechanical arm of claim 35, wherein: The motor frame of the first motor is fixedly connected to the second driven wheel, the motor frame rotates with the rotation of the second driven wheel, and the motor frame is used to fix the motor; The support frame also includes a fourth connecting frame, which is connected to the first connecting frame and the second connecting frame. The first motor is located in a space enclosed by the first connecting frame, the second connecting frame, the third connecting frame, and the fourth connecting frame. The fourth connecting frame is rotatably connected to the motor frame.

37. The mechanical arm of claim 36, wherein: The arm mechanism includes a first seat frame, which is provided with a through hole; the output shaft of the first motor passes through the through hole and is rotatably connected to the first seat frame; the first seat frame is fixedly connected to the second driven wheel and is rotatably connected to the third connecting frame.

38. A robot, characterized in that: It comprises a frame, a body and the mechanical arm according to any one of claims 1 to 26, wherein the frame is used to be installed on the body, and the mechanical arm is rotatably connected to the frame.

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