Mechanical arm and robot with same

Abstract

The utility model provides a mechanical arm and a robot with the same. A shoulder arm device of the mechanical arm is movably arranged on a base; the elbow device is movably arranged on the shoulder and arm device; the mounting assembly of the wrist device is movably arranged on the elbow device; the first driving device is arranged on a mounting structure of the mounting assembly; the second driving device is arranged on the mounting structure and is in driving connection with external equipment; the transmission device is arranged on the mounting structure and located on the side, away from the first driving device, of the mounting structure, one end of the transmission device is connected with the first driving device, the other end of the transmission device is connected with the second driving device, and the first driving device is in driving connection with the transmission device. The transmission device is driven to drive the second driving device to rotate along the central axis of the first driving device; an included angle is formed between the central axis of the first driving device and the central axis of the second driving device. According to the mechanical arm, the problem that in the prior art, the universality of the mechanical arm is poor is effectively solved.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and more specifically, to a robotic arm and a robot having the same. Background Technology

[0002] Currently, industrial robots are widely used in manufacturing, logistics, medical and service industries because they can reduce labor, improve efficiency and reduce costs. As an important part of industrial robots, robotic arms not only need to have high flexibility to adapt to different operation requirements, but also need to withstand large loads to ensure their operational stability and accuracy.

[0003] In existing technologies, industrial robots typically employ seven-degree-of-freedom robotic arms to meet the flexibility and precision requirements of industrial operations.

[0004] However, the wrist joint of a robotic arm is usually designed with complex components, which results in the wrist joint occupying a large space, making it difficult for the robotic arm to adapt to confined or complex environments and reducing its versatility. Utility Model Content

[0005] The main purpose of this utility model is to provide a robotic arm and a robot having the same, so as to solve the problem of poor versatility of robotic arms in the prior art.

[0006] To achieve the above objectives, according to one aspect of the present invention, a robotic arm is provided, comprising: a base; a shoulder arm device movably disposed on the base, the shoulder arm device having three degrees of freedom; an elbow device movably disposed on the shoulder arm device; a wrist device including a mounting assembly movably disposed on the elbow device, the mounting assembly including a mounting structure; a first drive device disposed on the mounting structure; a second drive device disposed on the mounting structure and located on the side of the mounting structure closer to the first drive device, the second drive device being driven to connect with an external device to drive the external device to rotate along the central axis of the second drive device; and a transmission device disposed on the mounting structure and located on the side of the mounting structure away from the first drive device, one end of the transmission device being connected to the first drive device, and the other end of the transmission device being connected to the second drive device, the first drive device being driven to connect with the transmission device to drive the transmission device to drive the second drive device to rotate along the central axis of the first drive device; wherein the central axis of the first drive device and the central axis of the second drive device are set at an angle.

[0007] Furthermore, the transmission device includes: a driving component, disposed on the mounting structure, and connected to the first driving device; a driven component, disposed on the mounting structure, and connected to the second driving device; and a connecting component, one end of which is connected to the driving component and the other end of which is connected to the driven component; wherein, during the process of the first driving device driving the driving component to rotate, the driving component drives the driven component to rotate through the connecting component.

[0008] Furthermore, the connecting assembly includes at least two opposing links, one end of each link being rotatably connected to the driving component, and the other end of each link being rotatably connected to the driven component.

[0009] Furthermore, the mounting assembly also includes a connecting structure, and the robotic arm also includes a third drive device, which is mounted on the elbow device. The third drive device is driven to connect with the connecting structure to drive the connecting structure to rotate along the central axis of the third drive device; wherein the central axis of the third drive device is set at an angle to the central axis of the first drive device.

[0010] Furthermore, the robotic arm also includes a fourth drive device, which is disposed on the shoulder arm device. The elbow device includes: a engagement assembly, to which the fourth drive device is driven to rotate along the central axis of the fourth drive device; and a receiving assembly, disposed on the engagement assembly, having a receiving cavity and a communicating hole, the communicating hole communicating with the receiving cavity, the receiving cavity being used to receive the third drive device; wherein the central axis of the third drive device and the central axis of the fourth drive device are arranged at an angle.

[0011] Furthermore, the mounting assembly also includes an enclosure structure disposed at the end of the connecting structure away from the elbow device; wherein at least a portion of the inner wall of the enclosure structure and at least a portion of the mounting structure surround to form an mounting space for accommodating the first drive device.

[0012] Furthermore, the robotic arm also includes a receiving device, which is mounted on the mounting structure. The receiving device includes a receiving component and a fixing component that are connected to each other. The receiving component passes through the mounting structure and is connected to the driven component, while the fixing component is connected to the second drive device.

[0013] Furthermore, the robotic arm also includes a connecting device, which is connected to an external device, and a second drive device is connected to the connecting device to drive the connecting device to rotate.

[0014] Furthermore, the robotic arm also includes a buffer device disposed between the connecting component and the driven component, with both sides of the buffer device contacting the connecting component and the driven component respectively; and / or, the active component includes a first active part and a second active part, the first active part being connected to the connecting component, and a stepped surface being formed between the first active part and the second active part, so that at least a portion of the connecting component and the second active part form a preset gap.

[0015] According to another aspect of the present invention, a robot is provided, which includes the aforementioned robotic arm.

[0016] Applying the technical solution of this utility model, the shoulder arm device of the robotic arm is movably mounted on the base, and the shoulder arm device has three degrees of freedom. An elbow device is movably mounted on the shoulder arm device. The wrist device includes a mounting assembly, which is movably mounted on the elbow device, and the mounting assembly includes a mounting structure. A first drive device is mounted on the mounting structure. A second drive device is mounted on the mounting structure and located on the side of the mounting structure closer to the first drive device. The second drive device is driven to connect with an external device to drive the external device to rotate along the central axis of the second drive device. A transmission device is mounted on the mounting structure and located on the side of the mounting structure away from the first drive device. One end of the transmission device is connected to the first drive device, and the other end of the transmission device is connected to the second drive device. The first drive device and the transmission device are driven to drive the transmission device to rotate the second drive device along the central axis of the first drive device. The central axes of the first and second drive devices are set at an angle. This configuration allows the robotic arm to have seven degrees of freedom, enabling high-dimensional spatial movement, ensuring the flexibility of the robotic arm's movement, and expanding its range of motion. Meanwhile, the mounting structure in the wrist device provides mounting positions for the first drive device, the second drive device, and the transmission device, while reducing the space occupied by these components. This allows the first and second drive devices to achieve freedom of movement within the wrist device, while also reducing its size and achieving a compact structure. This reduced space requirement allows the robotic arm to adapt to confined and complex environments, improving its versatility and solving the problem of poor versatility in existing robotic arms. Furthermore, the fifth drive device's central axis forms an angle with the fourth drive device, enabling independent movement of the robotic arm in different planes, thus enhancing its operational complexity and precision. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings:

[0018] Figure 1 A perspective view of the overall structure of an embodiment of the robotic arm according to the present invention is shown;

[0019] Figure 2 It shows Figure 1 A 3D diagram of part of the robotic arm's structure.

[0020] The above figures include the following reference numerals:

[0021] 10. Base;

[0022] 20. Shoulder and arm device;

[0023] 30. Elbow device; 31. Engaging assembly; 32. Receiving assembly; 321. Communicating hole;

[0024] 40. Wrist device; 41. Mounting assembly; 411. Mounting structure; 412. Connecting structure; 413. Enclosure structure; 414. Mounting space; 415. Balancing structure;

[0025] 50. First driving device;

[0026] 60. Second drive unit;

[0027] 70. Transmission device; 71. Driving component; 711. First driving part; 712. Second driving part; 72. Driven component; 73. Connecting component; 731. Linkage rod;

[0028] 80. Third drive unit;

[0029] 90. Fourth drive unit;

[0030] 100. Receiving device; 101. Receiving assembly; 102. Fixing assembly;

[0031] 110. Combined unit. Detailed Implementation

[0032] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0033] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0034] In this utility model, unless otherwise stated, directional terms such as "upper" and "lower" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction; similarly, for ease of understanding and description, "left" and "right" are generally used in relation to the left and right shown in the accompanying drawings; "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not used to limit this utility model.

[0035] To address the problem of poor versatility of existing robotic arms, this application provides a robotic arm and a robot having the same.

[0036] like Figures 1 to 2 As shown, the robotic arm includes a base 10, a shoulder arm device 20, an elbow device 30, a wrist device 40, a first drive device 50, a second drive device 60, and a transmission device 70. The shoulder arm device 20 is movably mounted on the base 10 and has three degrees of freedom. The elbow device 30 is movably mounted on the shoulder arm device 20. The wrist device 40 includes a mounting assembly 41, which is movably mounted on the elbow device 30 and includes a mounting structure 411. The first drive device 50 is mounted on the mounting structure 411. The second drive device 60 is mounted on the mounting structure 411 and located on the side of the mounting structure 411 closest to the first drive device 50. The second drive device 60 is connected to an external device to drive the external device to rotate along the central axis of the second drive device 60. The transmission device 70 is mounted on the mounting structure 411 and located on the side of the mounting structure 411 away from the first driving device 50. One end of the transmission device 70 is connected to the first driving device 50, and the other end of the transmission device 70 is connected to the second driving device 60. The first driving device 50 and the transmission device 70 are driven to drive the transmission device 70 to rotate the second driving device 60 along the central axis of the first driving device 50. The central axis of the first driving device 50 and the central axis of the second driving device 60 are set at an angle.

[0037] Using the technical solution of this embodiment, the shoulder arm device 20 of the robotic arm is movably mounted on the base 10, and the shoulder arm device 20 has three degrees of freedom. The elbow device 30 is movably mounted on the shoulder arm device 20. The wrist device 40 includes a mounting assembly 41, which is movably mounted on the elbow device 30 and includes a mounting structure 411. A first drive device 50 is mounted on the mounting structure 411. A second drive device 60 is mounted on the mounting structure 411 and located on the side of the mounting structure 411 closer to the first drive device 50. The second drive device 60 is drivenly connected to an external device to drive the external device to rotate along the central axis of the second drive device 60. The transmission device 70 is mounted on the mounting structure 411 and located on the side of the mounting structure 411 away from the first driving device 50. One end of the transmission device 70 is connected to the first driving device 50, and the other end of the transmission device 70 is connected to the second driving device 60. The first driving device 50 and the transmission device 70 are driven together to drive the transmission device 70 to rotate the second driving device 60 along the central axis of the first driving device 50. The central axis of the first driving device 50 and the central axis of the second driving device 60 are set at an angle. This configuration gives the robotic arm seven degrees of freedom, enabling high-dimensional spatial movement, ensuring the robotic arm's flexibility, and expanding its range of motion. Meanwhile, the mounting structure 411 in the wrist device 40 provides mounting positions for the first drive device 50, the second drive device 60, and the transmission device 70, and reduces the space occupied by the first drive device 50, the second drive device 60, and the transmission device 70. This allows the first drive device 50 and the second drive device 60 to achieve freedom of movement of the wrist device 40, while also reducing the volume of the wrist device 40, achieving a compact structure, reducing the space occupied by the wrist device 40, enabling the robotic arm to adapt to confined and complex environments, improving the versatility of the robotic arm, and thus solving the problem of poor versatility of robotic arms in the prior art. Furthermore, the central axis of the fifth drive device is angled with the central axis of the fourth drive device 90, enabling independent movement of the robotic arm in different planes, improving the operational complexity and precision of the robotic arm.

[0038] In this embodiment, the shoulder and arm device 20, the elbow device 30, the wrist device 40, and the transmission device 70 are all made of lightweight, high-strength materials.

[0039] Optionally, the lightweight, high-strength material is a magnesium-aluminum alloy.

[0040] Alternatively, the lightweight, high-strength material may be carbon fiber reinforced plastic.

[0041] like Figure 2As shown, the transmission device 70 includes a driving component 71, a driven component 72, and a connecting component 73. The driving component 71 is mounted on the mounting structure 411 and is connected to the first driving device 50. The driven component 72 is mounted on the mounting structure 411 and is connected to the second driving device 60. One end of the connecting component 73 is connected to the driving component 71, and the other end is connected to the driven component 72. During the rotation of the driving component 71 driven by the first driving device 50, the driving component 71 drives the driven component 72 to rotate via the connecting component 73. Thus, the transmission device 70 achieves connection with the first driving device 50 through the driving component 71 and with the second driving device 60 through the driven component 72. Simultaneously, the transmission device 70 enables the driven component 72 to rotate via the connecting component 73, thereby achieving the swinging motion of the second driving device 60. This allows the second driving device 60 to drive the external equipment to swing and rotate along its own axis, enabling the robotic arm to move with multiple degrees of freedom within a relatively small space. Meanwhile, the above-mentioned configuration ensures that the driving force of the first driving device 50 can be stably and accurately transmitted to the second driving device 60, thereby realizing the motion reliability of the second driving device 60 and improving the motion reliability of the robotic arm.

[0042] In this embodiment, the active component 71 is a flange.

[0043] In this embodiment, the driven component 72 is a crossed roller bearing.

[0044] like Figure 2 As shown, the connecting assembly 73 includes at least two opposing connecting rods 731. One end of each connecting rod 731 is rotatably connected to the driving assembly 71, and the other end of each connecting rod 731 is rotatably connected to the driven assembly 72. This arrangement, through the two opposing connecting rods 731, balances the driving force of the first driving device 50, enhances the structural strength of the connecting assembly 73, and improves the reliability and stability of the driving force transmission.

[0045] In this embodiment, stepped holes are provided at both ends of the connecting rod 731.

[0046] Specifically, miniature bearings are fixed at both ends of the connecting rod 731 in the stepped holes by snap rings. The threaded section of the semi-threaded bolt passes through the miniature bearings and is connected to the drive assembly 71. The smooth section of the semi-threaded bolt is connected to the miniature bearings to realize the rotational connection between the connecting rod 731 and the drive assembly 71.

[0047] like Figure 2As shown, the mounting assembly 41 also includes a connecting structure 412, and the robotic arm also includes a third drive device 80. The third drive device 80 is mounted on the elbow device 30 and is driven to connect with the connecting structure 412, driving the connecting structure 412 to rotate along the central axis of the third drive device 80. The central axis of the third drive device 80 is set at an angle to the central axis of the first drive device 50. This arrangement of the third drive device 80 allows it to drive the connecting structure 412, thus achieving one degree of freedom of movement for the mounting assembly 41 and ensuring the flexibility of the wrist device 40. Furthermore, the angle between the central axis of the third drive device 80 and the central axis of the first drive device 50 further enables independent movement of the robotic arm in different planes, improving the operational complexity and precision of the robotic arm.

[0048] In this embodiment, the third drive device 80 is coaxially arranged with the connecting structure 412 to realize the relative rotation between the mounting component 41 and the elbow device 30.

[0049] like Figure 1 As shown, the robotic arm also includes a fourth drive device 90, which is mounted on the shoulder arm device 20. The elbow device 30 includes a connecting assembly 31 and a receiving assembly 32. The fourth drive device 90 is driven to connect with the connecting assembly 31, driving the connecting assembly 31 to rotate along the central axis of the fourth drive device 90. The receiving assembly 32 is mounted on the connecting assembly 31 and has a receiving cavity and a communicating hole 321. The communicating hole 321 communicates with the receiving cavity, which is used to receive the third drive device 80. The central axis of the third drive device 80 and the central axis of the fourth drive device 90 are set at an angle. In this way, the elbow device 30 is connected to the fourth drive device 90 through the connecting assembly 31, realizing the relative movement between the elbow device 30 and the shoulder arm device 20, and realizing the degree of freedom of movement of the elbow device 30. At the same time, the arrangement of the mounting cavity provides a mounting position for the fourth drive device 90, ensuring the installation reliability of the fourth drive device 90; on the other hand, it optimizes the spatial layout of the elbow device 30 and the fourth drive device 90, realizing the structural compactness of the robotic arm. Meanwhile, the arrangement of the connecting hole 321 ensures the structural strength of the housing component 32 while reducing its weight, achieving a lightweight design for the robotic arm. It also ensures the heat dissipation reliability of the fourth drive device 90, guaranteeing its operational reliability. Furthermore, the angled arrangement between the central axis of the third drive device 80 and the central axis of the fourth drive device 90 further enables independent movement of the robotic arm in different planes, enhancing its operational complexity and precision.

[0050] like Figure 2As shown, the mounting assembly 41 also includes a surrounding structure 413, which is disposed on the end of the connecting structure 412 away from the elbow device 30. At least a portion of the inner wall of the surrounding structure 413 and at least a portion of the mounting structure 411 surround each other to form a mounting space 414, which is used to accommodate the first drive device 50. This arrangement of the surrounding structure 413 ensures, on the one hand, the installation stability of the first drive device 50, and guarantees the operational reliability and stability of the first drive device 50; on the other hand, it also makes the structural layout of the mounting assembly 41 more balanced, ensuring the operational stability of the robotic arm.

[0051] In this embodiment, both the connecting structure 412 and the enclosure structure 413 are hollow structures to reduce the weight of the robotic arm.

[0052] In this embodiment, the mounting assembly 41 further includes a balancing structure 415, which is connected to both the enclosure structure 413 and the mounting structure 411. The balancing structure 415 is a hollow structure. This allows the balancing structure 415 to balance the forces acting on the mounting structure 411, reducing the pressure and tension exerted on the mounting structure 411 by the driven assembly 72, the second drive device 60, and external equipment, thereby improving the installation reliability of the mounting assembly 41 and the operational stability of the robotic arm. Furthermore, the hollow design of the balancing structure 415 further reduces the weight of the robotic arm, balancing operational reliability and lightweight design.

[0053] like Figure 2 As shown, the robotic arm also includes a receiving device 100, which is mounted on the mounting structure 411. The receiving device 100 includes a receiving component 101 and a fixing component 102 connected to each other. The receiving component 101 passes through the mounting structure 411 and is connected to the driven component 72, while the fixing component 102 is connected to the second drive device 60. In this way, the second drive device 60 is fixed to the receiving component 101 by the fixing component 102, and the connection between the second drive device 60 and the driven component 72 is achieved through the receiving component 101, ensuring the installation stability of the second drive device 60, thereby ensuring the motion reliability and operational stability of the second drive device 60.

[0054] In this embodiment, the first drive device 50, the second drive device 60, the third drive device 80, and the fourth drive device 90 are all motors. This arrangement reduces the overall power consumption of the robotic arm, improving its endurance and work efficiency; it also reduces the economic and time costs of the design.

[0055] Specifically, both the receiving component 101 and the fixing component 102 are arranged in an arc shape to match the outer surface of the motor.

[0056] Specifically, the crossed roller bearing has a connecting part that connects the connecting rod 731 and the receiving assembly 101, and the operator uses bolts to connect the connecting part, the connecting rod 731 and the receiving assembly 101.

[0057] like Figure 1 and Figure 2 As shown, the robotic arm also includes a connecting device 110, which is connected to an external device. A second drive device 60 is connected to the connecting device 110 to drive its rotation. Thus, the second drive device 60 drives the connecting device 110 to move the external device. Furthermore, the arrangement of the connecting device 110 allows it to connect to different external devices, improving the robotic arm's versatility and achieving multi-functionality.

[0058] Optionally, the external device is a robotic arm.

[0059] Optionally, the external device is a gripper.

[0060] like Figure 2 As shown, the robotic arm also includes a buffer device disposed between the connecting assembly 73 and the driven assembly 72, with both sides of the buffer device contacting the connecting assembly 73 and the driven assembly 72 respectively. And / or, the driving assembly 71 includes a first driving part 711 and a second driving part 712. The first driving part 711 is connected to the connecting assembly 73, and a stepped surface is formed between the first driving part 711 and the second driving part 712, so that at least a portion of the connecting assembly 73 and the second driving part 712 form a preset gap. This buffer device arrangement prevents hard friction between the connecting assembly 73 and the driven assembly 72, reducing wear between them, extending the service life of the driving assembly 71 and the connecting assembly 73, and ensuring the stability and smoothness of movement between the connecting assembly 73 and the driven assembly 72. Meanwhile, the specific configuration of the active component 71 also avoids hard friction between the connecting component 73 and the active component 71, reduces wear between the connecting component 73 and the active component 71, extends the service life of the active component 71 and the connecting component 73, and improves the motion stability and smoothness between the connecting component 73 and the active component 71.

[0061] In this embodiment, the buffer device is a washer.

[0062] Specifically, a washer is provided between the miniature bearing in the stepped bore of the connecting rod 731 and the driven assembly 72.

[0063] This application also provides a robot, which includes the aforementioned robotic arm.

[0064] As can be seen from the above description, the embodiments of this utility model achieve the following technical effects:

[0065] The robotic arm's shoulder and arm mechanism is movably mounted on a base, and the shoulder and arm mechanism has three degrees of freedom. An elbow mechanism is movably mounted on the shoulder and arm mechanism. A wrist mechanism includes a mounting assembly, which is movably mounted on the elbow mechanism and includes a mounting structure. A first drive mechanism is mounted on the mounting structure. A second drive mechanism is mounted on the mounting structure and located on the side of the mounting structure closer to the first drive mechanism. The second drive mechanism is driven by an external device to drive the external device to rotate along the central axis of the second drive mechanism. A transmission mechanism is mounted on the mounting structure and located on the side of the mounting structure away from the first drive mechanism. One end of the transmission mechanism is connected to the first drive mechanism, and the other end is connected to the second drive mechanism. The first drive mechanism is driven by the transmission mechanism to drive the transmission mechanism to rotate the second drive mechanism along the central axis of the first drive mechanism. The central axes of the first and second drive mechanisms are set at an angle. This configuration gives the robotic arm seven degrees of freedom, enabling high-dimensional spatial movement, ensuring the robotic arm's flexibility, and expanding its range of motion. Meanwhile, the mounting structure in the wrist device provides mounting positions for the first drive device, the second drive device, and the transmission device, while reducing the space occupied by these components. This allows the first and second drive devices to achieve freedom of movement within the wrist device, while also reducing its size and achieving a compact structure. This reduced space requirement allows the robotic arm to adapt to confined and complex environments, improving its versatility and solving the problem of poor versatility in existing robotic arms. Furthermore, the fifth drive device's central axis forms an angle with the fourth drive device, enabling independent movement of the robotic arm in different planes, thus enhancing its operational complexity and precision.

[0066] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0067] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0068] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A robotic arm, characterized in that, include: Base (10); A shoulder arm device (20) is movably mounted on the base (10) and has three degrees of freedom; Elbow device (30) is movably mounted on the shoulder and arm device (20); The wrist device (40) includes a mounting assembly (41) movably disposed on the elbow device (30), the mounting assembly (41) including a mounting structure (411). A first drive unit (50) is disposed on the mounting structure (411); The second drive device (60) is disposed on the mounting structure (411) and located on the side of the mounting structure (411) close to the first drive device (50). The second drive device (60) is driven to be connected to an external device to drive the external device to rotate along the central axis of the second drive device (60). A transmission device (70) is disposed on the mounting structure (411) and located on the side of the mounting structure (411) away from the first driving device (50). One end of the transmission device (70) is connected to the first driving device (50), and the other end of the transmission device (70) is connected to the second driving device (60). The first driving device (50) is driven to connect with the transmission device (70) so as to drive the transmission device (70) to drive the second driving device (60) to rotate along the central axis of the first driving device (50). The central axis of the first driving device (50) is set at an angle to the central axis of the second driving device (60); The mounting assembly (41) further includes a connecting structure (412), and the robotic arm further includes a third drive device (80), which is disposed on the elbow device (30). The third drive device (80) is driven to connect with the connecting structure (412) to drive the connecting structure (412) to rotate along the central axis of the third drive device (80). The central axis of the third driving device (80) is set at an angle to the central axis of the first driving device (50); The robotic arm also includes a fourth drive unit (90), which is disposed on the shoulder arm device (20), and the elbow device (30) includes: The engagement assembly (31) is driven to be connected to the fourth drive device (90) so as to drive the engagement assembly (31) to rotate along the central axis of the fourth drive device (90). A receiving component (32) is disposed on the engaging component (31). The receiving component (32) has a receiving cavity and a communicating hole (321) communicating with the receiving cavity. The receiving cavity is used to receive the third driving device (80). The central axis of the third driving device (80) and the central axis of the fourth driving device (90) are set at an angle.

2. The robotic arm according to claim 1, characterized in that, The transmission device (70) includes: An active component (71) is disposed on the mounting structure (411) and is connected to the first drive device (50); A driven component (72) is disposed on the mounting structure (411), and the driven component (72) is connected to the second drive device (60); A connecting component (73), one end of which is connected to the active component (71), and the other end of which is connected to the driven component (72); During the process of the first driving device (50) driving the active component (71) to rotate, the active component (71) drives the driven component (72) to rotate through the connecting component (73).

3. The robotic arm according to claim 2, characterized in that, The connecting assembly (73) includes at least two opposing links (731), one end of each link (731) being rotatably connected to the active assembly (71), and the other end of each link (731) being rotatably connected to the driven assembly (72).

4. The robotic arm according to claim 2, characterized in that, The mounting assembly (41) also includes a enclosure structure (413) disposed on the end of the connecting structure (412) away from the elbow device (30); An installation space (414) is formed between at least a portion of the inner wall of the enclosure structure (413) and at least a portion of the mounting structure (411), the installation space (414) being used to accommodate the first drive device (50).

5. The robotic arm according to claim 4, characterized in that, The robotic arm also includes a receiving device (100) disposed on the mounting structure (411). The receiving device (100) includes a receiving component (101) and a fixing component (102) connected to each other. The receiving component (101) passes through the mounting structure (411) and is connected to the driven component (72). The fixing component (102) is connected to the second drive device (60).

6. The robotic arm according to claim 1, characterized in that, The robotic arm also includes a connecting device (110) connected to the external device, and a second drive device (60) connected to the connecting device (110) to drive the connecting device (110) to rotate.

7. The robotic arm according to claim 2, characterized in that, The robotic arm also includes a buffer device disposed between the connecting component (73) and the driven component (72), with both sides of the buffer device contacting the connecting component (73) and the driven component (72) respectively; and / or, the active component (71) includes a first active part (711) and a second active part (712), the first active part (711) being connected to the connecting component (73), and a stepped surface being formed between the first active part (711) and the second active part (712) to form a preset gap between at least a portion of the connecting component (73) and the second active part (712).

8. A robot, characterized in that, The robot includes the robotic arm according to any one of claims 1 to 7.

Images