Mechanical arm and robot with same

By designing a robotic arm with seven degrees of freedom and utilizing a combination of drive and transmission devices, the problem of insufficient endurance of the robotic arm was solved, achieving efficient, flexible and stable movement while reducing energy consumption.

CN223719494UActive Publication Date: 2025-12-26BEIJING GANGTIEXIA TECH CO LTD
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Patent Information

Application Number
CN202520194960.X
Authority / Receiving Office
CN · China
Patent Type
Utility models(China)
Current Assignee / Owner
Filing Date
2025-02-07
Publication Date
2025-12-26
Estimated Expiration
2035-02-07

AI Technical Summary

Technical Problem

The current industrial robotic arms have poor endurance, mainly because the shoulder joint needs to bear a large weight and torque, which leads to high motor power requirements, increased motor size and weight, and thus increased energy consumption.

Method used

A robotic arm was designed, comprising a base, a shoulder arm device, and an arm device. The shoulder arm device has two degrees of freedom, and the arm device has at least five degrees of freedom. Through the switching of different states of two first drive devices, seven degrees of freedom of motion can be achieved. Combined with a transmission device and an auxiliary device, weight and torque are balanced, and energy consumption is reduced.

Benefits of technology

It improves the endurance and operational efficiency of the robotic arm, ensures the flexibility and stability of its movement, reduces energy consumption, and enhances the reliability and versatility of the robotic arm's movement.

✦ Generated by Eureka AI based on patent content.

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Abstract

The utility model provides a mechanical arm and a robot with the same, a shoulder device of the mechanical arm is movably arranged on a base, the shoulder device has two degrees of freedom, an arm device is movably arranged on the shoulder device, and the arm device has at least five degrees of freedom; the two first driving devices are arranged on the base, are oppositely arranged and are coaxially arranged along a first axis; one end of the connecting device is connected with the shoulder device, and the other end of the connecting device is connected with the two first driving devices; the two first driving devices have a first state and a second state, and when the two first driving devices are in the first state, the two first driving devices drive the connecting device to drive the shoulder device to rotate along a first axis; and when the two first driving devices are in the second state, the two first driving devices drive the connecting device to drive the shoulder device to rotate along the central axis of the connecting device. The mechanical arm effectively solves the problem that in the prior art, the cruising ability of the mechanical arm is poor.
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Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, specifically, relate to a kind of mechanical arm and robot with it. BACKGROUND

[0002] At present, industrial robot has been widely applied in manufacturing industry, logistics industry, medical industry, service industry and other industries due to its ability to reduce labor, improve efficiency and reduce cost. As an important component of industrial robot, mechanical arm not only needs to have high flexibility to adapt to different operation requirements, but also needs to withstand large load capacity to ensure its running stability and accuracy.

[0003] In the prior art, industrial robot usually adopts seven-degree-of-freedom mechanical arm to meet the flexibility and accuracy requirements in industrial operation.

[0004] However, due to the long length of the mechanical arm, the shoulder joint position of the mechanical arm as the starting point needs to withstand large weight and torque, resulting in high motor power demand at the shoulder joint position, which requires increasing the size and weight of the motor at the shoulder joint position, thereby increasing the energy consumption of the mechanical arm and reducing the endurance of the mechanical arm. SUMMARY

[0005] The main purpose of the utility model is to provide a kind of mechanical arm and robot with it, to solve the problem of poor endurance of mechanical arm in prior art.

[0006] To achieve the above purpose, according to one aspect of the utility model, a kind of mechanical arm is provided, comprising: base;Shoulder arm device, including shoulder device and arm device, shoulder device is movably arranged on base, shoulder device has two degrees of freedom, arm device is movably arranged on shoulder device, arm device has at least five degrees of freedom;Two first driving devices are arranged on base, two first driving devices are oppositely arranged and coaxially arranged along first axis;Connecting device, one end of connecting device is connected with shoulder device, the other end of connecting device is connected with two first driving devices;Wherein, two first driving devices have first state and second state, when two first driving devices are in first state, two first driving devices drive connecting device to drive shoulder device to rotate along first axis;When two first driving devices are in second state, two first driving devices drive connecting device to drive shoulder device to rotate along the central axis of connecting device.

[0007] Further, the mechanical arm further comprises a transmission device, the transmission device is in gear engagement with the connecting device, and the two first driving devices are drivingly connected with the transmission device to drive the transmission device to move the connecting device.

[0008] Further, the transmission device comprises two transmission assemblies, which are arranged in one-to-one correspondence with the two first driving devices, the first driving device is drivingly connected with the transmission assembly to drive the transmission assembly to rotate; the support assembly comprises a first support structure and a second support structure, two ends of the first support structure are respectively connected with the two transmission assemblies, the second support structure is arranged on the first support structure and connected with the connecting device; wherein each transmission assembly is meshed with the gear away from the shoulder device of the connecting device.

[0009] Further, the mechanical arm further comprises an auxiliary device, the auxiliary device is arranged coaxially with the connecting device, the auxiliary device is meshed with each of the transmission assemblies, the first support structure comprises a support part and two first support shafts, the two first support shafts are respectively arranged on the opposite sides of the support part, one end of each first support shaft away from the support part is rotatably connected with the transmission assembly; the second support structure comprises two second support shafts, the two second support shafts are respectively arranged on the opposite sides of the support part, one end of one of the second support shafts away from the support part is rotatably connected with the connecting device, and one end of the other second support shaft away from the support part is connected with the auxiliary device.

[0010] Further, when the two first driving devices are in the first state, each first driving device drives the corresponding transmission assembly to rotate clockwise along the first axis; when the two first driving devices are in the second state, one of the first driving devices drives the corresponding transmission assembly to rotate clockwise along the first axis, and the other first driving device drives the corresponding transmission assembly to rotate counterclockwise along the first axis; wherein the two transmission assemblies have the same rotational speed.

[0011] Further, the two first driving devices also have a third state, when the two first driving devices are in the third state, one of the first driving devices drives the corresponding transmission assembly to rotate clockwise along the first axis, and the other first driving device drives the corresponding transmission assembly to rotate counterclockwise along the first axis; wherein the two transmission assemblies have different rotational speeds.

[0012] Further, the mechanical arm further comprises a second driving device, the second driving device is arranged on the shoulder device, the arm device comprises a large arm assembly and a small arm assembly, the second driving device is drivingly connected with the large arm assembly to drive the large arm assembly to rotate along the central axis of the second driving device, the small arm assembly is arranged on the large arm assembly and has at least four degrees of freedom; wherein the central axis of the second driving device is arranged at an angle with the central axis of the connecting device.

[0013] Further, the shoulder device comprises a connecting assembly connected to the end of the connecting device away from the first driving device; and a surrounding assembly arranged on the connecting assembly, a first mounting cavity being formed around between the inner wall of at least part of the surrounding assembly and the inner wall of at least part of the connecting assembly, and the first mounting cavity being used for mounting the second driving device.

[0014] Further, the connecting assembly, the surrounding assembly and the arm assembly all have hollow parts.

[0015] According to the technical scheme of the utility model, the shoulder-arm device of the mechanical arm comprises a shoulder device and an arm device, the shoulder device is movably arranged on the base, the shoulder device has two degrees of freedom, the arm device is movably arranged on the shoulder device, and the arm device has at least five degrees of freedom. Two first driving devices are arranged on the base, and the two first driving devices are oppositely arranged and coaxially arranged along a first axis. One end of a connecting device is connected to the shoulder device, and the other end of the connecting device is connected to the two first driving devices. Among them, the two first driving devices have a first state and a second state, when the two first driving devices are in the first state, the two first driving devices drive the connecting device to drive the shoulder device to rotate along the first axis. When the two first driving devices are in the second state, the two first driving devices drive the connecting device to drive the shoulder device to rotate along the central axis of the connecting device. In this way, the setting mode of the shoulder-arm device makes the mechanical arm have seven degrees of freedom, realizes the high-latitude space movement of the mechanical arm, ensures the movement flexibility of the mechanical arm, and also expands the movement range of the mechanical arm. At the same time, the setting mode of the two driving devices driving the shoulder device to move balances the weight and torque of the shoulder-arm device, reduces the energy consumption of the mechanical arm, thereby improving the endurance and work efficiency of the mechanical arm, and further solving the problem of poor endurance of the mechanical arm in the prior art. At the same time, the setting mode of the connecting device realizes the transmission of the driving force of the two driving devices, and ensures the movement reliability and stability of the mechanical arm. BRIEF DESCRIPTION OF DRAWINGS

[0016] The drawings accompanying the specification of this application form a part thereof, serve to provide further understanding of the present application, and together with the description of the exemplary embodiments of the present application, serve to explain the present application, and do not constitute improper limitations on the present application. In the drawings:

[0017] Figure 1 An overall structure perspective view of an embodiment of the mechanical arm according to the present application is shown;

[0018] Figure 2 An overall structure perspective view of an embodiment of the mechanical arm according to the present application is shown; Figure 1 An enlarged view of a part of the above is shown.

[0019] Among them, the above drawings include the following signs:

[0020] 10, base;

[0021] 20, shoulder device; 21, connecting assembly; 22, surrounding assembly; 23, first mounting cavity; 24, hollow part;

[0022] 30, arm device; 31, large arm assembly; 32, small arm assembly;

[0023] 40, first driving device;

[0024] 50, connecting device;

[0025] 60, transmission device; 61, transmission assembly; 62, support assembly; 621, first support structure; 6211, support part; 6212, first support shaft; 622, second support structure; 6221, second support shaft;

[0026] 70, auxiliary device;

[0027] 80, second driving device. DETAILED DESCRIPTION

[0028] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0029] It should be noted that, unless otherwise specified, all technical and scientific terms used in the present application have the same meaning as generally understood by those skilled in the art to which the present application belongs.

[0030] In the present application, unless otherwise specified, the orientation words such as "up, down" used herein are generally directed to the direction shown in the drawings, or are directed to the vertical, perpendicular or gravity direction; similarly, for the convenience of understanding and description, "left, right" is generally directed to the left and right shown in the drawings; "inner, outer" refers to the inner and outer relative to the contour of each component, but the above orientation words are not used to limit the present application.

[0031] In order to solve the problem of poor endurance of the mechanical arm in the prior art, the present application provides a mechanical arm and a robot having the same.

[0032] As Figure 1 and Figure 2As shown, the mechanical arm includes a base 10, a shoulder-arm device, two first driving devices 40 and a connecting device 50. The shoulder-arm device includes a shoulder device 20 and an arm device 30, the shoulder device 20 is movably arranged on the base 10, the shoulder device 20 has two degrees of freedom, the arm device 30 is movably arranged on the shoulder device 20, and the arm device 30 has at least five degrees of freedom. The two first driving devices 40 are arranged on the base 10, and the two first driving devices 40 are oppositely arranged and coaxially arranged along a first axis. One end of the connecting device 50 is connected with the shoulder device 20, and the other end of the connecting device 50 is connected with the two first driving devices 40. Among them, the two first driving devices 40 have a first state and a second state, when the two first driving devices 40 are in the first state, the two first driving devices 40 drive the connecting device 50 to drive the shoulder device 20 to rotate along the first axis. When the two first driving devices 40 are in the second state, the two first driving devices 40 drive the connecting device 50 to drive the shoulder device 20 to rotate along the central axis of the connecting device 50.

[0033] By applying the technical scheme of the embodiment, the shoulder-arm device of the mechanical arm includes the shoulder device 20 and the arm device 30, the shoulder device 20 is movably arranged on the base 10, the shoulder device 20 has two degrees of freedom, the arm device 30 is movably arranged on the shoulder device 20, and the arm device 30 has at least five degrees of freedom. The two first driving devices 40 are arranged on the base 10, and the two first driving devices 40 are oppositely arranged and coaxially arranged along a first axis. One end of the connecting device 50 is connected with the shoulder device 20, and the other end of the connecting device 50 is connected with the two first driving devices 40. Among them, the two first driving devices 40 have a first state and a second state, when the two first driving devices 40 are in the first state, the two first driving devices 40 drive the connecting device 50 to drive the shoulder device 20 to rotate along the first axis. When the two first driving devices 40 are in the second state, the two first driving devices 40 drive the connecting device 50 to drive the shoulder device 20 to rotate along the central axis of the connecting device 50. In this way, the arrangement mode of the shoulder-arm device makes the mechanical arm have seven degrees of freedom, realizes the high-latitude space movement of the mechanical arm, ensures the movement flexibility of the mechanical arm, and also expands the movement range of the mechanical arm. At the same time, the arrangement mode of the two driving devices driving the movement of the shoulder device 20 balances the weight and torque of the shoulder-arm device, reduces the energy consumption of the mechanical arm, thereby improving the endurance and work efficiency of the mechanical arm, and further solving the problem of poor endurance of the mechanical arm in the prior art. At the same time, the arrangement mode of the connecting device 50 realizes the transmission of the driving force of the two driving devices, and ensures the movement reliability and stability of the mechanical arm.

[0034] In the embodiment, the shoulder device 20 and the arm device 30 are made of light high-strength materials.

[0035] Optionally, the light high-strength material is magnesium-aluminum alloy.

[0036] Optionally, the light high-strength material is carbon fiber reinforced plastic.

[0037] In the embodiment, the first driving devices 40 are motors. In this way, the two motors jointly drive the two degrees of freedom movements of the shoulder device 20, which can effectively reduce the maximum load pressure of the mechanical arm, and ensure the coordination and fluency of the movements of the shoulder device 20, so as to ensure the high precision and high efficiency of the mechanical arm in complex tasks.

[0038] As shown in Figure 2 , the mechanical arm further comprises a transmission device 60, the transmission device 60 is in gear engagement with the connecting device 50, and the two first driving devices 40 are in driving connection with the transmission device 60 to drive the transmission device 60 to drive the connecting device 50 to move. In this way, the first driving devices 40 drive the transmission device 60 to achieve driving connection with the connecting device 50. At the same time, the transmission device 60 is in gear engagement with the connecting device 50, which avoids the phenomenon of uncoordinated movement and unstable power transmission of the mechanical arm shoulder, realizes efficient transmission and precise degree of freedom control of the first driving devices 40, and improves the smoothness and precision of the mechanical arm in complex tasks.

[0039] As shown in Figure 2 , the transmission device 60 comprises two transmission assemblies 61 and a support assembly 62. The two transmission assemblies 61 are arranged in one-to-one correspondence with the two first driving devices 40, and the first driving devices 40 are in driving connection with the transmission assemblies 61 to drive the transmission assemblies 61 to rotate. The support assembly 62 comprises a first support structure 621 and a second support structure 622, the two ends of the first support structure 621 are respectively connected with the two transmission assemblies 61, and the second support structure 622 is arranged on the first support structure 621 and connected with the connecting device 50. Each transmission assembly 61 is in gear engagement with the end of the connecting device 50 away from the shoulder device 20. In this way, the two transmission assemblies 61 are in gear engagement with the connecting device 50, which can effectively transmit the driving force of the first driving devices 40 to the shoulder device 20, ensure the continuity and stability of power transmission, reduce the loss of energy in the transmission process, further reduce the energy consumption of the mechanical arm, and improve the endurance of the mechanical arm. On the other hand, it can simplify the driving force transmission link, reduce the complexity of the overall structure, thereby reducing the weight and cost of the mechanical arm, and improving the economy of the mechanical arm. At the same time, the support assembly 62 can support the connecting device 50 and the transmission assemblies 61, and ensure the movement stability of the transmission assemblies 61 and the connecting device 50. On the other hand, it can limit the transmission assemblies 61 and the connecting device 50, avoid the phenomenon of over-engagement and under-engagement of the gears, and ensure the stability and reliability of the gear engagement between the transmission assemblies 61 and the connecting device 50.

[0040] As shown in Figure 2 The mechanical arm further comprises an auxiliary device 70 coaxially arranged with the connecting device 50, the auxiliary device 70 is in gear engagement with each of the transmission assemblies 61. The first support structure 621 comprises a support portion 6211 and two first support shafts 6212 arranged on opposite sides of the support portion 6211, and an end of each first support shaft 6212 away from the support portion 6211 is rotatably connected with the transmission assembly 61. The second support structure 622 comprises two second support shafts 6221 arranged on opposite sides of the support portion 6211, one end of one of the second support shafts 6221 away from the support portion 6211 is rotatably connected with the connecting device 50, and one end of the other second support shaft 6221 away from the support portion 6211 is connected with the auxiliary device 70. In this way, the auxiliary device 70 can balance the force of the connecting device 50 on the second support shaft 6221, ensuring the support reliability of the second support shaft 6221 while improving the operation stability of the connecting device 50. At the same time, the first support shaft 6212 and the second support shaft 6221 are arranged on the support portion 6211, which can further improve the support stability of the support assembly 62 and improve the structural strength of the support assembly 62.

[0041] In this embodiment, the support assembly 62 is a cross transmission shaft.

[0042] In this embodiment, the auxiliary device 70 is a bevel gear. In this way, the auxiliary device 70, the connecting device 50 and the transmission assembly 61 form a stable four-bevel gear combination, improving the activity stability of the mechanical arm.

[0043] In the embodiment, when the two first driving devices 40 are in the first state, each first driving device 40 drives the transmission assembly 61 corresponding thereto to rotate clockwise along the first axis. When the two first driving devices 40 are in the second state, one of the first driving devices 40 drives the transmission assembly 61 corresponding thereto to rotate clockwise along the first axis, and the other first driving device 40 drives the transmission assembly 61 corresponding thereto to rotate counterclockwise along the first axis. In this case, the two transmission assemblies 61 have the same rotation speed. In this way, in the process that the two transmission assemblies 61 rotate at the same rotation speed in the same direction, the two transmission assemblies 61 mesh with the connecting device 50 and drive the connecting device 50 to rotate along the first axis, so as to realize the rotation of the shoulder device 20 along the first axis. Meanwhile, in the process that the two transmission assemblies 61 rotate at the same rotation speed in opposite directions, the two transmission assemblies 61 mesh with the connecting device 50 and drive the connecting device 50 to rotate along the central axis of the connecting device 50, so as to realize the rotation of the shoulder device 20 along the central axis of the connecting device 50. Meanwhile, the above-mentioned arrangement keeps the two transmission assemblies 61 balanced in meshing with the connecting device 50, so as to realize the motion stability of the shoulder device 20 in two degrees of freedom.

[0044] In the embodiment, the two first driving devices 40 also have a third state. When the two first driving devices 40 are in the third state, one of the first driving devices 40 drives the transmission assembly 61 corresponding thereto to rotate clockwise along the first axis, and the other first driving device 40 drives the transmission assembly 61 corresponding thereto to rotate counterclockwise along the first axis. In this case, the two transmission assemblies 61 have different rotation speeds. In this way, in the process that the two transmission assemblies 61 rotate at different rotation speeds in opposite directions, the two transmission assemblies 61 mesh with the connecting device 50 and drive the connecting device 50 to rotate along the first axis and along the central axis of the connecting device 50 respectively, so as to make the shoulder device 20 be able to rotate along the first axis and be able to rotate along the central axis of the connecting device 50, realize the compound motion of the shoulder device 20, and adapt to different working conditions and use requirements, thereby improving the versatility and flexibility of the mechanical arm.

[0045] As Figure 1As shown, the mechanical arm further comprises a second driving device 80, the second driving device 80 is arranged on the shoulder device 20, the arm device 30 comprises a large arm assembly 31 and a small arm assembly 32, the second driving device 80 is drivingly connected with the large arm assembly 31 to drive the large arm assembly 31 to rotate along the central axis of the second driving device 80, and the small arm assembly 32 is arranged on the large arm assembly 31 and has at least four degrees of freedom. Among them, the central axis of the second driving device 80 is arranged at an angle with the central axis of the connecting device 50. In this way, the second driving device 80 arranged on the shoulder device 20 can drive the large arm assembly 31 to rotate along the central axis of the second driving device 80, realizing the movement of one degree of freedom of the large arm assembly 31 and the flexibility of the arm device 30. At the same time, the central axis of the second driving device 80 is arranged at an angle with the central axis of the connecting device 50, which expands the activity range of the mechanical arm and improves the flexibility of the mechanical arm.

[0046] In the embodiment, the second driving device 80 is coaxially arranged with the large arm assembly 31 to realize the relative rotation of the large arm assembly 31 and the shoulder device 20.

[0047] As shown in the Figure 1 , the shoulder device 20 comprises a connecting assembly 21 and a surrounding assembly 22. The connecting assembly 21 is connected with the end of the connecting device 50 away from the first driving device 40. The surrounding assembly 22 is arranged on the connecting assembly 21, and a first mounting cavity 23 is formed around between at least part of the inner wall of the surrounding assembly 22 and at least part of the inner wall of the connecting assembly 21, and the first mounting cavity 23 is used for mounting the second driving device 80. In this way, the shoulder device 20 realizes the connection with the connecting device 50 through the connecting assembly 21. At the same time, the arrangement mode of the first mounting cavity 23 can provide a mounting position for the second driving device 80 on the one hand, ensuring the installation reliability of the second driving device 80; on the other hand, the spatial layout of the shoulder device 20 and the second driving device 80 is optimized, realizing the compactness of the structure of the mechanical arm.

[0048] As shown in the Figure 1 , the connecting assembly 21, the surrounding assembly 22 and the large arm assembly 31 all have a hollow part 24. In this way, the arrangement mode of the hollow part 24 can not only reduce the weight of the connecting assembly 21, the surrounding assembly 22 and the large arm assembly 31 while ensuring the structural strength of the connecting assembly 21, the surrounding assembly 22 and the large arm assembly 31, realizing the lightweight design of the mechanical arm, but also ensures the heat dissipation reliability of the second driving device 80, ensuring the operation reliability of the second driving device 80.

[0049] In the embodiment, the connecting assembly 21 and the surrounding assembly 22 are both plate-shaped, and the hollow part 24 is arranged on the connecting assembly 21 and the surrounding assembly 22, and the hollow part 24 is triangularly arranged.

[0050] In the embodiment, the arm assembly 31 comprises a connecting piece in a cylindrical shape and an arc-shaped fixing piece, the connecting piece is provided with a hollow part 24, the hollow part 24 on the connecting piece is a through hole, the through hole is a plurality of groups, each group of the plurality of through holes comprises a plurality of through holes, and the plurality of through holes of each group are arranged along the length direction of the connecting piece.

[0051] The application also provides a robot comprising the mechanical arm.

[0052] From the above description, it can be seen that the above-mentioned embodiments of the utility model realize the following technical effects:

[0053] The shoulder-arm device of the mechanical arm comprises a shoulder device and an arm device, the shoulder device is movably arranged on the base, the shoulder device has two degrees of freedom, the arm device is movably arranged on the shoulder device, and the arm device has at least five degrees of freedom. Two first driving devices are arranged on the base, the two first driving devices are oppositely arranged and coaxially arranged along a first axis. One end of the connecting device is connected with the shoulder device, and the other end of the connecting device is connected with the two first driving devices. Among them, the two first driving devices have a first state and a second state, when the two first driving devices are in the first state, the two first driving devices drive the connecting device to drive the shoulder device to rotate along the first axis. When the two first driving devices are in the second state, the two first driving devices drive the connecting device to drive the shoulder device to rotate along the central axis of the connecting device. In this way, the shoulder-arm device is arranged in this way, so that the mechanical arm has seven degrees of freedom, realizing the high-latitude space movement of the mechanical arm, ensuring the movement flexibility of the mechanical arm, and also expanding the movement range of the mechanical arm. At the same time, the two driving devices are arranged in a manner of jointly driving the shoulder device to move, which balances the weight and torque of the shoulder-arm device, reduces the energy consumption of the mechanical arm, thereby improving the endurance and work efficiency of the mechanical arm, and further solving the problem of poor endurance of the mechanical arm in the prior art. At the same time, the arrangement of the connecting device realizes the transmission of the driving force of the two driving devices, ensuring the movement reliability and stability of the mechanical arm.

[0054] It should be noted that the terms used herein are only intended to describe specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form, unless the context clearly indicates otherwise, and it should also be understood that, when the terms "comprise" and / or "include" are used in the specification, there is a presence of the features, steps, operations, devices, components and / or combinations thereof.

[0055] It should be noted that the terms "first", "second", and the like in the description and in the claims of the present application and in the above-described drawings are used only for distinguishing between similar objects and do not necessarily have to describe a specific sequential or chronological order. It is to be understood that the data so distinguished can be interchanged, under appropriate circumstances, such that the embodiments of the present application described herein can be practiced in other than the illustrated or described order.

[0056] The preferred embodiments of the present application have been described above with the specific details. Obviously, the present application can be carried out without the specific details. It is to be understood that the above-described embodiments are only used to illustrate the present application, and the present application can be modified and changed in various ways by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A robot arm, characterized in that, The mechanical arm comprises: a base (10); a shoulder-arm device, comprising a shoulder device (20) and an arm device (30), the shoulder device (20) being movably arranged on the base (10), the shoulder device (20) having two degrees of freedom, the arm device (30) being movably arranged on the shoulder device (20), the arm device (30) having at least five degrees of freedom; two first driving devices (40) arranged on the base (10), the two first driving devices (40) being oppositely arranged and coaxially arranged along a first axis; a connecting device (50), one end of the connecting device (50) being connected with the shoulder device (20), the other end of the connecting device (50) being connected with the two first driving devices (40); wherein the two first driving devices (40) have a first state and a second state, when the two first driving devices (40) are in the first state, the two first driving devices (40) drive the connecting device (50) to drive the shoulder device (20) to rotate along the first axis, and when the two first driving devices (40) are in the second state, the two first driving devices (40) drive the connecting device (50) to drive the shoulder device (20) to rotate along a central axis of the connecting device (50).

2. The robot arm of claim 1, wherein, The mechanical arm further comprises a transmission device (60), the transmission device (60) being gear-engaged with the connecting device (50), and the two first driving devices (40) being drivingly connected with the transmission device (60) to drive the transmission device (60) to drive the connecting device (50) to move.

3. The robot arm of claim 2, wherein, The transmission device (60) comprises: two transmission assemblies (61) arranged in one-to-one correspondence with the two first driving devices (40), the first driving devices (40) being drivingly connected with the transmission assemblies (61) to drive the transmission assemblies (61) to rotate; a support assembly (62) comprising a first support structure (621) and a second support structure (622), two ends of the first support structure (621) being respectively connected with the two transmission assemblies (61), and the second support structure (622) being arranged on the first support structure (621) and connected with the connecting device (50); wherein each of the transmission assemblies (61) is gear-engaged with one end of the connecting device (50) away from the shoulder device (20).

4. The robot arm of claim 3, wherein, The mechanical arm further comprises an auxiliary device (70), the auxiliary device (70) being coaxially arranged with the connecting device (50), and the auxiliary device (70) being gear-engaged with each of the transmission assemblies (61), the first support structure (621) comprises a support portion (6211) and two first support shafts (6212), the two first support shafts (6212) being respectively arranged on opposite sides of the support portion (6211), and one end of each of the first support shafts (6212) away from the support portion (6211) being rotatably connected with the transmission assembly (61). The second support structure (622) comprises two second support shafts (6221), and the two second support shafts (6221) are arranged on opposite sides of the support part (6211) respectively, one end of one of the second support shafts (6221) away from the support part (6211) is rotatably connected with the connecting device (50), and one end of the other second support shaft (6221) away from the support part (6211) is connected with the auxiliary device (70).

5. The mechanical arm of claim 3, wherein, when the two first driving devices (40) are in the first state, each of the first driving devices (40) drives the transmission assembly (61) corresponding thereto to rotate clockwise along the first axis; when the two first driving devices (40) are in the second state, one of the first driving devices (40) drives the transmission assembly (61) corresponding thereto to rotate clockwise along the first axis, and the other first driving device (40) drives the transmission assembly (61) corresponding thereto to rotate counterclockwise along the first axis; wherein the two transmission assemblies (61) have the same rotation speed.

6. The robotic arm of claim 3, wherein, The two first driving devices (40) also have a third state, when the two first driving devices (40) are in the third state, one of the first driving devices (40) drives the transmission assembly (61) corresponding thereto to rotate clockwise along the first axis, and the other first driving device (40) drives the transmission assembly (61) corresponding thereto to rotate counterclockwise along the first axis; wherein the two transmission assemblies (61) have different rotation speeds.

7. The robotic arm of claim 1, wherein, The mechanical arm further comprises a second driving device (80), the second driving device (80) is arranged on the shoulder device (20), the arm device (30) comprises a large arm assembly (31) and a small arm assembly (32), the second driving device (80) is drivingly connected with the large arm assembly (31) to drive the large arm assembly (31) to rotate along a central axis of the second driving device (80), and the small arm assembly (32) is arranged on the large arm assembly (31) and has at least four degrees of freedom. Wherein, the central axis of the second driving device (80) is arranged at an angle with the central axis of the connecting device (50).

8. The robotic arm of claim 7, wherein, The shoulder device (20) comprises: a connecting assembly (21) connected with one end of the connecting device (50) away from the first driving device (40); a surrounding assembly (22) arranged on the connecting assembly (21), and a first mounting cavity (23) is formed between at least part of the inner wall of the surrounding assembly (22) and at least part of the inner wall of the connecting assembly (21), and the first mounting cavity (23) is used for mounting the second driving device (80).

9. The robot arm of claim 8, wherein, The connecting assembly (21), the surrounding assembly (22) and the large arm assembly (31) all have hollow parts (24).

10. A robot, characterized in that The robot comprises a robot arm as claimed in any of claims 1 to 9. The robot comprises a robot arm as claimed in any of claims 1 to 9.