Mechanical arm and robot

Abstract

The mechanical arm comprises a first rotating assembly, a second rotating assembly, a third rotating assembly, a fourth rotating assembly, a fifth rotating assembly, a sixth rotating assembly, a first connecting arm and a second connecting arm, the first end of the second rotating assembly is sleeved with a second shell, the first end of the first rotating assembly is sleeved with a first shell, and the second end of the first rotating assembly is connected with the second shell. The second end of the second rotating assembly is connected with one end of the first connecting arm; the first end of the third rotating assembly is sleeved with a third shell, the second end of the third rotating assembly is connected with the other end of the first connecting arm, the first end of the fourth rotating assembly is connected with the third shell, and the second end of the fourth rotating assembly is sleeved with a fourth shell connected with one end of the second connecting arm; the first end of the fifth rotating assembly is connected with the other end of the second connecting arm, the second end of the fifth rotating assembly is sleeved with a fifth shell, the first end of the sixth rotating assembly is sleeved with a sixth shell, and the sixth shell is connected with the fifth shell. According to the mechanical arm, the rotatable ends of the corresponding rotating assemblies directly participate in connection at the joints, the structure is simplified, the occupied space of the structure is reduced, and the weight is reduced.

Description

Technical Field

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

[0002] Robot technology has developed rapidly in recent years, and the application areas of robots have continued to expand. Today, they are widely used in industrial applications or entertainment fields. Existing multi-axis robots have achieved safety and precision in industrial applications, and are mostly used to replace people in repetitive work in dangerous scenarios, such as logistics handling, loading and unloading, high-altitude operations, etc. They have companionship functions and educational significance in entertainment life, and are widely praised by consumers.

[0003] At the joints of the manipulator arm of an existing robot, fixing parts are usually required to be set between two adjacent execution units or on the execution units respectively, so as to connect the adjacent execution units through the fixing parts and realize relative rotation between the adjacent execution units. The structure of the fixing parts is often complicated, which not only makes the connection structure at the joints complicated, but also increases the overall size and weight of the manipulator arm, which is not conducive to the long-term operation of the manipulator arm and also limits the flexible operation of the manipulator arm in a narrow space. Utility Model Content

[0004] In view of this, the purpose of the utility model is to provide a mechanical arm and a robot to solve the problem that the mechanical arm of the existing robot usually needs to connect adjacent execution units through additional fixings, resulting in a complex mechanical arm connection structure, large overall dimensions and heavy weight.

[0005] In order to solve the above technical problems, the technical solution used in the utility model is:

[0006] A mechanical arm described in the utility model comprises a first rotating assembly, a second rotating assembly, a third rotating assembly, a fourth rotating assembly, a fifth rotating assembly, a sixth rotating assembly, a first connecting arm and a second connecting arm, wherein the first end of the first rotating assembly is sleeved with a first housing, the first end of the second rotating assembly is sleeved with a second housing, the second end of the first rotating assembly is connected to the second housing, the second end of the second rotating assembly is connected to one end of the first connecting arm, the first rotating assembly can drive the second end thereof to rotate with its axis as the rotating shaft, and the second rotating assembly can drive the second end thereof to rotate with its axis as the rotating shaft; the first end of the first housing is also used for an external fixed seat;

[0007] The first end of the third rotating assembly is sleeved with a third housing, and the second end is connected to the other end of the first connecting arm; the first end of the fourth rotating assembly is connected to the third housing, and the second end is sleeved with a fourth housing, and the fourth housing is connected to one end of the second connecting arm; the third rotating assembly can drive its second end to rotate with its axis as the rotating axis, and the fourth rotating assembly can drive its first end to rotate with its axis as the rotating axis;

[0008] The first end of the fifth rotating component is connected to the other end of the second connecting arm, and the second end is sleeved with a fifth shell. The first end of the sixth rotating component is sleeved with a sixth shell, and the sixth shell is connected to the fifth shell. The fifth rotating component can drive its first end to rotate with its axis as the rotating shaft, and the sixth rotating component can drive its second end to rotate, and its second end is used for external auxiliary components.

[0009] Preferably, the first connecting arm comprises a first plate shell and a second plate shell, and the first plate shell and the second plate shell are connected to form a first cavity having a cavity inside; and / or,

[0010] The second connecting arm includes a third plate shell and a fourth plate shell, and the third plate shell and the fourth plate shell are connected to form a second cavity with a cavity inside.

[0011] Further preferably, the first plate shell material is aluminum alloy, and the second plate shell material is non-metal, preferably plastic; and / or the third plate shell material is aluminum alloy, and the fourth plate shell material is non-metal, preferably plastic.

[0012] Further preferably, the first plate shell and the second plate shell are detachably connected, and the third plate shell and the fourth plate shell are detachably connected;

[0013] The second shell, the third shell, the fourth shell and the fifth shell are all T-shaped, the first end of the second shell is connected to the second rotating assembly, and the second end port of the first end is detachably connected to the first end cover; the first end of the third shell is connected to the third rotating assembly, and the second end port of the first end is detachably connected to the second end cover; the first end of the fourth shell is connected to the fourth rotating assembly, and the second end port of the first end is detachably connected to the third end cover; the first end of the fifth shell is connected to the fifth rotating assembly, and the second end port of the first end is detachably connected to the fourth end cover.

[0014] More preferably, the outer diameters of the first rotating assembly, the second rotating assembly, the third rotating assembly, the fourth rotating assembly, the fifth rotating assembly and the sixth rotating assembly decrease gradually;

[0015] The outer diameter from the first end to the second end of the second housing is the same as the outer diameter of the second rotating assembly;

[0016] The outer diameter from the first end to the second end of the third housing is the same as the outer diameter of the third rotating assembly, the third end of the third housing is connected to the first end of the fourth rotating assembly, and the outer diameter of the third end of the third housing is the same as the outer diameter of the fourth rotating assembly;

[0017] The outer diameter from the first end to the second end of the fourth housing is the same as the outer diameter of the fourth rotating assembly, and the third end of the fourth housing is connected to the second connecting arm;

[0018] The outer diameter from the first end to the second end of the fifth housing is the same as the outer diameter of the fifth rotating assembly, and the third end of the fifth housing is connected to the sixth housing.

[0019] Preferably, when the robotic arm is unfolded, the net length of the second connecting arm between the fourth shell and the fifth shell is not less than the distance from the center axis of the fifth rotating assembly to the second end of the sixth rotating assembly, and the distance between the center axes of the second rotating assembly and the third rotating assembly is not less than the distance between the center axes of the third rotating assembly and the fifth rotating assembly.

[0020] Preferably, the inner surface of the first housing is in contact with the outer peripheral surface of the corresponding first rotating assembly, and / or,

[0021] The inner surface of the second housing near the first end thereof is in contact with the outer peripheral surface of the corresponding second rotating assembly, and / or,

[0022] The inner surface of the third housing close to the first end thereof is in contact with the outer peripheral surface of the corresponding third rotating assembly, and / or,

[0023] The inner surface of the fourth housing close to the first end thereof is in contact with the outer peripheral surface of the corresponding fourth rotating assembly, and / or,

[0024] The inner surface of the fifth housing close to the first end thereof is in contact with the outer peripheral surface of the corresponding fifth rotating assembly, and / or,

[0025] The inner surface of the sixth housing is in contact with the outer peripheral surface of the corresponding sixth rotating assembly.

[0026] Further preferably, the first plate shell is provided with stiffening ribs located in the first cavity; and / or the third plate shell is provided with stiffening ribs located in the second cavity.

[0027] Preferably, the circumferential surface of the first end of the first shell protrudes radially outward to form a convex ring, and the convex ring has a plurality of fastening screws evenly distributed along its circumference for connecting with the fixing seat, and the thickness of the convex ring protrusion is equal to the outer diameter of one of the fastening screws, and / or the second end of the sixth rotating component is a modular port.

[0028] Another object of the present invention is to provide a robot, comprising a main body, on which the above-mentioned mechanical arm is arranged.

[0029] Compared with the prior art, the beneficial effects of the mechanical arm described in the utility model are mainly reflected in:

[0030] The first end of the second rotating component of the utility model is sleeved with a second shell, and the second end of the first rotating component is connected to the second shell, when the first rotating component drives its second end to rotate with its axis as the rotating axis, it can drive the second shell to rotate with the rotating axis, thereby realizing the rotational connection at the joint; the second end of the second rotating component is connected to one end of the first connecting arm, and when the second rotating component drives its second end to rotate with its axis as the rotating axis, it can make the first connecting arm rotate with the rotating axis, thereby realizing the rotational connection at the joint, similarly, the second end of the third rotating component is connected to the other end of the first connecting arm, and when the third rotating component drives its second end to rotate with its axis as the rotating axis, it can make the first connecting arm rotate with the rotating axis, thereby realizing the rotational connection at the joint. The first end of the third rotating assembly is sleeved with a third shell, and the first end of the fourth rotating assembly is connected to the third shell. When the first end of the fourth rotating assembly is driven to rotate with its axis as the rotating axis, the third shell can be driven to rotate with the rotating axis, thereby realizing the rotational connection at the joint; the first end of the fifth rotating assembly is connected to the other end of the second connecting arm. When the first end of the fifth rotating assembly is driven to rotate with its axis as the rotating axis, the second connecting arm can be rotated with the rotating axis, thereby realizing the rotational connection at the joint; the second end of the sixth rotating assembly is used for externally connecting an auxiliary component. When the second end of the sixth rotating assembly is driven to rotate, the connected auxiliary component can be driven to rotate, thereby adjusting the posture and angle of the auxiliary component;

[0031] As described above, each joint of the robotic arm of the utility model directly connects the rotatable end of the corresponding rotating assembly, thereby eliminating the need to provide an additional connecting assembly to achieve the rotational connection between two adjacent rotating assemblies. This not only simplifies the connection structure and reduces the space occupied by the structure at each joint, but also reduces the structural weight of the robotic arm, effectively solving the problem that the robotic arm of existing robots usually needs to connect adjacent execution units through additional fixings, resulting in a complex connection structure of the robotic arm, large overall dimensions and heavy weight. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The above and other purposes, features and advantages of the present invention will become more apparent through a more specific description of the preferred embodiments of the present invention shown in the accompanying drawings. The same reference numerals in all the accompanying drawings indicate the same parts, and the drawings are not intentionally scaled to the actual size, but the focus is on illustrating the subject matter of the present invention.

[0033] Figure 1 A three-dimensional structural diagram of a mechanical arm provided in an embodiment of the utility model;

[0034] Figure 2 An exploded structural diagram of a mechanical arm provided by an embodiment of the utility model;

[0035] Figure 3 A schematic diagram of a folded and stored state of a mechanical arm provided in an embodiment of the utility model;

[0036] Description of the drawings: first rotating assembly 1, second rotating assembly 2, third rotating assembly 3, fourth rotating assembly 4, fifth rotating assembly 5, sixth rotating assembly 6, first connecting arm 7, first plate shell 701, second plate shell 702, second connecting arm 8, third plate shell 801, fourth plate shell 802, first outer shell 9, second outer shell 10, first end cover 101, third outer shell 11, second end cover 102, fourth outer shell 12, third end cover 103, fifth outer shell 13, fourth end cover 104, sixth outer shell 14, stiffening ribs 15, convex ring 16, fastening screws 17. DETAILED DESCRIPTION

[0037] The technical scheme of the utility model is further described in detail below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the utility model and implement it, but the examples given are not intended to limit the utility model. In the present embodiments, it should be understood that the orientations or positional relationships indicated by terms such as "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", and "outside" are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the utility model, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the utility model.

[0038] It should be noted that when an element is considered to be "connected" to another element, it may be directly connected to the other element and integrated therewith, or there may be an intermediate element at the same time. The terms "installed", "one end", "the other end" and similar expressions used in this utility model are for illustrative purposes only.

[0039] This embodiment provides a mechanical arm, such as Figures 1 to 2 As shown, it includes a first rotating assembly 1, a second rotating assembly 2, a third rotating assembly 3, a fourth rotating assembly 4, a fifth rotating assembly 5, a sixth rotating assembly 6, a first connecting arm 7 and a second connecting arm 8. The first end of the first rotating assembly 1 is sleeved with a first housing 9, the first end of the second rotating assembly 2 is sleeved with a second housing 10, the second end of the first rotating assembly 1 is connected to the second housing 10, the second end of the second rotating assembly 2 is connected to one end of the first connecting arm 7, the first rotating assembly 1 can drive its second end to rotate with its axis as the rotating axis, and the second rotating assembly 2 can drive its second end to rotate with its axis as the rotating axis; the first end of the first housing 9 is also used for an external fixed seat;

[0040] The first end of the third rotating assembly 3 is sleeved with a third housing 11, and the second end is connected to the other end of the first connecting arm 7. The first end of the fourth rotating assembly 4 is connected to the third housing 11, and the second end is sleeved with a fourth housing 12. The fourth housing 12 is connected to one end of the second connecting arm 8. The third rotating assembly 3 can drive its second end to rotate with its axis as the rotating axis, and the fourth rotating assembly 4 can drive its first end to rotate with its axis as the rotating axis.

[0041] The first end of the fifth rotating component 5 is connected to the other end of the second connecting arm 8, and the second end is sleeved with a fifth shell 13. The first end of the sixth rotating component 6 is sleeved with a sixth shell 14, and the sixth shell 14 is connected to the fifth shell 13. The fifth rotating component 5 can drive its first end to rotate with its axis as the rotating axis, and the sixth rotating component 6 can drive its second end to rotate, and its second end is used for external auxiliary components.

[0042] The first end of the second rotating component 2 of the utility model is sleeved with a second shell 10. By connecting the second end of the first rotating component 1 with the second shell 10, when the second end of the first rotating component 1 is driven to rotate with its axis as the rotating axis, the second shell 10 can be driven to rotate with the rotating axis, thereby realizing the rotation connection at the joint; the second end of the second rotating component 2 is connected to one end of the first connecting arm 7. When the second rotating component 2 is driven to rotate with its axis as the rotating axis, the first connecting arm 7 can be rotated with the rotating axis, thereby realizing the rotation connection at the joint. Similarly, the second end of the third rotating component 3 is connected to the other end of the first connecting arm 7. When the second end of the third rotating component 3 is driven to rotate with its axis as the rotating axis, the first connecting arm 7 can be rotated with the rotating axis, thereby realizing the rotation connection at the joint. The rotation connection at the joint is realized; the first end of the third rotating component 3 is sleeved with the third housing 11, and the first end of the fourth rotating component 4 is connected to the third housing 11. When the first end of the fourth rotating component 4 is driven to rotate with its axis as the rotating axis, the third housing 11 can be driven to rotate with the rotating axis, thereby realizing the rotation connection at the joint; the first end of the fifth rotating component 5 is connected to the other end of the second connecting arm 8. When the first end of the fifth rotating component 5 is driven to rotate with its axis as the rotating axis, the second connecting arm 8 can be rotated with the rotating axis, thereby realizing the rotation connection at the joint; the second end of the sixth rotating component 6 is used for external auxiliary components. When the second end is driven to rotate, it can drive the connected auxiliary components to rotate, so that the posture and angle of the auxiliary components can be adjusted;

[0043] As mentioned above, each joint of the robotic arm of the utility model directly connects the rotatable end of the corresponding rotating assembly, thereby eliminating the need to provide an additional connecting assembly to achieve the rotational connection between two adjacent rotating assemblies. This not only simplifies the connection structure and reduces the space occupied by the structure at each joint, but also reduces the structural weight of the robotic arm, effectively solving the problem that the robotic arm of existing robots usually needs to connect adjacent execution units through additional fixings, resulting in a complex connection structure of the robotic arm, large overall dimensions and heavy weight.

[0044] In a preferred embodiment, in accordance with the universal design concept, the second end of the sixth rotating component 6 is a modular port, that is, the second end of the sixth rotating component 6 is modularly designed to enrich the types of auxiliary components that can be connected, so that it can be used to connect various working tools and can also be connected to action parts such as suction feet. The robot arm can not only act as an "arm" for work, but also act as a "leg" for moving and walking. In addition, when replacing different auxiliary components, quick disassembly and installation can be achieved.

[0045] In another preferred embodiment, Figure 2As shown, the first connecting arm 7 includes a first plate shell 701 and a second plate shell 702, and the first plate shell 701 and the second plate shell 702 are connected to form a first cavity with a cavity inside; and / or, the second connecting arm 8 includes a third plate shell 801 and a fourth plate shell 802, and the third plate shell 801 and the fourth plate shell 802 are connected to form a second cavity with a cavity inside. In this embodiment, the internal space of the first cavity and the second cavity can be used for routing to avoid the exposure of the line, which can not only avoid the scratching of the line during operation, but also improve the appearance of the robot arm. More specifically, each rotating component is preferably a hollow motor, and the cable of the rotating component is led out through the inner cavity of the hollow motor, and then gradually merged into the first cavity in the first connecting arm 7 and the second cavity in the second connecting arm 8. Such unified routing can greatly reduce the exposure and confusion of the cables and improve the sealing of the robot arm. In another specific embodiment, the first plate shell 701 is provided with stiffening ribs 15 located in the first cavity; and / or, the third plate shell 801 is provided with stiffening ribs 15 located in the second cavity, thereby correspondingly improving the bending strength of the first connecting arm 7 and the second connecting arm 8 and enhancing their load capacity.

[0046] Further preferably, the first plate shell 701 is made of aluminum alloy, and the second plate shell 702 is made of non-metal, preferably plastic; and / or, the third plate shell 801 is made of aluminum alloy, and the fourth plate shell 802 is made of non-metal, preferably plastic. In this embodiment, the first plate shell 701 / the third plate shell 801 is made of aluminum alloy with the characteristics of light weight and high strength to ensure the strength of the first connecting arm 7 and the second connecting arm 8, and the second plate shell 702 / the fourth plate shell 802 is made of plastic, which can double reduce the weight of the first connecting arm 7 and the second connecting arm 8, thereby significantly reducing the overall weight of the robot arm.

[0047] In another further preferred embodiment, Figure 2As shown, the first plate shell 701 and the second plate shell 702 are detachably connected, and the third plate shell 801 and the fourth plate shell 802 are detachably connected; the second shell 10, the third shell 11, the fourth shell 12, and the fifth shell 13 are all T-shaped, the first end of the second shell 10 is connected to the second rotating component 2, and the second end port opposite to its first end is detachably connected to the first end cover 101; the first end of the third shell 11 is connected to the third rotating component 3, and the second end port opposite to its first end is detachably connected to the second end cover 102; the first end of the fourth shell 12 is connected to the fourth rotating component 4, and the second end port opposite to its first end is detachably connected to the third end cover 103; the first end of the fifth shell 13 is connected to the fifth rotating component 5, and the second end port opposite to its first end is detachably connected to the fourth end cover 104. For the robotic arm of the present embodiment, since detachable end covers are provided at the ends of the respective outer shells, the first plate shell 701 and the second plate shell 702 as well as the third plate shell 801 and the fourth plate shell 802 are all detachably connected. Therefore, during maintenance, the end covers or plate shells corresponding to the faulty parts can be removed to expose the parts to be repaired, which is convenient and quick, without the need to disassemble the entire faulty joint. In addition, the second plate shell 702 and the fourth plate shell 802 of different materials can be replaced according to different requirements of the use environment of the robotic arm, such as the second plate shell 702 and the fourth plate shell 802 of metal or non-metallic materials can be selected according to different requirements of the working environment on the sealing, weight, explosion-proof grade, etc. of the robotic arm.

[0048] Further preferably, since the load of each joint of the robotic arm is in a decreasing trend, the outer diameters of the first rotating assembly 1, the second rotating assembly 2, the third rotating assembly 3, the fourth rotating assembly 4, the fifth rotating assembly 5 and the sixth rotating assembly 6 are decreasing. As an example, specifically, the above-mentioned rotating assemblies can select hollow motors with decreasing power, thereby reducing the overall weight of the robotic arm by optimizing the selection of the rotating assemblies;

[0049] The outer diameter from the first end to the second end of the second housing 10 is the same as the outer diameter of the second rotating assembly 2; the outer diameter from the first end to the second end of the third housing 11 is the same as the outer diameter of the third rotating assembly 3, the third end of the third housing 11 is connected to the first end of the fourth rotating assembly 4, and the outer diameter of the third end of the third housing 11 is the same as the outer diameter of the fourth rotating assembly 4; the outer diameter from the first end to the second end of the fourth housing 12 is the same as the outer diameter of the fourth rotating assembly 4, and the third end of the fourth housing 12 is connected to the second connecting arm 8; the outer diameter from the first end to the second end of the fifth housing 13 is the same as the outer diameter of the fifth rotating assembly 5, and the third end of the fifth housing 13 is connected to the sixth housing 14. In this way, the outer dimensions and weight of each housing can be minimized to the maximum extent, thereby promoting weight reduction of the robot arm.

[0050] In another preferred embodiment, when the robot arm is unfolded, the net length of the second connecting arm 8 between the fourth housing 12 and the fifth housing 13 is not less than the distance from the central axis of the fifth rotating assembly 5 to the second end of the sixth rotating assembly 6, and the distance between the central axes of the second rotating assembly 2 and the third rotating assembly 3 is not less than the distance between the central axes of the third rotating assembly 3 and the fifth rotating assembly 5. Figure 3 As shown, when the robot arm of this embodiment is folded and stored, the first end of the fifth rotating component 5 can be rotated to cause the sixth rotating component 6 to be folded and stored in parallel with the second connecting arm 8, and then the second end of the third rotating component 3 can be rotated to cause the second connecting arm 8 to be stored in parallel with the first supporting arm, thereby reducing the space occupied by the robot arm and facilitating transfer and storage.

[0051] In another preferred embodiment, the inner surface of the first housing 9 is in contact with the outer peripheral surface of the corresponding first rotating assembly 1, and / or,

[0052] The inner surface of the second housing 10 near the first end thereof is in contact with the outer peripheral surface of the corresponding second rotating assembly 2, and / or,

[0053] The inner surface of the third housing 11 near the first end thereof is in contact with the outer peripheral surface of the corresponding third rotating assembly 3, and / or,

[0054] The inner surface of the fourth housing 12 near the first end thereof is in contact with the outer peripheral surface of the corresponding fourth rotating assembly 4, and / or,

[0055] The inner surface of the fifth housing 13 near the first end thereof is in contact with the outer peripheral surface of the corresponding fifth rotating assembly 5, and / or,

[0056] The inner surface of the sixth housing 14 is in contact with the outer circumferential surface of the corresponding sixth rotating assembly 6 .

[0057] In this embodiment, by fitting the inner surface of each housing with the outer surface of the corresponding rotating assembly, the heat dissipation speed of each rotating assembly can be accelerated, the working time of each rotating assembly can be extended, and thus the working time of the robot arm can be extended. Further preferably, the first housing 9, the second housing 10, the third housing 11, the fourth housing 12, the fifth housing 13, and the sixth housing 14 are all made of stainless steel, which can not only effectively protect the rotating assemblies from damage due to collisions, but also utilize the fast heat dissipation characteristics of metal to improve the heat dissipation efficiency of each rotating assembly.

[0058] In another preferred embodiment, the circumferential surface of the first end of the first shell 9 protrudes radially outward to form a convex ring 16, and the convex ring 16 has several fastening screws 17 for connecting with the fixing seat evenly distributed along its circumference, and the protruding thickness of the convex ring 16 is equal to the outer diameter of one fastening screw 17. In this embodiment, the fastening screws 17 for the external fixing seat are arranged on the convex ring 16 with limited thickness, thereby avoiding the conventional connection method of achieving connection by setting a flange. Compared with the conventional method of setting a flange separately, the convex ring 16 of this embodiment is integrally arranged on the first shell 9, without the need for additional components, and the outer diameter is also significantly reduced, which can reduce the weight of the robot arm, and can also reduce the external dimensions and weight of the corresponding fixing seat, thereby reducing the overall weight of the machine.

[0059] The utility model also provides an embodiment of a robot, comprising a main body, on which the above-mentioned mechanical arm is arranged. Since the robot of this embodiment is equipped with the above-mentioned mechanical arm, it is beneficial to reduce the overall weight of the robot and extend the operation time of the robot.

[0060] In this specification, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0061] In the description of this specification, the description with reference to the terms "preferred embodiment", "further embodiment", "other embodiments" or "specific example" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0062] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A robotic arm, characterized in that: The invention comprises a first rotating assembly, a second rotating assembly, a third rotating assembly, a fourth rotating assembly, a fifth rotating assembly, a sixth rotating assembly, a first connecting arm and a second connecting arm, wherein the first end of the first rotating assembly is sleeved with a first housing, the first end of the second rotating assembly is sleeved with a second housing, the second end of the first rotating assembly is connected to the second housing, the second end of the second rotating assembly is connected to one end of the first connecting arm, the first rotating assembly can drive the second end thereof to rotate with its axis as the rotating axis, and the second rotating assembly can drive the second end thereof to rotate with its axis as the rotating axis; the first end of the first housing is also used for externally connecting a fixing seat; The first end of the third rotating assembly is sleeved with a third housing, and the second end is connected to the other end of the first connecting arm; the first end of the fourth rotating assembly is connected to the third housing, and the second end is sleeved with a fourth housing, and the fourth housing is connected to one end of the second connecting arm; the third rotating assembly can drive its second end to rotate with its axis as the rotating axis, and the fourth rotating assembly can drive its first end to rotate with its axis as the rotating axis; The first end of the fifth rotating component is connected to the other end of the second connecting arm, and the second end is sleeved with a fifth shell. The first end of the sixth rotating component is sleeved with a sixth shell, and the sixth shell is connected to the fifth shell. The fifth rotating component can drive its first end to rotate with its axis as the rotating shaft, and the sixth rotating component can drive its second end to rotate, and its second end is used for external auxiliary components.

2. A robotic arm according to claim 1, characterized in that: The first connecting arm comprises a first plate shell and a second plate shell, and the first plate shell and the second plate shell are connected to form a first cavity having a cavity inside; and / or, The second connecting arm includes a third plate shell and a fourth plate shell, and the third plate shell and the fourth plate shell are connected to form a second cavity with a cavity inside.

3. A robotic arm according to claim 2, characterized in that: The first plate shell material is aluminum alloy, and the second plate shell material is non-metal; and / or the third plate shell material is aluminum alloy, and the fourth plate shell material is non-metal.

4. A robotic arm according to claim 2, characterized in that: The first plate shell and the second plate shell are detachably connected, and the third plate shell and the fourth plate shell are detachably connected; The second shell, the third shell, the fourth shell and the fifth shell are all T-shaped, the first end of the second shell is connected to the second rotating assembly, and the second end port of the first end is detachably connected to the first end cover; the first end of the third shell is connected to the third rotating assembly, and the second end port of the first end is detachably connected to the second end cover; the first end of the fourth shell is connected to the fourth rotating assembly, and the second end port of the first end is detachably connected to the third end cover; the first end of the fifth shell is connected to the fifth rotating assembly, and the second end port of the first end is detachably connected to the fourth end cover.

5. A robotic arm according to claim 4, characterized in that: The outer diameters of the first rotating assembly, the second rotating assembly, the third rotating assembly, the fourth rotating assembly, the fifth rotating assembly and the sixth rotating assembly decrease in sequence; The outer diameter from the first end to the second end of the second housing is the same as the outer diameter of the second rotating assembly; The outer diameter from the first end to the second end of the third housing is the same as the outer diameter of the third rotating assembly, the third end of the third housing is connected to the first end of the fourth rotating assembly, and the outer diameter of the third end of the third housing is the same as the outer diameter of the fourth rotating assembly; The outer diameter from the first end to the second end of the fourth housing is the same as the outer diameter of the fourth rotating assembly, and the third end of the fourth housing is connected to the second connecting arm; The outer diameter from the first end to the second end of the fifth housing is the same as the outer diameter of the fifth rotating assembly, and the third end of the fifth housing is connected to the sixth housing.

6. A robotic arm according to claim 1, characterized in that: When the robotic arm is unfolded, the net length of the second connecting arm between the fourth shell and the fifth shell is not less than the distance from the center axis of the fifth rotating assembly to the second end of the sixth rotating assembly, and the distance between the center axes of the second rotating assembly and the third rotating assembly is not less than the distance between the center axes of the third rotating assembly and the fifth rotating assembly.

7. A robotic arm according to claim 1, characterized in that: The inner surface of the first housing is in contact with the outer peripheral surface of the corresponding first rotating assembly, and / or, The inner surface of the second housing near the first end thereof is in contact with the outer peripheral surface of the corresponding second rotating assembly, and / or, The inner surface of the third housing close to the first end thereof is in contact with the outer peripheral surface of the corresponding third rotating assembly, and / or, The inner surface of the fourth housing close to the first end thereof is in contact with the outer peripheral surface of the corresponding fourth rotating assembly, and / or, The inner surface of the fifth housing close to the first end thereof is in contact with the outer peripheral surface of the corresponding fifth rotating assembly, and / or, The inner surface of the sixth housing is in contact with the outer peripheral surface of the corresponding sixth rotating assembly.

8. A robotic arm according to claim 2, characterized in that: The first plate shell is provided with stiffening ribs located in the first cavity; and / or the third plate shell is provided with stiffening ribs located in the second cavity.

9. The robotic arm according to claim 1, characterized in that: The circumferential surface of the first end of the first shell protrudes radially outward to form a convex ring, and the convex ring has a plurality of fastening screws evenly distributed along its circumference for connecting with the fixing seat, and the thickness of the convex ring protrusion is equal to the outer diameter of one of the fastening screws, and / or the second end of the sixth rotating component is a modular port.

10. A robot, comprising a main body, characterized in that: The main body is provided with a mechanical arm as claimed in any one of claims 1 to 9.

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