Mechanical arm assembly and industrial mechanical arm

Abstract

The utility model discloses a mechanical arm assembly and an industrial mechanical arm, and relates to the technical field of mechanical arms, the mechanical arm assembly comprises a base, a connecting arm assembly and at least two joint actuators, the two joint actuators are the same in structure, one joint actuator is a first joint actuator, and the other joint actuator is a second joint actuator; the connecting arm assembly is provided with a first connecting part, a second connecting part and a third connecting part which are arranged at intervals, the first joint actuator is in driving connection with the first connecting part and the second connecting part, the second joint actuator is in driving connection with the third connecting part, and the first joint actuator drives the second joint actuator to move through the connecting arm assembly. And the second joint actuator is used for being connected with an external device, so that the mechanical arm assembly can be modularly assembled and has high expansibility, and on the basis, the working range of the mechanical arm and the degree of freedom of the tail end can be improved by increasing the number of the connecting arms and the number of the joint actuators.

Description

Technical Field

[0001] This utility model relates to the field of industrial equipment technology, and in particular to a robotic arm assembly and an industrial robotic arm. Background Technology

[0002] Existing industrial robotic arms are widely used in many fields, such as automated production lines, precision manufacturing, welding, painting, and assembly. However, the design of these robotic arms often requires the configuration of multiple motors and drive systems to achieve motion control in different axes. Each motor typically controls one degree of freedom of the robotic arm. As the number of degrees of freedom increases, the number of motors required also increases, resulting in an increase in the weight of the robotic arm. These motors and drive devices make the structure of the robotic arm complex and bulky, increase energy consumption, and make maintenance and management more difficult.

[0003] In actual production, as production demands change, it may be necessary to add new functions or adjust the working range of the existing robotic arm. However, because robotic arms are generally highly integrated and complex in design, expanding and installing new functional modules or accessories often requires significant modifications to the original structure, resulting in low modularity. This not only increases engineering costs but also limits the adaptability and sustainability of the robotic arm. Utility Model Content

[0004] The main purpose of this invention is to propose a robotic arm assembly and an industrial robotic arm, aiming to improve the problem of low modularity in existing robotic arms.

[0005] To achieve the above objectives, the robotic arm assembly proposed in this utility model includes a base, a connecting arm assembly, and at least two joint actuators. Each joint actuator includes a drive assembly and a transmission assembly. The transmission assembly includes a first output component, a second output component, and a third output component that are respectively driven and connected to the drive assembly. One of the two joint actuators is a first joint actuator, and the other is a second joint actuator.

[0006] The connecting arm assembly has a first connecting portion, a second connecting portion, and a third connecting portion that are spaced apart from each other; the first output component of the first joint actuator is driven connected to the first connecting portion, and the second output component of the first joint actuator is driven connected to the second connecting portion to adjust the height of the third connecting portion and adjust the horizontal distance between the third connecting portion and the first joint actuator; the third output component of the first joint actuator is driven connected to the base so that the first joint actuator is rotatably disposed relative to it.

[0007] The third output member of the second joint actuator is driven to be connected to the third connecting part, so that the second joint actuator is rotatably mounted on the third connecting part.

[0008] In one embodiment, the first output member and the second output member are respectively disposed on opposite sides of the joint actuator and their rotation axes coincide, and the rotation axis of the first output member and the rotation axis of the third output member intersect.

[0009] In one embodiment, the rotation axis of the first output member and the rotation axis of the third output member are arranged perpendicular to each other.

[0010] In one embodiment, the connecting arm assembly includes a first driving link, a second driving link, a first driven link, and a second driven link. The first driving link is rotatably connected to the second driving link, and the second driven link is rotatably connected to both the first driving link and the first driven link. A first connecting portion is disposed on the second driving link, a second connecting portion is disposed on the first driven link, and a third connecting portion is disposed on the first driving link.

[0011] In one embodiment, a first rotating shaft and a second rotating shaft are spaced apart on the first driving link, one end of the second driving link is rotatably connected to the first driving link through the first rotating shaft, and one end of the second driven link is rotatably connected to the first driving link through the second rotating shaft;

[0012] And / or, the first driven link is provided with a third rotating shaft, and the end of the second driven link away from the first driving link is rotatably connected to the first driven link through the third rotating shaft.

[0013] In one embodiment, the joint actuator includes a housing, the first output component includes a first flange, the drive assembly includes a first motor, the housing has a first opening, the first flange is disposed at the first opening and drivenly connected to the first motor, and the first motor is used to drive the first flange to rotate.

[0014] And / or, the second output component includes a second flange, the drive assembly further includes a second motor, the housing is provided with a second opening, the second flange is disposed at the second opening and drivenly connected to the second motor, and the second motor is used to drive the second flange to rotate;

[0015] And / or, the third output component includes a third flange, the drive assembly further includes a third motor, the housing is provided with a third opening, the third flange is disposed at the third opening and drivenly connected to the third motor, and the third motor is used to drive the third flange to rotate.

[0016] In one embodiment, the joint actuator further includes an output shaft, one end of which is fixedly connected to the second output member and extends along the rotation axis of the second output member. The first output member is rotatably sleeved on the output shaft, and one end of the output shaft protrudes from the first output member for connection to an external device.

[0017] In one embodiment, the joint actuator further includes a control circuit board and a plurality of encoders disposed within the housing. The control circuit board is electrically connected to the drive assembly and the plurality of encoders respectively. The plurality of encoders are used to detect the rotation of the first output member, the second output member and the third output member and to feed back the detection information to the control circuit board.

[0018] This utility model also proposes an industrial robotic arm, including the robotic arm assembly in any of the foregoing embodiments.

[0019] The technical solution of this utility model greatly enhances the scalability of industrial robotic arms by using multiple joint actuators and connecting arm assemblies with identical structures to form a robotic arm assembly. Specifically, the robotic arm assembly includes a base, a connecting arm assembly, and at least two joint actuators, one of which is a first joint actuator and the other is a second joint actuator. Each joint actuator includes a drive assembly and a transmission assembly. The transmission assembly includes a first output component, a second output component, and a third output component, which are driven and connected to the drive assembly respectively. The connecting arm assembly has a first connecting portion, a second connecting portion, and a third connecting portion arranged at intervals. The first output component of the first joint actuator is driven and connected to the first connecting portion, the second output component of the first joint actuator is driven and connected to the second connecting portion, and the third output component of the second joint actuator is driven and connected to the third connecting portion. The first and second output components of the second joint actuator are used to connect to external devices, so that the robotic arm assembly can be modularly assembled and has high scalability. On this basis, the working range and end effector freedom of the robotic arm can be increased by increasing the number of connecting arms and joint actuators. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0021] Figure 1 A schematic diagram of the structure of an embodiment of the robotic arm assembly provided by this utility model;

[0022] Figure 2 A schematic diagram showing the disassembled structure of an embodiment of the robotic arm assembly provided by this utility model;

[0023] Figure 3 Top view of the joint actuator in one embodiment of the robotic arm assembly provided by this utility model;

[0024] Figure 4 A schematic diagram of the disassembled structure of the joint actuator in one embodiment of the robotic arm assembly provided by this utility model;

[0025] Figure 5 A schematic diagram of the disassembled structure of the connecting arm assembly in one embodiment of the robotic arm assembly provided by this utility model;

[0026] Figure 6 A schematic diagram of the assembly structure of the first drive link and the second joint actuator in one embodiment of the robotic arm assembly provided by this utility model;

[0027] Figure 7 A cross-sectional view of an embodiment of the robotic arm assembly provided by this utility model;

[0028] Figure 8 for Figure 7 Enlarged view of point C in the middle.

[0029] Explanation of icon numbers:

[0030] 100. Robotic arm assembly; 1. Base; 2. Connecting arm assembly; 2a. First connecting part; 2b. Second connecting part; 2c. Third connecting part; 21. First drive link; 211. First rotating shaft; 212. Second rotating shaft; 22. Second drive link; 23. First driven link; 231. Third rotating shaft; 24. Second driven link; 25. Mounting component; 3. Joint actuator; 3a. First joint actuator; 3b. Second joint actuator; 31. Drive link 311. Moving component; 312. First motor; 313. Second motor; 314. Third motor; 315. Fourth motor; 32. Transmission component; 321. First output component; 322. Second output component; 3221. Output shaft; 323. Third output component; 33. Connector; 34. Housing; 341. First opening; 342. Second opening; 343. Third opening; 344. Fourth opening; 35. Control circuit board; 351. Wiring; 36. Encoder.

[0031] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0032] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0033] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0034] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0035] This utility model proposes a robotic arm assembly.

[0036] Please see Figures 1 to 4In one embodiment of this utility model, the robotic arm assembly 100 includes a base 1, a connecting arm assembly 2, and at least two joint actuators 3. One of the two joint actuators 3 is a first joint actuator 3a, and the other is a second joint actuator 3b. Each joint actuator 3 includes a drive assembly 31 and a transmission assembly 32. The transmission assembly 32 includes a first output component 321, a second output component 322, and a third output component 323, which are respectively driven and connected to the drive assembly 31. The connecting arm assembly 2 has a first connecting portion 2a, a second connecting portion 2b, and a third connecting portion 2c, which are spaced apart from each other. The first output component 321 of the first joint actuator 3a is driven and connected to the first connecting portion 2a, the second output component 322 of the first joint actuator 3a is driven and connected to the second connecting portion 2b, and the third output component 323 of the second joint actuator 3b is driven and connected to the third connecting portion 2c, so that the first joint actuator 3a is rotatably disposed relative to the base 1. The first output component 321 and the second output component 322 of the second joint actuator 3b are used to connect to external devices.

[0037] It should be noted that, since the drive assembly 31 drives the first output component 321, the second output component 322 and the third output component 323 to rotate independently, and the connecting arm assembly 2 is connected to the first output component 321 and the second output component 322 of the first joint actuator 3a through the first connecting part 2a and the second connecting part 2b respectively, the first joint actuator 3a can adjust the height of the third connecting part 2c of the connecting arm assembly 2 and the horizontal distance between the third connecting part 2c and the first joint actuator 3a. Furthermore, the third output component 323 of the first joint actuator 3a is driven to connect with the base 1, so that the first joint actuator 3a can drive the third connecting part 2c to rotate around the rotation axis of the third output component 323.

[0038] Furthermore, the third output member 323 of the second joint actuator 3b is driven to connect with the third connecting part 2c, that is, the first output member 321 and the second output member 322 on the second joint actuator 3b can rotate around the rotation axis of the third output member 323. The first output member 321 and the second output member 322 of the second joint actuator 3b are used to connect with external devices or other robotic arms and output torque. The first joint actuator 3a enables the third connecting part 2c of the connecting arm assembly 2 to have three degrees of freedom. The second joint actuator 3b rotates on the third connecting part 2c. Combined with the first output member 321 and the second output member 322 of the second joint actuator 3b, it can output six degrees of freedom to meet the multi-degree-of-freedom working requirements of industrial robotic arms.

[0039] In one embodiment, the first output member 321 of the first joint actuator 3a is detachably connected to the first connecting part 2a, the second output member 322 of the first joint actuator 3a is detachably connected to the second connecting part 2b, and the third output member 323 of the second joint actuator 3b is detachably connected to the third connecting part 2c.

[0040] In one embodiment of this utility model, the first joint actuator 3a is detachably connected to the connecting arm assembly 2, and the second joint actuator 3b is detachably connected to the connecting arm assembly 2, so that the robotic arm assembly 100 can be modularly assembled. Specifically, the robotic arm assembly 100 can be assembled by increasing the number of connecting arm assemblies 2 and joint actuators 3, and sequentially splicing them with reference to the connection method of the first joint actuator 3a, connecting arm assembly 2 and second joint actuator 3b, so that the working end of the robotic arm assembly 100 has a higher degree of freedom and flexibility. Since the multiple joint actuators 3 have the same structure, the industrial robotic arm 100 is highly modular, which can reduce the complexity of the industrial robotic arm, facilitate assembly and have high expandability.

[0041] In one embodiment, the first output member 321 and the second output member 322 are respectively disposed on opposite sides of the joint actuator 3 and their rotation axes coincide. The rotation axis of the first output member 321 and the rotation axis of the third output member 323 intersect.

[0042] In one embodiment of this utility model, the first output component 321 and the second output component 322 are arranged on opposite sides of the joint actuator 3 with their axes coinciding. Arranging them on opposite sides avoids interference when the connecting arm assembly 2 is connected and helps to balance the forces on the joint actuator 3. The rotation axes of the first output component 321 and the third output component 323 intersect, that is, the rotation axes of the three output components are located in the same plane, which makes the physical model of the joint actuator 3 simpler and easier to analyze and design, greatly reducing the computational difficulty of kinematic simulation and motion control. On the other hand, the simple model also helps to reduce the load on the controller and reduce the energy consumption of the joint actuator 3 while providing multi-degree-of-freedom motion control.

[0043] In one embodiment, the rotation axis of the first output member 321 and the rotation axis of the third output member 323 are arranged perpendicular to each other.

[0044] like Figure 3As shown, in one embodiment of this utility model, the rotation axes of the first output component 321 and the third output component 323 are arranged perpendicularly to each other. Specifically, the included angle between the rotation axis of the first output component 321 and the rotation axis of the third output component 323 is α, and ideally, the value of α is 90°. Considering factors such as actual processing and assembly errors, in one embodiment, α satisfies: 89°≤α≤91°, that is, the value of α can be 89°, 90°, or 91°, or any value within the aforementioned range. When the value of the included angle α is within this range, the rotation axes of the first output component 321 and the third output component 323 are considered to be arranged perpendicularly. In some other embodiments of this utility model, α can also be less than 89° or greater than 91°, depending on the actual product. No specific limitation is made here. The perpendicularity of the axes further simplifies the physical model of the joint actuator 3100 and makes the structure more reasonable.

[0045] like Figures 2 to 4 As shown, in one embodiment of this utility model, the joint actuator 3 is further provided with a connecting member 33. Specifically, the connecting member 33 is located on the opposite side of the third output member 323 and its rotation axis coincides with the rotation axis of the third output member 323. (Refer to reference...) Figure 6 The connecting arm assembly 2 includes a mounting member 25, which has two opposing third connecting parts 2c. One of the third connecting parts 2c is driven to be connected to the third output part 323 of the second joint actuator 3b, and the other third connecting part 2c is connected to the connecting member 33. The axes of the third output part 323 and the connecting member 33 are aligned to ensure that the second joint actuator 3b is subjected to balanced force, which is beneficial to improving the control accuracy and load capacity of the robotic arm assembly 100.

[0046] In one embodiment, the connecting arm assembly 2 includes a first driving link 21, a second driving link 22, a first driven link 23, and a second driven link 24. The first driving link 21 is rotatably connected to the second driving link 22, and the second driven link 24 is rotatably connected to the first driving link 21 and the first driven link 23 respectively. A first connecting part 2a is provided on the second driving link 22, a second connecting part 2b is provided on the first driven link 23, and a third connecting part 2c is provided on the first driving link 21.

[0047] like Figures 2 to 5As shown, in one embodiment of this utility model, the connecting arm assembly 2 includes a first driving link 21, a second driving link 22, a first driven link 23, and a second driven link 24. Specifically, one end of the second driving link 22 is rotatably connected to the first driving link 21, and the other end of the second driving link 22 is drivenly connected to the first output component 321 of the first joint actuator 3a. One end of the second driven link 24 is rotatably connected to the first driving link 21 and spaced apart from the second driving link 22. The other end of the second driven link 24 is rotatably connected to the first driven link 23. The first driven link 23 is drivenly connected to the second output component 322 of the first joint actuator 3a. By independently rotating the first output component 321 and the second output component 322, the height of the third connecting part 2c at the end of the first driving link 21 and the horizontal distance between it and the first joint actuator 3a can be adjusted. The third output component 323 is drivenly connected to the base 1 so that the third connecting part 2c of the first driving link 21 has three degrees of freedom. The basic functions of a robotic arm can be achieved by using a first driven link 23 and a second driven link 24 in conjunction with a joint actuator 3. Compared with a traditional six-axis robotic arm, it has fewer motors, a simpler structure, and a relatively lower manufacturing cost.

[0048] In one embodiment, a first rotating shaft 211 and a second rotating shaft 212 are spaced apart on the first driving link 21. One end of the second driving link 22 is rotatably connected to the first driving link 21 through the first rotating shaft 211, and one end of the second driven link 24 is rotatably connected to the first driving link 21 through the second rotating shaft 212.

[0049] And / or, a third rotating shaft 231 is provided on the first driven link 23, and the end of the second driven link 24 away from the first driving link 21 is rotatably connected to the first driven link 23 through the third rotating shaft 231.

[0050] like Figure 2 and Figure 5As shown, in one embodiment of this utility model, a clearance groove is provided at the end of the first driving link 21 away from the third connecting part 2c. A first rotating shaft 211 and a second rotating shaft 212 are provided in the groove. The second rotating shaft 212 is located at the end of the first driving link 21 away from the third connecting part 2c. One end of the second driving link 22 is rotatably connected to the first driving link 21 through the first rotating shaft 211. And / or, a third rotating shaft 231 is also provided on the first driven link 23. The two ends of the second driven link 24 are rotatably connected to the second rotating shaft 212 and the third rotating shaft 231 respectively, so as to control the movement of the first driving link 21. The driving method of the first driven link 23 and the second driven link 24 has the advantages of simple structure and easy assembly. In some other embodiments of this utility model, the first driving link 21 and the second driving link 22, the second driven link 24 and the first driving link 21, and the second driven link 24 and the first driven link 23 may also be connected by ball joints or other means, without being specifically limited.

[0051] In one embodiment, the joint actuator 3 includes a housing 34, a first output component 321 includes a first flange, a drive assembly 31 includes a first motor 311, a first opening 341 is provided on the housing 34, the first flange is disposed at the first opening 341 and drivenly connected to the first motor 311, and the first motor 311 is used to drive the first flange to rotate.

[0052] And / or, the second output component 322 includes a second flange, the drive assembly 31 also includes a second motor 312, the housing 34 is provided with a second opening 342, the second flange is located at the second opening 342 and is drivenly connected to the second motor 312, and the second motor 312 is used to drive the second flange to rotate.

[0053] And / or, the third output component 323 includes a third flange, the drive assembly 31 also includes a third motor 313, the housing 34 is provided with a third opening 343, the third flange is located at the third opening 343 and is drivenly connected to the third motor 313, and the third motor 313 is used to drive the third flange to rotate.

[0054] like Figure 4 , Figure 7 and Figure 8As shown, in one embodiment of this utility model, the joint actuator 3 further includes a spherical housing 34, and the drive assembly 31 includes a first motor 311, a second motor 312, and a third motor 313. Specifically, a bracket (not shown) is also provided inside the housing 34, and the drive assembly 31 and the transmission assembly 32 are both mounted on the bracket. A first opening 341 is provided on the housing 34, and the first output component 321 includes a first flange, which is rotatably disposed at the first opening 341. The first motor 311 is driven and connected to the first flange through a gear set to drive the first flange to rotate around its own rotation axis; and / or The second output component 322 includes a second flange, and the housing 34 also has a second opening 342. The second flange is rotatably disposed at the second opening 342. The second motor 312 is also driven to the second flange through a gear set to drive the second flange to rotate around its own rotation axis; and / or, the third output component 323 includes a third flange, and the housing 34 also has a third opening 343. The third flange is rotatably disposed at the third opening 343. The third motor 313 is also driven to the third flange through a gear set to drive the third output component 323 to rotate.

[0055] Furthermore, the housing 34 is also provided with a fourth opening 344, and the connecting member 33 includes a fourth flange disposed at the fourth opening 344. The axis of the fourth flange coincides with that of the third flange. Please refer to [reference needed]. Figure 6 The third and fourth flanges are respectively connected to the two third connecting parts 2c of the mounting part 25. When the third flange outputs torque, the fourth flange located on the opposite side of the third flange rotates relative to the housing 34, so that the first and second flanges rotate around the rotation axis of the third flange. The third and fourth flanges can improve the structural strength of the robotic arm assembly 100 and play a role in stabilizing the connection.

[0056] It should be noted that the three motors in this embodiment are all high-speed motors, and a reducer formed by multiple gears is used to transmit low speed to each output component. In some other embodiments of this utility model, the motors can be connected to the corresponding output components by direct drive, belt, chain, etc. There are no specific limitations here, and the design can be selected according to actual needs.

[0057] In one embodiment, the joint actuator 3 further includes an output shaft 3221, one end of which is fixedly connected to a second output member 322 and extends along the rotation axis of the second output member 322. The first output member 321 is rotatably sleeved on the output shaft 3221, and one end of the output shaft 3221 extends out of the first output member 321 for connection to an external device.

[0058] like Figure 3 , Figure 4 and Figure 6 As shown, in one embodiment of this utility model, the joint actuator 3 further includes an output shaft 3221. Specifically, the output shaft 3221 extends along the axial direction of the first output member 321 and the second output member 322. One end of the output shaft 3221 is fixedly connected to the second output member 322. When the second motor 312 drives the second output member 322 to rotate through the gear set, it can simultaneously drive the output shaft 3221 to rotate. The end of the output shaft 3221 away from the second output member 322 passes through the first opening 341 of the housing 34. The first output member 321 is rotatably sleeved on the output shaft 3221 and coaxially arranged with the second output member 322. The output shaft 3221 can improve the structural stability.

[0059] Furthermore, the output shaft 3221 of the second joint actuator 3b is provided with a spline at the end away from the second output component 322. It is connected to an external device through the spline of the output shaft 3221 and the second output component 322, so that the force on the second joint actuator 3b is balanced. Together with the first output component 321, it has more connection methods. For example, the second joint actuator 3b can be connected to grippers, suction cups, spray guns, welding guns, etc. If more freedom and range of motion are required, it can be achieved by adding connecting arms and joint actuators 3. It is convenient to expand and easy to install.

[0060] In one embodiment, the joint actuator 3 further includes a control circuit board 35 and a plurality of encoders 36 disposed in the housing 34. The control circuit board 35 is electrically connected to the drive assembly 31 and the plurality of encoders 36 respectively. The plurality of encoders 36 are used to detect the rotation of the first output member 321, the second output member 322 and the third output member 323 and to feed back the detection information to the control circuit board 35.

[0061] like Figure 4 , Figure 7 and Figure 8 As shown, in one embodiment of this utility model, the joint actuator 3 further includes a control circuit board 35 and an encoder 36 disposed in the housing 34. Specifically, the control circuit board 35 is electrically connected to the encoder 36 and the drive assembly 31 respectively. The control circuit board 35 is used to receive external signals and control the drive assembly 31 and the transmission assembly 32 to complete the specified actions according to the signals. The control circuit board 35 is also used to receive detection information from the encoder 36 and obtain parameters such as the rotation angle, speed, and time of the first output component 321, the second output component 322, and the third output component 323 according to the information. Based on these parameters and external signals, the control circuit board 35 controls and adjusts the operation of the drive assembly 31 in real time to achieve closed-loop control.

[0062] It should be noted that the encoder 36 may be one or more of the following devices: magnetic encoder, photoelectric encoder, speed sensor, Hall sensor, etc., as long as it can detect the rotation angle, rotation speed and other parameters of the first output component 321, the second output component 322 and the third output component 323 respectively. No specific limitation is made here.

[0063] Furthermore, a through hole is provided on the connector 33, and a wiring 351 for connecting to external devices is provided on the control circuit board 35. The wiring 351 extends out of the housing 34 through the through hole. Referring to the second joint actuator 3b in this embodiment, the wiring 351 extends out of the shaft hole of the fourth flange. When the third flange outputs torque, causing the second joint actuator 3b to rotate around the axis of the third flange on the mounting part 25, the wiring 351 can be prevented from being coiled or pulled.

[0064] This utility model also proposes an industrial robotic arm, which includes a robotic arm assembly 100. The specific structure of the robotic arm assembly 100 is as described in the above embodiments. Since this industrial robotic arm adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0065] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A robotic arm assembly, characterized in that, It includes a base, a connecting arm assembly, and at least two joint actuators. Each joint actuator includes a drive assembly and a transmission assembly. The transmission assembly includes a first output component, a second output component, and a third output component that are respectively drivenly connected to the drive assembly. One of the two joint actuators is a first joint actuator, and the other is a second joint actuator. The connecting arm assembly has a first connecting portion, a second connecting portion, and a third connecting portion that are spaced apart from each other; the first output component of the first joint actuator is driven connected to the first connecting portion, and the second output component of the first joint actuator is driven connected to the second connecting portion to adjust the height of the third connecting portion and adjust the horizontal distance between the third connecting portion and the first joint actuator; the third output component of the first joint actuator is driven connected to the base so that the first joint actuator is rotatably disposed relative to it. The third output member of the second joint actuator is driven to be connected to the third connecting part, so that the second joint actuator is rotatably mounted on the third connecting part.

2. The robotic arm assembly as described in claim 1, characterized in that, The first output component of the first joint actuator is detachably connected to the first connecting part, the second output component of the first joint actuator is detachably connected to the second connecting part, and the third output component of the second joint actuator is detachably connected to the third connecting part.

3. The robotic arm assembly as described in claim 1, characterized in that, The first output component and the second output component are respectively located on opposite sides of the joint actuator and their rotation axes coincide. The rotation axis of the first output component and the rotation axis of the third output component intersect.

4. The robotic arm assembly as described in claim 3, characterized in that, The rotation axis of the first output component and the rotation axis of the third output component are set perpendicular to each other.

5. The robotic arm assembly as described in any one of claims 1 to 4, characterized in that, The connecting arm assembly includes a first driving link, a second driving link, a first driven link, and a second driven link. The first driving link is rotatably connected to the second driving link, and the second driven link is rotatably connected to both the first driving link and the first driven link. The first connecting part is disposed on the second driving link, the second connecting part is disposed on the first driven link, and the third connecting part is disposed on the first driving link.

6. The robotic arm assembly as described in claim 5, characterized in that, The first drive link is provided with a first rotating shaft and a second rotating shaft at intervals. One end of the second drive link is rotatably connected to the first drive link through the first rotating shaft. One end of the second driven link is rotatably connected to the first drive link through the second rotating shaft. And / or, the first driven link is provided with a third rotating shaft, and the end of the second driven link away from the first driving link is rotatably connected to the first driven link through the third rotating shaft.

7. The robotic arm assembly as claimed in claim 1, characterized in that, The joint actuator includes a housing, the first output component includes a first flange, the drive assembly includes a first motor, the housing is provided with a first opening, the first flange is disposed at the first opening and is drivenly connected to the first motor, and the first motor is used to drive the first flange to rotate. And / or, the second output component includes a second flange, the drive assembly further includes a second motor, the housing is provided with a second opening, the second flange is disposed at the second opening and drivenly connected to the second motor, and the second motor is used to drive the second flange to rotate; And / or, the third output component includes a third flange, the drive assembly further includes a third motor, the housing is provided with a third opening, the third flange is disposed at the third opening and drivenly connected to the third motor, and the third motor is used to drive the third flange to rotate.

8. The robotic arm assembly as claimed in claim 1, characterized in that, The joint actuator further includes an output shaft, one end of which is fixedly connected to the second output member and extends along the rotation axis of the second output member. The first output member is rotatably sleeved on the output shaft, and one end of the output shaft protrudes from the first output member for connection to an external device.

9. The robotic arm assembly as claimed in claim 7, characterized in that, The joint actuator also includes a control circuit board and a plurality of encoders disposed within the housing. The control circuit board is electrically connected to the drive assembly and the plurality of encoders respectively. The plurality of encoders are used to detect the rotation of the first output component, the second output component and the third output component and to feed back the detection information to the control circuit board.

10. An industrial robotic arm, characterized in that, Includes the robotic arm assembly as described in any one of claims 1 to 9.

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