Mechanical arm

Abstract

The utility model discloses a mechanical arm which comprises a first arm part and a second arm part which can rotate relatively, the first arm part is provided with a first peripheral plate, and the second arm part is provided with a second peripheral plate. At least one part of one end, close to the second peripheral plate, of the first peripheral plate and the second peripheral plate are arranged at an interval so as to form an avoiding opening for avoiding rotation; the flexible component is arranged at the avoiding opening and used for shielding the avoiding opening, and at least one part of the flexible component can be deformed when the first arm part and the second arm part rotate relatively. According to the mechanical arm disclosed by the embodiment of the utility model, the avoiding opening is formed between the first arm part and the second arm part, and the flexible part is arranged at the avoiding opening, so that the first arm part and the second arm part have a relatively large range of movement, and the appearance attractiveness of the mechanical arm can be ensured; therefore, the mechanical arm can better simulate a human arm structure, and the integration and the bionic property of the mechanical arm are improved.

Description

Technical Field

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

[0002] With the development of technology, robotic arms are increasingly used in production and life. In related technologies, robotic arms are usually composed of multiple connecting rods to perform multi-degree-of-freedom activities. This type of connecting rod-type robotic arm has a relatively complex structure and is difficult to meet the design needs of bionics, so there is room for improvement. Utility Model Content

[0003] The present invention aims to solve at least one of the technical problems in the prior art. To this end, one purpose of the present invention is to provide a robotic arm that can better simulate the structure of a human arm and improve the integration and bionics of the robotic arm.

[0004] According to an embodiment of the utility model, the robotic arm includes: a first arm portion and a second arm portion that can rotate relative to each other, the first arm portion having a first outer plate, the second arm portion having a second outer plate, at least a portion of the first outer plate at one end close to the second outer plate being spaced apart from the second outer plate to form a avoidance opening for avoiding rotation; a flexible component, the flexible component being arranged at the avoidance opening for covering the avoidance opening, the flexible component being constructed so that at least a portion of the flexible component can be deformed when the first arm portion and the second arm portion rotate relative to each other.

[0005] According to the robotic arm of the embodiment of the present invention, an avoidance opening is provided between the first arm portion and the second arm portion, and a flexible component is provided at the avoidance opening, so that the first arm portion and the second arm portion can have a larger relative range of motion, and the appearance of the robotic arm can be ensured to be aesthetically pleasing. In this way, the robotic arm can better simulate the structure of the human arm and improve the integration and bionics of the robotic arm.

[0006] According to the robotic arm of an embodiment of the present invention, the flexible component includes a first flexible component, a second flexible component and a third flexible component. The first flexible component is connected to the first outer plate, the third flexible component is connected to the second outer plate, and at least a portion of the second flexible component is located between the first flexible component and the third flexible component. When the first arm portion and the second arm portion rotate relative to each other, the first flexible component and the third flexible component approach each other and can be squeezed and deformed by each other.

[0007] According to the robotic arm of an embodiment of the present invention, the first arm portion and the second arm portion are connected via an electric transmission assembly, and the second flexible member is disposed on the outside of the electric transmission assembly and connected to the periphery of the electric transmission assembly.

[0008] According to the robotic arm of an embodiment of the present invention, the second outer plate includes two supporting parts and an annular connecting part, the two supporting parts are relatively arranged on one side of the annular connecting part close to the first arm part, the supporting parts are connected to the first arm part through an electric transmission assembly, and the flexible part is located between the two supporting parts, wherein the flexible part is connected to the connecting part, and the edge of the flexible part is spaced apart from the supporting part.

[0009] According to the robotic arm of an embodiment of the present invention, the electric transmission assembly includes a stator and a rotor, the stator has a first fixing member, the rotor has a second fixing member, and the first fixing member and the second fixing member are respectively connected to the support part and the first arm part.

[0010] According to the robotic arm of an embodiment of the present invention, the first arm portion further includes a adapter, which is connected to an end of the first outer plate close to the second outer plate, and the adapter is suitable for extending between the two support portions and connecting to the electric transmission assembly.

[0011] According to the robotic arm of the embodiment of the present invention, the electric transmission assembly is fixedly connected to one of the support parts, and the adapter is rotatably connected to the other support part via a bearing.

[0012] According to the robotic arm of an embodiment of the present invention, the edge of the support part has a convex arc surface, and the end of the first outer plate close to the second outer plate has a concave arc surface, the curvature of the concave arc surface and the convex arc surface are the same and the arc center is located on the rotation axis of the first arm part and the second arm part.

[0013] According to the robotic arm of the embodiment of the present invention, the length of the convex arc surface is greater than the length of the concave arc surface.

[0014] According to an embodiment of the present invention, the robotic arm further includes: a fourth flexible member, which is located on the side of the robotic arm away from the flexible member, wherein the fourth flexible member is connected to the first outer plate and is suitable for abutting against the second outer plate when the first arm and the second arm are unfolded, or the fourth flexible member is connected to the second outer plate and is suitable for abutting against the first outer plate when the first arm and the second arm are unfolded.

[0015] According to the robotic arm of an embodiment of the present invention, the first arm portion includes a first elbow and a first support frame, the second arm portion includes a second elbow and a second support frame, the first support frame and the second elbow are connected through the electric transmission assembly, wherein the first support frame has the first outer plate, and the second elbow has the second outer plate.

[0016] According to the robotic arm of the embodiment of the present invention, the flexible component is a rubber piece or cloth.

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

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0019] Figure 1 This is a schematic structural diagram of a robotic arm in one state according to an embodiment of the present utility model;

[0020] Figure 2 1 is a schematic structural diagram of a robotic arm according to an embodiment of the present invention in one state, wherein the wiring harness is not shown;

[0021] Figure 3 It is along Figure 2 Cross-sectional view along line AA;

[0022] Figure 4 yes Figure 2 A schematic diagram of the structure shown in another perspective;

[0023] Figure 5 is an exploded view of a robotic arm according to an embodiment of the present invention, wherein the wiring harness is not shown;

[0024] Figure 6 1 is a schematic structural diagram of a robotic arm according to an embodiment of the present invention in another state, wherein the wiring harness is not shown;

[0025] Figure 7 1 is a schematic diagram of a partial structure of a robotic arm according to an embodiment of the present utility model;

[0026] Figure 8 yes Figure 7 Schematic diagram of the coordination of the electric transmission assembly and the wiring harness in the structure shown in ;

[0027] Figure 9 is a schematic structural diagram of an electric transmission assembly according to an embodiment of the present utility model;

[0028] Figure 10 This is a partial diagram of the cooperation between the first arm and the second arm according to an embodiment of the present utility model;

[0029] Figure 11 yes Figure 10 Exploded view of the structure shown;

[0030] Figure 12is a schematic structural diagram of a second peripheral plate according to an embodiment of the present utility model;

[0031] Figure 13 is a partial structural sectional view of a robotic arm according to an embodiment of the present utility model;

[0032] Figure 14 1 is a schematic diagram of a partial structure of a robotic arm according to an embodiment of the present utility model;

[0033] Figure 15 yes Figure 14 Exploded view of the structure shown;

[0034] Figure 16 This is a schematic structural diagram of a seat according to an embodiment of the present utility model;

[0035] Figure 17 It is a structural schematic diagram of a connecting piece according to an embodiment of the present utility model.

[0036] Reference numerals:

[0037] Robotic arm 100,

[0038] Arm 10, support frame 101, mounting port 1011, elbow 102, shoulder 11, first arm 12, first outer plate 1201, concave arc surface 12011, first support frame 121, first elbow 122, second arm 13, second outer plate 1301, second support frame 131, second elbow 132, support portion 1321, convex arc surface 13211, annular connecting portion 1322, adapter 14, opening 15, avoidance port 16, first support portion 171, second support portion 172, give way port 173, support arm 174,

[0039] Electric transmission assembly 20, wire hole 201, stator 21, rotor 22, torque sensor 23, first fixing member 24, through hole 241, notch 242, first through hole 243, second through hole 244, second fixing member 25, bracket 26, avoidance groove 261,

[0040] Control component 30, circuit board 31,

[0041] Wire harness 40, motor three-phase wire 41, encoder wire 42, sensor wire 43,

[0042] Flexible component 50, first flexible component 51, second flexible component 52, third flexible component 53, fourth flexible component 54, bearing 60,

[0043] Mounting seat 70, seat body 71, plate body 711, avoidance notch 7111, first boss 712, first matching section 7121, second matching section 7122, second boss 713, connecting member 72, first connecting ring 721, second connecting ring 722,

[0044] Driving member 80 , first rotating shaft 91 , second rotating shaft 92 , ball head 93 , ball head fastener 931 , ball head seat 94 . DETAILED DESCRIPTION

[0045] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0046] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, features defined as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0047] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0048] Reference below Figures 1-13 A robotic arm 100 according to an embodiment of the present invention is described.

[0049] like Figure 1 、 Figure 2 、 Figure 5 、 Figure 10-13 As shown, a robotic arm 100 according to an embodiment of the present invention includes a first arm portion 12 and a second arm portion 13 . The first arm portion 12 and the second arm portion 13 can rotate relative to each other to achieve bending or rotational movement of the robotic arm 100 .

[0050] The first arm 12 has a first peripheral plate 1201, and the second arm 13 has a second peripheral plate 1301. One end of the first peripheral plate 1201 close to the second peripheral plate 1301 (such as Figure 10 At least a portion of the lower end of the arm 1201 is spaced apart from the second outer plate 1301 to form an escape opening 16. The escape opening 16 is used to give way when the first arm 12 and the second arm 13 are relatively rotated, thereby avoiding interference between the first outer plate 1201 and the second outer plate 1301, which affects the bending or rotational movement of the robot arm 100.

[0051] The robotic arm 100 also includes a flexible component 50, which is arranged at the avoidance opening 16. The flexible component 50 is connected to the first outer plate 1201 and the second outer plate 1301, thereby realizing the installation of the flexible component 50 on the robotic arm 100. At the same time, the flexible component 50 is arranged at the avoidance opening 16, which can cover the avoidance opening 16 and prevent the internal structural components of the robotic arm 100 from being exposed.

[0052] When the first arm 12 and the second arm 13 rotate relative to each other, at least a portion of the flexible component 50 can be deformed. For example, the first arm 12 can simulate a human upper arm, and the second arm 13 can simulate a human lower arm. The lower arm moves relative to the upper arm. At this time, the second outer plate 1301 can squeeze or pull the flexible component 50 to achieve bending and stretching of the arm. Through the deformation of the flexible component 50, the setting of the flexible component 50 is prevented from interfering with the outer plate and affecting the movement of the robotic arm 100.

[0053] In addition, the first arm 12 and the second arm 13 of the robotic arm 100 are structures with outer plates, and the middle part of the arm can be roughly a cavity, which can not only achieve a lightweight design, but also eliminate the need for external wrapping parts compared to the connecting rod shape, and can better simulate the human arm. The structure is more compact and beautiful, thereby improving the bionics of the robotic arm 100.

[0054] According to the robotic arm 100 of the embodiment of the present invention, by setting an avoidance opening 16 between the first arm portion 12 and the second arm portion 13, and setting a flexible component 50 at the avoidance opening 16, the first arm portion 12 and the second arm portion 13 can have a larger relative range of motion, and the appearance of the robotic arm 100 can be ensured. In this way, the robotic arm 100 can better simulate the structure of the human arm and improve the integration and bionics of the robotic arm 100.

[0055] like Figure 2 ,like Figure 10 and Figure 11As shown, in some embodiments, the flexible component 50 includes a first flexible component 51, a second flexible component 52 and a third flexible component 53. The first flexible component 51 is connected to the first outer plate 1201, and the third flexible component 53 is connected to the second outer plate 1301. At least a portion of the second flexible component 52 is located between the first flexible component and the third flexible component. When the first arm 12 and the second arm 13 rotate relative to each other, the first flexible component 51 and the third flexible component 53 approach each other, and the first flexible component 51 and the third flexible component 53 can be squeezed and deformed by each other, thereby increasing the rotation angle of the second arm 13 relative to the first arm 12, increasing the range of motion of the robotic arm 100, and the robotic arm 100 can better simulate the structure of the human arm and improve the bionics of the robotic arm 100.

[0056] like Figure 2 、 Figure 10 As shown, in some embodiments, the first arm 12 and the second arm 13 are connected through the electric transmission assembly 20, the second flexible member 52 is arranged on the outside of the electric transmission assembly 20, the second flexible member 52 is connected to the outer periphery of the electric transmission assembly 20, the rotor 22 of the electric transmission assembly 20 is arranged inside the stator 21, and the second flexible member 52 is connected to the outer periphery of the electric transmission assembly 20, so that when the two arms rotate relative to each other, the second flexible member 52 can remain stationary, the second flexible member 52 can protect the electric transmission assembly 20, and at the same time can make the structure of the robotic arm 100 more beautiful.

[0057] like Figure 12 As shown, in some embodiments, the second outer plate 1301 includes two supporting portions 1321 and an annular connecting portion 1322. The two supporting portions 1321 are arranged opposite to each other, and the supporting portions are provided on the side of the annular connecting portion 1322 close to the first arm portion 12. The supporting portions 1321 are connected to the first arm portion 12 through an electric transmission assembly 20. The electric transmission assembly enables adjacent arms 10 to rotate relative to each other, thereby realizing bending or rotational movement of the robotic arm 100.

[0058] Through the structural design of the second outer plate 1301, the two support parts 1321 can play the role of bilateral support for the first arm part 12, and the support part 1321 and the annular connecting part 1322 can form a hoop-type structure, thereby improving the rigidity of the overall structure on the basis of lightweight design.

[0059] The third flexible member 53 is located between the two support portions 1321 , and is connected to the annular connecting portion 1322 and the support portion 1321 , thereby enabling the third flexible member 53 to be installed on the hoop-type structure.

[0060] In addition, the second flexible member 52 is located between the two support parts 1321, and the edge of the second flexible member 52 is spaced apart from the support part 1321. That is, the second flexible member 52 is not connected to the support part 1321, ensuring that the second flexible member 52 will not interfere when the support part 1321 and the first arm part 12 rotate relative to each other. It can also reduce potential wear and interference, ensuring that the movement of the robotic arm is smoother.

[0061] In some embodiments, the electric transmission assembly 20 includes a stator 21 and a rotor 22 . The stator 21 and the rotor 22 work together to provide power and motion control for the robotic arm 100 .

[0062] Specifically, the stator 21 is the fixed part of the electric transmission assembly 20, which is usually made of stacked silicon steel sheets and has coils embedded inside. The stator 21 has a first fixing part 24 for fixing the stator at a corresponding position of the robotic arm 100. The first fixing part 24 can be a screw, bolt, clip or other suitable fixing structure.

[0063] The rotor 22 is the rotating part of the electric transmission assembly 20. The rotor 22 can be arranged inside the stator 21. Of course, the rotor 22 can also be arranged outside the stator 21. The rotor 22 can include a rotor body and a reducer, and the reducer is connected to the rotor body, such as by interference fit, or by fasteners. The reducer can convert high-speed rotation into lower-speed rotation while increasing torque. The reducer here can be a harmonic reducer.

[0064] The rotor 22 has a second fixing member 25 for fixing the rotor 22 at a corresponding position of the robotic arm 100 . The second fixing member 25 may be a fixing structure similar to the first fixing member 24 .

[0065] like Figure 13 As shown, the rotor 22 can be connected to the support portion 1321 through the second fixing member 25, and the stator 21 can be connected to the first arm portion 12 through the first fixing member 24. Therefore, the first arm portion 12 and the second arm portion 13 can rotate relative to each other through the rotation of the rotor 22.

[0066] like Figure 11 and Figure 13 As shown, in some embodiments, the first arm 12 also includes an adapter 14, which is connected to an end of the first outer plate 1201 close to the second outer plate 1301, and the adapter 14 is suitable for extending between the two support portions 1321, and the adapter 14 is connected to the electric transmission assembly 20.

[0067] like Figure 13As shown, the adapter 14 is located on one side of the electric transmission assembly 20 in the axial direction of the rotor 22, and the adapter 14 is connected to the first fixing member 24 or the second fixing member 25. The second arm 12 is connected to the electric transmission assembly 20 through the adapter 14. The adapter 14 can be integrally formed with the first outer plate 1201, or can be fixedly connected to the first outer plate 1201 through fasteners.

[0068] like Figure 10 and Figure 11 As shown, in some embodiments, the electric transmission assembly 20 is fixedly connected to one support portion 1321 , and the adapter 14 is rotatably connected to the other support portion 1321 via a bearing 60 .

[0069] Combine Figure 9 、 Figure 11 and Figure 12 As shown, the second fixing member 25 on the rotor 22 of the electric transmission assembly 20 is fixedly connected to the second support portion 1321b, and the first fixing member 24 on the stator 21 is fixedly connected to the adapter 14, thereby realizing the rotation of the second arm portion 13 relative to the first arm portion 12 when the rotor 22 rotates.

[0070] The first support portion 1321a has a bearing seat 61 on the side facing the second support portion 1321b, and a bearing 60 is mounted on the bearing seat 61. The outer ring of the bearing 60 is interference fit with the bearing seat 61, and a part of the adapter 14 extends into the bearing 60. The adapter 14 is interference fit with the inner ring of the bearing 60, so that the adapter 14 can be supported on the first support portion 1321a, and the adapter 14 can rotate relative to the first support portion 1321a. The provision of the bearing 60 can not only improve the stability of the structure, but also reduce friction during the rotation process, ensure the accuracy of the rotation, improve the smoothness of the movement of the robotic arm 100, and realize the precise movement of the robotic arm.

[0071] like Figure 11 As shown, in some embodiments, the edge of the support portion 1321 has a convex arc surface 13211, and the end of the first outer plate 1201 close to the second outer plate 1301 has a concave arc surface 12011, and the curvature of the concave arc surface 12011 and the convex arc surface 13211 are the same, thereby ensuring a smooth transition between the first outer plate 1201 and the support portion 1321, ensuring the continuity and smoothness of the robot arm 100 during rotation.

[0072] The arc center of the concave arc surface 12011 is located on the rotation axis of the first arm portion 12 and the second arm portion 13, and the arc center of the convex arc surface 13211 is also located on the rotation axis of the first arm portion 12 and the second arm portion 13. When the first arm portion 12 and the second arm portion 13 rotate relative to each other, the concave arc surface 12011 and the convex arc surface 13211 can move smoothly along the same axis, thereby reducing friction and wear during rotation and improving the structural stability of the robotic arm 100.

[0073] In addition, the concave arc surface 12011 and the convex arc surface 13211 cooperate with each other to improve the compactness of the structure and enhance the aesthetic appearance of the robotic arm 100.

[0074] In some embodiments, the length of the convex arc surface 13211 is greater than the length of the concave arc surface 12011. The convex arc surface 13211 can provide a larger contact area, which helps to maintain more stable support between the support portion 1321 and the first outer plate 1201 when the first arm 12 and the second arm 13 rotate; at the same time, the convex arc surface 13211 can provide a smoother rotation path, reducing vibration and impact during the rotation process.

[0075] like Figure 12 As shown, in some embodiments, a fourth flexible member 54 is further provided on the robotic arm 100. The fourth flexible member 54 is located on the side of the robotic arm away from the flexible member 50. The fourth flexible member 54 is connected to the second outer plate 1301. When the first arm 12 and the second arm 13 are unfolded, the fourth flexible member 54 can abut against the first outer plate 1201, thereby reducing the collision between the first outer plate 1201 and the second outer plate 1202, reducing activity noise, and improving the service life of the structure.

[0076] Of course, the fourth flexible part 54 can also be connected to the first outer plate 1201. When the first arm 12 and the second arm 13 are unfolded, the fourth flexible part 54 can abut against the second outer plate 1301, thereby reducing the collision between the first outer plate 1201 and the second outer plate 1202, reducing activity noise, and improving the service life of the structure.

[0077] like Figure 2 As shown, in some embodiments, the first arm 12 includes a first elbow 122 and a first support frame 121 , the second arm 13 includes a second elbow 132 and a second support frame 131 , and the first support frame 121 and the second elbow 132 are connected via an electric transmission assembly 20 .

[0078] Specifically, each support frame constitutes the main structure of each arm and can be made of materials such as metal or plastic to ensure sufficient strength and rigidity. The support frame can be a hollow structure and can be designed in a tubular or other suitable shape to suit different application requirements. The hollow design can achieve lightweighting of the robotic arm 100.

[0079] The elbow is a component connected to the support frame. The design of the elbow can simulate the human elbow joint, providing flexible movement capabilities, allowing the support frame to bend or rotate relative to it.

[0080] The support frame and elbow of each arm are connected by an electric transmission assembly 20, so that the support frame and elbow can rotate relative to each other. By designing the arm in the form of a support frame and an elbow, the freedom of movement of the robotic arm 100 can be further improved, and the flexibility and accuracy of operation can be improved.

[0081] Among them, the first support frame 121 has a first outer plate 1201, and the second elbow 132 has a second outer plate 1301, so that the flexible component 50 is connected between the first support frame 121 and the second elbow 132. The flexible component 50 can prevent the electric transmission assembly 20 from being exposed. The flexible component 50 can not only protect the structure of the connection between the two arms, but also make the robotic arm 100 more similar to the human arm, thereby improving the aesthetics and bionics of the robotic arm 100.

[0082] In some embodiments, the flexible component 50 is a rubber part, which has high elasticity and can quickly restore its original shape; the rubber part also has good wear resistance, can maintain performance during long-term use, and reduce the risk of wear and tear; the rubber part can also absorb vibration and impact, reducing the noise and vibration of the robotic arm 100 during operation.

[0083] In some embodiments, the flexible component 50 can also be cloth. The cloth material also has good flexibility and can easily adapt to the movement of the robotic arm 100; and the cloth usually has good air permeability, which helps to reduce heat accumulation inside the robotic arm 100; the cloth is light in weight and low in cost, which helps to reduce the weight of the robotic arm 100 and reduce the production cost of the robotic arm 100.

[0084] According to one embodiment of the present invention, a robotic arm 100 includes a plurality of arms 10 connected in sequence and a control assembly 30, that is, the robotic arm 100 is composed of a plurality of arms 10 connected in sequence, each arm 10 can be a structure made of materials such as metal or plastic, and has a certain strength and rigidity. Two adjacent arms 10 are connected by an electric transmission assembly 20, and the electric transmission assembly enables adjacent arms 10 to rotate relative to each other, thereby realizing multi-degree-of-freedom movement.

[0085] The control assembly 30 is connected to the electric transmission assembly 20 via a wiring harness 40 . The wiring harness can be a cable or an optical fiber for transmitting control signals and power. The control assembly 30 is installed in an arm 10 .

[0086] Therefore, on the one hand, the structure for controlling multiple electric transmission components 20 is placed in the arm 10, and the electric transmission component 20 itself does not need a control component 30 such as an integrated circuit board, which can simplify the structure of the electric transmission component 20, reduce the volume of the electric transmission component 20, facilitate the installation of the electric transmission component 20, and thus simplify the structure of the connection between adjacent arms 10. Compared with each electric transmission component 20 independently setting a circuit board, the design of the present application can reduce the number of circuit boards 31 to a certain extent, reduce costs, and at the same time help meet the design requirements of miniaturization, making the robotic arm structure more compact; on the other hand, the control component 30 is installed inside the arm 10, which can reduce the occupation of the external space of the arm 10 and improve the integration of the robotic arm 100.

[0087] According to the robotic arm 100 of the embodiment of the present invention, a plurality of arms 10 connected in sequence are provided, two adjacent arms 10 are rotatably connected via an electric transmission assembly 20, and a control assembly 30 is installed in one arm 10. Thus, the robotic arm 100 can better simulate the structure of the human arm, improve the integration and bionics of the robotic arm 100, and the overall structure is compact, which can meet the design requirements of miniaturization.

[0088] In some embodiments, at least part of the arm 10 includes a support frame 101 and an elbow 102 , and the support frame 101 and elbow 102 of each arm 10 are connected via an electric transmission assembly 20 so that the support frame 101 and elbow 102 can rotate relative to each other.

[0089] Specifically, the support frame 101 constitutes the main structure of the arm 10 and can be made of materials such as metal or plastic to ensure sufficient strength and rigidity. The support frame 101 is a hollow structure. The design of the support frame 101 can be tubular or other suitable shapes to adapt to different application requirements. The hollow design can achieve the lightweight of the robot arm 100. The support frame 101 and the elbow 102 cooperate, and multiple arms 10 are connected in sequence to form a bionic shape of the robot arm 100. Compared with the connecting rod shape, the external packaging can be omitted, and at the same time, it can better simulate the human arm and improve the aesthetics.

[0090] The elbow 102 is a component connected to the support frame 101. The design of the elbow 102 can simulate the human elbow joint, providing flexible movement capabilities, so that the support frame 101 can bend or rotate relative to it.

[0091] The support frame 101 and elbow 102 of each arm 10 are connected by an electric transmission assembly 20, so that the support frame 101 and elbow 102 can rotate relative to each other. By designing the arm 10 in the form of a support frame 101 and an elbow 102, the freedom of movement of the robotic arm 100 can be further improved, and the flexibility and accuracy of the operation can be improved.

[0092] An installation cavity is defined in the support frame 101, and the control component 30 is arranged in the installation cavity, and the control component 30 is connected to the electric transmission component 20 through a wiring harness 40. By integrating the control component 30 into the support frame 101, the control circuit required by the electric transmission component 20 itself is reduced, and the structure of the electric transmission component 20 is simplified; and due to the integration of the control component 30, the volume of the electric transmission component 20 is reduced, which is convenient for installation and maintenance; compared with each electric transmission component 20 independently providing a circuit board, the design of the utility model reduces the number of circuit boards 31 and reduces costs.

[0093] Therefore, the robotic arm 100 according to the embodiment of the present invention is more similar to a human arm, has more degrees of freedom, can perform a variety of movements, can improve the flexibility and range of motion of the robotic arm 100, and by integrating the control component 30 into the support frame 101, it helps to miniaturize the robotic arm 100 and make it more compact; it reduces the occupation of the external space of the arm 10 and improves the integration of the robotic arm 100.

[0094] like Figure 5 As shown, in some embodiments, the support frame 101 of each arm 10 extends in a direction away from the elbow 102 of the arm 10, and in the extension direction of the support frame 101, the end of the support frame 101 close to the elbow 102 has an installation opening 1011, and the installation opening 1011 is connected to the installation cavity. At least a portion of the electric transmission assembly 20 extends into the installation cavity through the installation opening 1011, thereby hiding the electric transmission assembly 20 in the support frame 101, and the support frame 101 can play the role of a motor housing to protect the electric transmission assembly 20, and the appearance of the robotic arm 100 is more beautiful; at the same time, the electric transmission assembly 20 omits the outer shell, reduces costs and can improve the compactness of the overall structure of the robotic arm 100.

[0095] like Figure 2 As shown, in some embodiments, an opening 15 can be provided on the support frame 101. The design of the opening 15 can reduce the weight of the support frame 101 while meeting the strength of the support frame 101, thereby meeting the lightweight design requirements. At the same time, the opening 15 is connected to the installation cavity, which is beneficial to the heat dissipation of the control component 30 in the support frame 101.

[0096] like Figure 3As shown, in some embodiments, the electric transmission assembly 20 includes a first electric transmission assembly 20b and a second electric transmission assembly 20a, and the rotation axes of the first electric transmission assembly 20b and the second electric transmission assembly 20a are different. The elbow 102 includes an annular connecting portion 1322 and at least one supporting portion 1321. The annular connecting portion 1322 is arranged on the outside of the first electric transmission assembly 20, and the annular connecting portion 1322 is connected to the support frame 101 through the first electric transmission assembly 20b. The supporting portion 1321 is connected to one side of the second electric transmission assembly 20 in the rotation axis direction, and the supporting portion 1321 is connected to the adjacent arm 10 through the second electric transmission assembly 20a.

[0097] Thus, the adjacent support frames 101 and the adjacent arms 10 are connected through the elbow 102, and the robotic arm 100 can rotate in multiple directions. The design of the elbow 102 better simulates the structure of the human elbow, thereby improving the bionics and aesthetics of the robotic arm 100.

[0098] like Figure 3 As shown, in some embodiments, two adjacent arms 10 can rotate relative to each other along the fourth axis d, and the support frame 101 and elbow 102 of each arm 10 can rotate relative to each other along the third axis c, and the fourth axis d is perpendicular to the third axis c.

[0099] Thus, the relative rotation between adjacent arms 10 is carried out around the fourth axis d, and the relative rotation between the support frame 101 and the elbow 102 of each arm 10 is carried out around the third axis c. The robotic arm 100 can achieve more complex spatial movements, such as swinging and rotating, which are similar to human arm movements, thereby improving the operational flexibility and accuracy of the robotic arm 100.

[0100] like Figure 2 As shown, in some embodiments, multiple arms 10 include a shoulder 11, a first arm 12, and a second arm 13 connected in sequence, the first arm 12 includes a first elbow 122 and a first support frame 121, the second arm 13 includes a second elbow 132 and a second support frame 131, the first elbow 122 is connected to the shoulder 11 through an electric transmission assembly 20, and the first support frame 121 is connected to the second elbow 132 through the electric transmission assembly 20, wherein the control assembly 30 is arranged in the first support frame 121.

[0101] It can be understood that the first arm 12 can simulate the human upper arm, and the second arm 13 can simulate the human forearm. The first support frame 121 of the upper arm is connected to the shoulder 11 through the first elbow 122, and the upper arm as a whole can rotate relative to the shoulder 11, so that the upper arm can be raised or lowered, and the first support frame 121 can rotate relative to the first elbow 122, so that the first support frame 121 and the forearm can realize internal and external rotation, and the forearm is connected to the upper arm through the second elbow 132, and the forearm as a whole can also rotate relative to the upper arm, and the second support frame 131 of the forearm can rotate relative to the second elbow 132, and the second support frame 131 can be connected to the wrist, so that the second support frame 131 and the wrist can realize internal and external rotation.

[0102] The control component 30 is arranged in the first support frame 121, so that the space inside the second arm 12 can be fully utilized. At the same time, since the second arm 12 is located between the shoulder 11 and the second arm 13, the control component 30 is arranged therein, which can reduce the length of the wiring harness to a certain extent and facilitate the connection of the wiring harness with each electric transmission component 20.

[0103] In some embodiments, the control component 30 includes multiple circuit boards 31 , which may be control circuits, power supply circuits, signal processing circuits, etc., for implementing the control and operation of the robotic arm 100 .

[0104] The first support frame 121 extends along the first direction, and each circuit board 31 extends along the first direction, that is, each circuit board 31 is in the same direction as the first support frame 121 , which is beneficial to improving the compactness and integration of the robot arm 100 .

[0105] At least two circuit boards 31 are arranged relative to each other in a direction perpendicular to the first direction, thereby improving space utilization and making the control component 30 more compact. Moreover, a certain gap is formed between the two circuit boards 31, which is conducive to the installation and connection of the wiring harness.

[0106] By setting up multiple circuit boards 31, the size of each circuit board 31 can be reduced to a certain extent, so that the control component 30 can be installed in the arm 10, which is beneficial to reducing the size of the robotic arm 10, improving the compactness and rationality of the internal structure layout of the robotic arm 10, and facilitating installation and maintenance; moreover, multiple circuit boards 31 can be arranged at intervals in the arm 10, which helps to improve the heat dissipation performance and ensure the stability of the control component 30 and the robotic arm 100 during long-term operation.

[0107] In some embodiments, the middle of the electric transmission assembly 20 has a wire hole 201, and a portion of the wiring harness 40 is suitable for passing through the wire hole 201, so that one end of the wire harness 40 can be connected to the control assembly 30, and the other end of the wire harness 40 can be connected to the electric transmission assembly 20. By setting the wire hole 201 in the middle of the electric transmission assembly 20, the wiring of the wire harness 40 can be simplified and the installation efficiency can be improved; at the same time, the twisting and stretching of the wire harness during the movement of the robotic arm 100 can be reduced, thereby achieving the purpose of protecting the wire harness; in addition, the integration of the robotic arm 100 can be further improved, and the space utilization rate can be improved, so that the robotic arm 100 can be suitable for various automation and robotic application scenarios.

[0108] The wire hole 201 may be circular, rectangular, or have other suitable shapes to adapt to the size and shape of the wire harness 40 .

[0109] In some embodiments, the electric transmission assembly 20 includes a stator 21 and a rotor 22 . The stator 21 and the rotor 22 work together to provide power and motion control for the robotic arm 100 .

[0110] Specifically, the stator 21 is the fixed part of the electric transmission assembly 20, which is usually made of stacked silicon steel sheets and has coils embedded inside. The stator 21 has a first fixing part 24 for fixing the stator at a corresponding position of the robotic arm 100. The first fixing part 24 can be a screw, bolt, clip or other suitable fixing structure.

[0111] The rotor 22 is the rotating part of the electric transmission assembly 20. The rotor 22 is arranged in the stator 21, and the rotor 22 is defined with a wire hole 201. The wire hole 201 allows a portion of the wiring harness 40 to pass through, thereby connecting the control assembly 30 and the electric transmission assembly 20. The wire hole 201 is set in the rotor 22, and the wiring harness 40 passes through the wire hole 201, which can prevent the wiring harness 40 from twisting or stretching when the rotor 22 rotates, which is beneficial to protecting the wiring harness 40 and preventing the wiring harness 40 from being damaged during the movement of the robotic arm 100.

[0112] The rotor 22 may include a rotor body and a reducer, and the reducer is connected to the rotor body, for example, by interference fit, or by fasteners. The reducer may convert high-speed rotation into lower-speed rotation while increasing torque. The reducer here may be a harmonic reducer.

[0113] The rotor 22 has a second fixing member 25 for fixing the rotor 22 at a corresponding position of the robotic arm 100 . The second fixing member 25 may be a fixing structure similar to the first fixing member 24 .

[0114] The first fixing member 24 and the second fixing member 25 are respectively connected to two adjacent arms 10, for example, the first fixing member 24 is connected to the first arm 12, and the second fixing member 25 is connected to the second arm 13. Since the rotor 22 can rotate relative to the stator 21, the two adjacent arms 10 can achieve relative rotation; or the first fixing member 24 and the second fixing member 25 are respectively connected to the support frame 101 and the elbow 102 of each arm 10, for example, the first fixing member 24 is connected to the first support frame 121, and the second fixing member 25 is connected to the first elbow 122, so that the first support frame 121 and the first elbow 122 of the first arm 12 can rotate relative to each other.

[0115] As a result, the structure of the electric transmission assembly 20 is more compact, thereby reducing the size of the robot arm 100 and improving space utilization; and the coordinated work of the various components of the electric transmission assembly 20 helps to improve the operational reliability of the robot arm 100.

[0116] In some embodiments, the arm 10 includes an adapter 14, which is located on one side of the axial direction of the rotor 22 of the electric transmission assembly 20, and the adapter 14 is connected to the first fixing member 24 or the second fixing member 25. The adapter 14 can be located in the inner cavity of the arm 10, wherein the adapter 14 can roughly form an annular plate structure. The arm 10 is connected to the electric transmission assembly 20 through the adapter 14, which can facilitate the connection between the arm 10 and the electric transmission assembly 20, and increase the matching area between the arm 10 and the electric transmission assembly 20, thereby improving the reliability and stability of the matching. The annular adapter 14 can also reduce the overall weight, and at the same time facilitate the wiring harness 40 to pass through the middle of the adapter 14.

[0117] It should be noted that the adapter 14 can be integrally formed in the inner cavity of the elbow 102 or the support frame 101, or can be fixedly connected to the elbow 102 or the support frame 101 through fasteners.

[0118] In some embodiments, the first fixing member 24 is located on the axial side of the stator 21 on the rotor 22, and the first fixing member 24 has a through hole 241, and the through hole 241 corresponds to the wire hole 201, so that the wiring harness 40 can smoothly pass through the through hole 241 and the wire hole 201 to connect the control component 30 and the electric transmission component 20. Through the above structural design, the wiring process is simplified and the wiring harness 40 is protected from damage during the movement of the robotic arm 100; and the design of the through hole 241 and the wire hole 201 makes the replacement and maintenance of the wiring harness 40 more convenient.

[0119] like Figure 8 and Figure 9As shown, in some embodiments, the electric transmission assembly 20 further includes a bracket 26, which is disposed outside the stator 21. The bracket 26 can provide additional support and fixation for the electric transmission assembly 20. The bracket 26 has an avoidance groove 261 for routing the wire harness 40 to prevent interference between the wire harness 40 and the bracket 26 or other components.

[0120] The first fixing member 24 is connected to the bracket 26 , so that the stator 21 , the first fixing member 24 and the bracket 26 can rotate synchronously.

[0121] The first fixing member 24 has a notch 242, which is connected to the avoidance groove 261 and is used for the passage of the wiring harness 40, that is, a part of the wiring harness 40 is suitable for passing through the notch 242 and the avoidance groove 261. The wiring harness 40 is protected along the path passing through the notch 242 and the avoidance groove 261, reducing the risk of wear and damage to the wiring harness 40, which is beneficial to improving the reliability of the operation of the robotic arm 100 and ensuring the stable transmission of control signals and power supply.

[0122] Part of the rotor 22 extends out of the stator 21 , and a torque sensor 23 is sleeved on the outer side of the extended part. The torque sensor 23 can measure the torque generated by the rotor 22 during the rotation process.

[0123] The wiring harness 40 may be a sensor wire. By providing an avoidance groove 261 and a notch 242 on the bracket 26 and the first fixing member 24 , it is convenient for the sensor wire to be passed through and connected to the torque sensor 23 .

[0124] like Figure 8 and Figure 9 As shown, in some embodiments, the wiring harness 40 includes a three-phase motor line 41, the first fixing member 24 has a first through-hole 243, the first through-hole 243 corresponds to the winding position of the stator 21, and the three-phase motor line 41 passes through the first through-hole 243 to connect to the winding of the stator 21, thereby providing power to the electric transmission assembly 20 and ensuring stable operation of the stator 21 and the rotor 22.

[0125] like Figure 8 and Figure 9 As shown, in some embodiments, the wiring harness 40 includes an encoder wire 42, the rotor 22 is provided with an encoder code disk, a portion of the first fixing member 24 extends to one side of the encoder code disk, an encoder chip is provided on the first fixing member 24, and the first fixing member 24 has a second through-hole 244. The encoder wire 42 passes through the second through-hole 244 to connect to the encoder chip, and then by connecting the encoder chip to the control circuit, the number of rotations or the rotation angle of the code disk is measured by the encoder chip to obtain information such as the speed and direction of the rotor, and then the position information of the arm 10 is obtained. This information can also be fed back to the control system to achieve precise control and protection of the electric transmission assembly 20.

[0126] like Figure 1-Figure 3 ,as well as Figure 14-17 As shown, a robotic arm 100 according to an embodiment of the present invention includes: an arm 10, a mounting seat 70 and two driving members 80. The mounting seat 70 is movably connected to one end of the arm 10. The mounting seat 70 can be used to install a robotic arm or other structures; the two driving members 80 are installed on the arm 10, and the output end of each driving member 80 is connected to the mounting seat 70. Under the drive of the two driving members 80, the mounting seat 70 can rotate around the first axis a, or around the second axis b, and can also move around the first axis a and the second axis b at the same time, where the extension directions of the first axis a and the second axis b are different.

[0127] For example, when one of the driving members 80 works alone, it can drive the mounting seat 70 to rotate around the first axis a. When the two driving members 80 work simultaneously and synchronously, the mounting seat 70 can be driven to rotate around the second axis b. When the two driving members 80 work simultaneously but not synchronously, the mounting seat 70 can be driven to rotate around both the first axis a and the second axis b.

[0128] That is to say, the mounting base 70 for installing the manipulator can rotate around two different axes under the drive of two driving members 80, so that the mounting base 70 can drive the structure installed on the mounting base 70 (such as a manipulator) to rotate and swing, and the manipulator can better simulate the structure of the human arm and improve the bionics of the manipulator 100. The first axis a and the second axis b can be perpendicular to each other, which can provide greater flexibility and operating range.

[0129] According to the robotic arm 100 of the embodiment of the present invention, by arranging two driving members 80 on the arm 10, the mounting seat 70 can realize movement in multiple directions under the drive of the two driving members 80. The robotic arm 100 can better simulate the movement of the human wrist and improve the bionics of the robotic arm 100.

[0130] In addition, by connecting the mounting base 70 with two driving members 80, the stability of the robotic arm 100 can be improved, vibration and jitter can be reduced, and the accuracy of operation can be improved. The two driving members 80 are independently controlled, which can achieve precise control of the mounting base 70 and make the movement of the robotic arm 100 more precise and smooth, making the robotic arm 100 more natural when performing tasks, reducing the mechanical feel, and better simulating the complex activities of the human arm.

[0131] In some embodiments, the robotic arm 100 includes multiple arms 10, and two adjacent arms 10 are connected by an electric transmission assembly so that the two adjacent arms 10 can rotate relative to each other. At least two arms 10 include a support frame 101 and an elbow 102, and the support frame 101 and elbow 102 of each arm 10 are connected by an electric transmission assembly 20 so that the support frame 101 and elbow 102 can rotate relative to each other, wherein the mounting base 70 is connected to the arm 10 located at one end of the multiple arms 10.

[0132] In some embodiments, multiple arms 10 include a shoulder 11, a first arm 12, and a second arm 13 connected in sequence, the first arm 12 includes a first elbow 122 and a first support frame 121, the second arm 13 includes a second elbow 132 and a second support frame 131, the first elbow 122 is connected to the shoulder 11 through an electric transmission assembly 20, the first support frame 121 is connected to the second elbow 132 through the electric transmission assembly 20, and the mounting base 70 is connected to the second arm 12.

[0133] It can be understood that the first arm 12 can simulate a human upper arm, and the second arm 13 can simulate a human forearm. The first support frame 121 of the upper arm is connected to the shoulder 11 through the first elbow 122, and the upper arm as a whole can rotate relative to the shoulder 11, so that the upper arm can be raised or lowered, and the first support frame 121 can rotate relative to the first elbow 122, so that the first support frame 121 and the forearm can realize internal and external rotation, and the forearm is connected to the upper arm through the second elbow 132, and the forearm as a whole can also rotate relative to the upper arm, and the second support frame 131 of the forearm can rotate relative to the second elbow 132, and the second support frame 131 can be connected to the mounting seat 70, and the mounting seat 70 is connected to the manipulator. The mounting seat 70 can be equivalent to the wrist. Under the action of the electric transmission assembly 20 and the two driving members 80, the mounting seat 70 and the manipulator can rotate around the center of the forearm, and can also rotate and swing relative to the forearm.

[0134] The following describes some embodiments of the robotic arm 100 according to the present invention by taking the mounting base 70 as connected to the second arm portion 13 .

[0135] In some embodiments, the mounting base 70 includes a base body 71 and a connecting member 72, the connecting member 72 is rotatably connected to the base body 71 through a first rotating shaft 91, the second arm 13 is rotatably connected to the connecting member 72 through a second rotating shaft 92, the output end of the driving member 80 is connected to the base body 71, the central axis of the first rotating shaft 91 is the first axis a, and the central axis of the second rotating shaft 92 is the second axis b.

[0136] The connecting member 72 is rotationally connected to the second arm portion 13, and the base 71 is rotationally connected to the connecting member 72, so that the base 71 is indirectly connected to the second arm portion 13 through the connecting member 72. Here, the base 71 can be connected to the manipulator. When the driving member 80 is working, it can drive the base 71 and the connecting member 72 to rotate around the second axis b relative to the second arm portion 13 at the same time, and can also drive the base 71 to rotate around the first axis a relative to the connecting member 72, thereby realizing the rotation and swing of the manipulator relative to the second arm portion 13.

[0137] Among them, the first rotating shaft 91 and the second rotating shaft 92 can both be set on the connecting member 72, or the first rotating shaft 91 can be set on the base body 71, and the second rotating shaft 92 can also be set on the second arm 13. The first rotating shaft 91 and the second rotating shaft 92 can also be separate structural components. The first rotating shaft 91 rotationally connects the connecting member 72 and the base body 71, and the second rotating shaft 92 rotationally connects the connecting member 72 and the second arm 13.

[0138] In some embodiments, the base body 71 includes a plate body 711, a first boss 712 and a second boss 713. The first boss 712 and the second boss 713 are protruded from the plate body 711. The output ends of the two driving members 80 are movably connected to the first boss 712, thereby driving the movement of the base body 71. The connecting member 72 is connected between the second boss 713 and the first boss 712 through the first rotating shaft 91. The second boss 713 and the first boss 712 may be provided with through holes for the first rotating shaft 91 to pass through. The first rotating shaft 91 passes through the first boss 712, the connecting member 72 and the second boss 713 to realize the connection between the connecting member 72 and the base body 71, so that the base body 71 can rotate around the first axis a relative to the connecting member 72.

[0139] The output end of the driving member 80 is movably connected to the first boss 712, which can be achieved through a hinge, slider or other movable connection mechanism, so that the driving member 80 can adapt to the movement of the base 71 while providing power, thereby improving the movement flexibility and control accuracy of the robotic arm.

[0140] In some embodiments, the first boss 712 has a first mating segment 7121 and a second mating segment 7122. The first mating segment 7121 is connected to the plate body 711, and the connecting member 72 is rotatably connected to the first mating segment 7121. Thus, the seat body 71 can rotate relative to the connecting member 72 on the first axis a.

[0141] The second mating section 7122 is arranged on the side of the first mating section 7121 away from the plate body 711, and the second mating section 7122 extends along the extension direction of the second axis b, that is, the extension direction of the second mating section 7122 is the same as the extension direction of the second rotating shaft 92, and the second mating section 7122 is parallel to the second rotating shaft 92. The output end of the driving member 80 is connected to the second mating section 7122 through a ball joint assembly or a universal joint. Therefore, when the two driving members 80 simultaneously and synchronously drive the second mating section 7122 to move, the seat body 71 can rotate around the second axis b.

[0142] like Figure 15 As shown, the ball joint assembly includes a ball head 93 and a ball head seat 94. The ball head seat 94 can be set at the output end of the driving member 80. The ball head 93 is fixedly connected to the two ends of the second mating section 7122 through a ball head fastener 931. Through the cooperation of the ball head 93 and the ball head seat 94, when the seat body 71 moves, the driving member 80 can provide power without interfering with the seat body 71, and there can be relative movement between the driving member 80 and the seat body 71; in addition, it can also absorb the alignment error caused by manufacturing error or wear to a certain extent.

[0143] In some embodiments, the connecting member 72 includes a first connecting ring 721 and a second connecting ring 722 that are connected to each other. The second connecting ring 722 is connected to the outside of the first connecting ring 721. The extension direction of the second connecting ring 722 is different from the extension direction of the first connecting ring 721. The first connecting ring 721 is suitable for being mounted on the first rotating shaft 91, and the second connecting ring 722 is suitable for being mounted on the second rotating shaft 92. Therefore, the connection between the connecting member 72 and the second arm portion 13 and the seat body 71 is located on different planes. The extension direction of the second connecting ring 722 can be perpendicular to the extension direction of the first connecting ring 721, thereby providing two orthogonal degrees of freedom. The connecting member 72 can rotate relative to the second arm portion 13 and the seat body 71 on two perpendicular axes, and then the seat body 71 can move in a larger range relative to the second arm portion 13, thereby improving the movement flexibility of the seat body 71.

[0144] Among them, a bushing can be provided between the first connecting ring 721 and the first rotating shaft 91, and a bushing can be provided between the second connecting ring 722 and the second rotating shaft 92. The bushing can play a certain sealing role and at the same time support the connecting ring, reduce the friction coefficient during rotation, and improve the smoothness of rotation and the accuracy of movement.

[0145] like Figure 16 As shown, an avoidance gap 7111 is provided in the middle of the seat body 71, and a portion of the first connecting ring 721 can be located in the avoidance gap 7111, thereby reducing the height of the connecting member 72 protruding from the seat body 71, making the structure of the mounting base 70 more compact.

[0146] An arc-shaped supporting surface is formed on the edge of the avoidance gap 7111. When the seat body 71 rotates relative to the connecting member 72 and the second arm 13, the design of the arc-shaped supporting surface can evenly distribute the load, reduce stress concentration, avoid structural damage due to collision, and improve the durability of the structure.

[0147] In some embodiments, the second arm 13 includes a support frame 101, which defines a hollow mounting cavity. Two driving members 80 are mounted on the support frame 101, and at least a portion of each driving member 80 is located in the mounting cavity. The driving member 80 is thereby integrated into the second arm 13, making full use of the space inside the support frame 101 without the need for additional accommodation space, reducing the overall size of the robotic arm, and improving the compactness and integration of the structure. In addition, the driving member 80 can be installed symmetrically, which is conducive to maintaining the balance of the robotic arm 100 and can reduce vibration or offset caused by uneven weight distribution.

[0148] In some embodiments, the second arm 13 also includes an elbow 102, one end of the support frame 101 is connected to the elbow 102 through an electric transmission assembly 20, and the other end of the support frame 101 is connected to the mounting base 70, and the rotation axis of the electric transmission assembly 20 is the third axis c. Therefore, under the action of the electric transmission assembly 20, the support frame 101 can rotate around the third axis c relative to the elbow 102, thereby driving the mounting base 70 and the manipulator to perform rotational motion, thereby adding a degree of freedom of motion to the mounting base 70 and the manipulator, enabling them to perform more complex movements.

[0149] The third axis c, the first axis a, and the second axis b are perpendicular to each other, which can facilitate the precise positioning and operation of the robotic arm 100 in three-dimensional space.

[0150] In some examples, an adapter 14 is provided at the upper end of the support frame 101, and the adapter 14 is connected to one of the stator 21 and the rotor 22 of the electric transmission assembly 20. The elbow 102 is connected to the other of the stator 21 or the rotor 22, thereby realizing the rotational connection between the support frame 101 and the elbow 102. A mounting platform is provided on the side of the adapter 14 facing away from the electric transmission assembly 20, and the driving member 80 can be installed on the mounting platform through a ball joint assembly or a universal joint. There can be relative movement between the driving member 80 and the mounting platform to reduce motion interference, and at the same time, it can also absorb alignment errors caused by manufacturing errors or wear to a certain extent.

[0151] like Figure 4 and Figure 15As shown, in some embodiments, the support frame 101 has at least one support arm 174, each support arm 174 is located outside the mounting cavity, and the support arm 174 extends in a direction close to the mounting seat 70, and each support arm 174 is rotatably connected to the mounting seat 70 through the second rotating shaft 92, so that the mounting seat 70 is connected to the support frame 101, and the mounting seat 70 is located outside the mounting cavity, wherein the support arm 174 can include two support arms 174, and the two support arms 174 are respectively connected to the two ends of the second rotating shaft 92. Under the action of the support arm 174, the mounting seat 70 can be separated from the mounting cavity, which can reduce the probability of interference when the mounting seat 70 moves, increase the movable range of the mounting seat 70, and improve the flexibility of the robotic arm 100.

[0152] like Figure 15 As shown, in some embodiments, the support frame 101 includes a first support portion 171 and a second support portion 172, the second support portion 172 is provided on one side of the first support portion 171, and one end of the second support portion 172 (such as Figure 15 The upper end shown in FIG) and one end of the first support portion 171 (as shown Figure 15 The upper end shown in FIG) cooperates to form a connecting portion, which facilitates connecting adjacent components. The other end of the second support portion 172 (as shown Figure 15 The lower end shown in FIG. 17A can extend between the two driving members 80, and the other end of the second support portion 172 (as shown in FIG. Figure 15 The lower end shown in the figure is connected to the first support part 171, and two relatively arranged clearance openings 173 are formed between the second support part 172 and the first support part 171. The clearance openings 173 are connected to the installation cavity. A part of each driving member 80 is arranged in the installation cavity, and the other part of each driving member 80 extends out of the installation cavity through the clearance opening 173. On the one hand, the output end of the driving member 80 can be extended through the clearance opening 173 to be connected to the mounting seat 70. When the driving mounting seat 70 moves, the adaptive movement of the driving member 80 will not be interfered with by the support member 101. On the other hand, when the driving member 80 needs to be replaced or repaired, it can be operated directly through the clearance opening 173 without disassembling the entire robotic arm 100, thereby reducing maintenance costs and time.

[0153] Designing the support frame 101 to have the above structure reduces the weight of the support frame 101 to a certain extent, thereby satisfying the lightweight design of the robotic arm 100 .

[0154] In some embodiments, the driving member 80 is an electric telescopic rod. The electric telescopic rod uses a motor to drive a screw rod. The rotation of the screw rod converts rotational motion into linear motion, driving the telescopic rod to move in a straight line. By using the electric telescopic rod to drive the mounting base 70, the movement of the mounting base 70 can be made more controllable, facilitating precise control of the mounting base 70, and making the movement of the robotic arm 100 more precise and smooth.

[0155] The other structures and operations of the robotic arm 100 according to the embodiment of the present invention are well known to those skilled in the art and will not be described in detail here.

[0156] In the description of the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or the first and second features being in contact not directly but through another feature therebetween. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is at a higher level than the second feature.

[0157] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the illustrative use of the above terms does not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0158] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and purpose of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A robotic arm (100), characterized in that: include: A first arm portion (12) and a second arm portion (13) are relatively rotatable, wherein the first arm portion (12) has a first outer plate (1201), and the second arm portion (13) has a second outer plate (1301), and at least a portion of one end of the first outer plate (1201) close to the second outer plate (1301) is spaced apart from the second outer plate (1301) to form an escape opening (16) for avoiding rotation. A flexible component (50) is provided at the avoidance opening (16) for shielding the avoidance opening (16), and the flexible component (50) is configured such that at least a portion of the flexible component (50) is deformable when the first arm portion (12) and the second arm portion (13) rotate relative to each other.

2. The robotic arm (100) according to claim 1, characterized in that The flexible component (50) includes a first flexible component (51), a second flexible component (52) and a third flexible component (53), wherein the first flexible component (51) is connected to the first peripheral plate, the third flexible component (53) is connected to the second peripheral plate, and at least a portion of the second flexible component (52) is located between the first flexible component and the third flexible component. When the first arm portion (12) and the second arm portion (13) rotate relative to each other, the first flexible member (51) and the third flexible member (53) approach each other and can be squeezed and deformed by each other.

3. The robotic arm (100) according to claim 2, characterized in that The first arm (12) and the second arm (13) are connected via an electric transmission assembly (20), and the second flexible member (52) is arranged outside the electric transmission assembly (20) and connected to the periphery of the electric transmission assembly (20).

4. The robotic arm (100) according to claim 2, characterized in that The second outer plate (1301) includes two supporting parts (1321) and an annular connecting part (1322), the two supporting parts (1321) are arranged opposite to each other on one side of the annular connecting part (1322) close to the first arm part (12), the supporting parts (1321) and the first arm part (12) are connected through an electric transmission assembly (20), and the third flexible member is connected between the two supporting parts (1321) and connected to the annular connecting part (1322).

5. The robotic arm (100) according to claim 4, characterized in that The first arm portion (12) further includes a transition piece (14), which is connected to an end of the first outer plate (1201) close to the second outer plate (1301), and the transition piece (14) is suitable for extending between the two support portions (1321) and being connected to the electric transmission assembly.

6. The robotic arm (100) according to claim 5, characterized in that The electric transmission assembly is fixedly connected to one of the support parts (1321), and the adapter (14) is rotatably connected to the other support part (1321) via a bearing (60).

7. The robotic arm (100) according to claim 4, characterized in that The edge of the support portion (1321) has a convex arc surface (13211), and the end of the first outer plate (1201) close to the second outer plate (1301) has a concave arc surface (12011), the concave arc surface (12011) and the convex arc surface (13211) have the same curvature and the arc center is located on the rotation axis of the first arm portion (12) and the second arm portion (13).

8. The robotic arm (100) according to claim 1, characterized in that It also includes: a fourth flexible member (54), the fourth flexible member (54) being located on a side of the robotic arm away from the flexible member (50), The fourth flexible member (54) is connected to the first peripheral plate (1201) and is adapted to abut against the second peripheral plate (1301) when the first arm portion (12) and the second arm portion (13) are unfolded. Alternatively, the fourth flexible member (54) is connected to the second peripheral plate (1301) and is adapted to abut against the first peripheral plate (1201) when the first arm portion (12) and the second arm portion (13) are unfolded.

9. The robotic arm (100) according to any one of claims 1 to 8, characterized in that: The first arm (12) includes a first elbow (122) and a first support frame (121), and the second arm (13) includes a second elbow (132) and a second support frame (131), and the first support frame (121) and the second elbow (132) are connected via an electric transmission assembly, wherein the first support frame (121) has the first outer plate (1201), and the second elbow (132) has the second outer plate (1301).

10. The robotic arm (100) according to claim 1, characterized in that The flexible component (50) is a rubber piece or cloth.

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