Mechanical arm structure and robot

Abstract

The application relates to a mechanical arm structure and a robot. The mechanical arm structure comprises a rod arm assembly, a first driving assembly and a second driving assembly; the rod arm assembly is provided with a wiring cavity provided with a first through hole and a second through hole; the first driving assembly comprises a first connecting rod and a first driving piece, the first connecting rod is provided with a first wiring channel, the first wiring channel is provided with a first wire passing hole, the first driving piece is installed in the first wiring channel, a first output shaft of the first driving piece extends out of the first wiring channel and is connected with the rod arm assembly, and the first driving piece is used for driving the rod arm assembly to rotate around an axis of the first output shaft; the second driving assembly comprises a second connecting rod and a second driving piece, the second connecting rod is provided with a second wiring channel, the second wiring channel is provided with a second wire passing hole, the second driving piece is installed in the second wiring channel, a second output shaft of the second driving piece extends out of the second wiring channel and is connected with the rod arm assembly, and the second driving piece is used for driving the second connecting rod to rotate around an axis of the second output shaft.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to robotic arm structures and robots. Background Technology

[0002] The wiring of a robotic arm is one of the core components determining its performance, reliability, and applicability. Its importance extends throughout the entire lifecycle of the robotic arm's design, operation, and maintenance, directly impacting its motion accuracy, safety level, environmental adaptability, and cost control. In existing technologies, wiring structures are typically designed for multi-joint robotic arms. However, when some wiring passes through joints, these structures restrict the joint's range of motion, thereby reducing the robotic arm's swing amplitude and movement speed. Utility Model Content

[0003] Therefore, it is necessary to provide a robotic arm structure to address the technical problem in existing technologies where the wiring structure designed for multi-joint robotic arms restricts the range of motion of the joints when some wiring passes through the joints.

[0004] A robotic arm structure, comprising:

[0005] A lever arm assembly, wherein the lever arm assembly has a cable routing cavity, and the two ends of the cable routing cavity are respectively provided with a first through hole and a second through hole communicating with the outside;

[0006] A first drive assembly includes a first connecting rod and a first drive member. The first connecting rod has a first wiring channel, one end of which has a first wire-passing hole communicating with the outside. The first drive member is mounted on the end of the first wiring channel near the first wire-passing hole, and a first output shaft of the first drive member extends out of the first wiring channel for transmission connection with the lever arm assembly. The first drive member is used to drive the lever arm assembly to rotate relative to the first connecting rod about the axis of the first output shaft.

[0007] The second drive assembly includes a second connecting rod and a second drive member. The second connecting rod has a second wiring channel, and the end of the second wiring channel near the lever arm assembly has a second wire-passing hole communicating with the outside. The second drive member is installed in the second wiring channel, and the second output shaft of the second drive member extends out of the second wiring channel to be connected to the end of the lever arm assembly away from the first drive assembly. The second drive member is used to drive the second connecting rod to rotate relative to the lever arm assembly around the axis of the second output shaft.

[0008] In one embodiment, the first output shaft extends through the first wire hole; and / or, the second output shaft extends through the second wire hole.

[0009] In one embodiment, when the first output shaft extends through the first wire hole, the first through hole corresponds to the position of the first wire hole, the first output shaft passes through the first through hole, and is connected to the wall of the first through hole; and / or,

[0010] When the second output shaft extends through the second wire hole, the second through hole corresponds to the position of the second wire hole, the second output shaft passes through the second through hole, and is connected to the hole wall of the second through hole.

[0011] In one embodiment, when the first output shaft extends through the first cable pass-through hole, the first output shaft is a hollow shaft to allow cable passage; and / or,

[0012] When the second output shaft extends through the second cable hole, the second output shaft is a hollow shaft for cable routing.

[0013] In one embodiment, a first wire clip is provided inside the cable routing cavity, which is used to fix the cable.

[0014] In one embodiment, the lever assembly includes a drive plate and a cover plate. The two ends of the drive plate are connected to the first output shaft and the second output shaft, respectively. The drive plate is provided with a first groove. The cover plate is detachably connected to the drive plate and is used to cover the first groove to form the wiring cavity with the first groove.

[0015] In one embodiment, the lever assembly further includes a driven plate, one end of which is rotatably connected to the side of the first link opposite to the drive plate about the axis of the first output shaft, and the other end of which is rotatably connected to the side of the second link opposite to the drive plate about the axis of the second output shaft.

[0016] In one embodiment, the robotic arm structure further includes a base for mounting a circuit board, and the first drive assembly further includes a third drive member. The third drive member is mounted on the end of the first wiring channel away from the lever arm assembly, and the third output shaft of the third drive member extends out of the first wiring channel and is connected to the base. The third drive member is used to drive the first connecting rod to rotate relative to the base about the axis of the first output shaft, wherein the end of the first wiring channel away from the first wire through hole has a wire inlet hole communicating with the outside.

[0017] In one embodiment, the second drive assembly further includes a fourth drive member, which is mounted on the end of the second wiring channel away from the lever assembly, and the fourth output shaft of the fourth drive member extends out of the second wiring channel for connection with an external actuator. The fourth drive member is used to drive the actuator to rotate relative to the second link about the axis of the fourth output shaft, wherein the end of the second wiring channel away from the second wire hole has a wire outlet hole communicating with the outside.

[0018] This application also provides a robot capable of solving at least one of the above-mentioned technical problems.

[0019] A robot comprising the aforementioned robotic arm structure.

[0020] Beneficial effects:

[0021] The aforementioned robotic arm structure, with its hollow design for the lever assembly, first link, and second link, allows cables to pass through. The cables are connected to the outside via first and second through holes at both ends of the cable routing cavity. The first cable routing channel connects to the outside through a first through hole, and the second cable routing channel connects to the outside through a second through hole. This allows the cables to connect to the first driving component, pass through the first through hole, then through the hollow lever assembly, and finally enter the second cable routing channel through the second through hole to connect with the second driving component. This ensures the cable routing channels are fully continuous, meeting the routing requirements of all driving components on the multi-joint robotic arm. Because the cable routing channels are located inside the robotic arm structure, the movement of the robotic arm structure is not affected by the relative rotation of adjacent structural components, thus not restricting the range of motion of the robotic arm structure, ensuring its performance, and improving its reliability.

[0022] This application also provides a robot, including the above-described robotic arm structure, which is capable of achieving at least one of the above-described technical effects. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of a robotic arm structure provided in one embodiment of this application.

[0024] Figure 2 This is a schematic diagram of a robotic arm structure provided in an embodiment of this application with the cover plate removed.

[0025] Figure 3 This is a schematic diagram of a robotic arm structure provided in an embodiment of this application with the first drive link removed.

[0026] Figure 4 Explosion of a robotic arm structure provided in an embodiment of this application Figure 1 .

[0027] Figure 5 Explosion of a robotic arm structure provided in an embodiment of this application Figure 2 .

[0028] Icon labels:

[0029] 100-Lever assembly; 110-Cable routing cavity; 111-First cable clip; 120-First through hole; 130-Second through hole; 140-Drive plate; 150-Cover plate; 160-Driven plate; 170-First convex shaft; 180-Reinforcing member; 181-First limiting surface; 182-Second limiting surface; 190-Second convex shaft; 200-First drive assembly; 210-First connecting rod; 211-First cable routing channel; 212-First cable through hole; 213-Cable inlet hole; 220-First drive component; 230-Third drive component; 240-First drive rod; 2 50 - First driven rod; 260 - Second wire clip; 270 - First mating hole; 300 - Second drive assembly; 310 - Second connecting rod; 311 - Second wiring channel; 312 - Second wire through hole; 313 - Outlet hole; 320 - Second drive component; 330 - Fourth drive component; 340 - Second drive rod; 350 - Second driven rod; 360 - Second mating hole; 400 - Base; 410 - First plate; 420 - Second plate; 430 - Third through hole; 440 - Base plate; 450 - Reinforcing plate; 510 - Circuit board; 520 - Cable. Detailed Implementation

[0030] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0031] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0032] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0033] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0034] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0035] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0036] See Figure 1 , Figure 2 and Figure 3 , Figure 1 This is a schematic diagram of a robotic arm structure provided in one embodiment of this application. Figure 2 This is a schematic diagram of a robotic arm structure provided in an embodiment of this application with the cover plate removed. Figure 3This is a schematic diagram of a robotic arm structure provided in an embodiment of this application, excluding the first driving link. The robotic arm structure provided in this embodiment includes a lever arm assembly 100, a first driving assembly 200, and a second driving assembly 300. The lever arm assembly 100 has a wiring cavity 110, with a first through hole 120 and a second through hole 130 communicating with the outside at both ends. The first driving assembly 200 includes a first connecting rod 210 and a first driving member 220. The first connecting rod 210 has a first wiring channel 211, with a first wire-passing hole 212 communicating with the outside at one end. The first driving member 220 is mounted on the end of the first wiring channel 211 near the first wire-passing hole 212, and the first output shaft of the first driving member 220 extends out of the first wiring channel 211 to drive the lever arm assembly 100. The first driving member 220 is used to drive the lever arm assembly 100 to rotate relative to the first connecting rod 210 around the axis of the first output shaft. The second driving assembly 300 includes a second connecting rod 310 and a second driving member 320. The second connecting rod 310 is provided with a second wiring channel 311. The end of the second wiring channel 311 near the lever arm assembly 100 is provided with a second wire hole 312 communicating with the outside. The second driving member 320 is installed in the second wiring channel 311, and the second output shaft of the second driving member 320 extends out of the second wiring channel 311 to be connected to the end of the lever arm assembly 100 away from the first driving assembly 200. The second driving member 320 is used to drive the second connecting rod 310 to rotate relative to the lever arm assembly 100 around the axis of the second output shaft.

[0037] Specifically, in this application, the lever assembly 100, the first connecting rod 210, and the second connecting rod 310 are all hollow, allowing the cable 520 on the robotic arm structure to pass through. The cable routing cavity 110 connects to the outside through the first through hole 120 and the second through hole 130 at both ends. The first cable routing channel 211 connects to the outside through the first cable passage 212, and the second cable routing channel 311 connects to the outside through the second cable passage 312. This allows the cable 520 to connect to the first drive component 220 and pass through the first cable routing channel 211 and then through the first cable passage 212. The cable 520 extends out, passes through the hollow lever assembly 100, and then enters the second cable routing channel 311 through the second cable hole 312, connecting with the second drive component 320. This ensures that the cable routing channel of the cable 520 can be fully connected, thereby fulfilling the routing requirements of all drive components on the multi-joint robotic arm. Since the cable routing channel of the cable 520 is located inside the robotic arm structure, the movement of the robotic arm structure is not affected during the relative rotation of adjacent structural components, thus not restricting the range of motion of the robotic arm structure, ensuring the performance of the robotic arm structure, and improving reliability.

[0038] Furthermore, the first through hole 120 is located on the side of the second through hole 130 near the first drive assembly 200, and the cable 520 passes through the first wiring channel 211, the first wire through hole 212, the first through hole 120, the wiring cavity 110, the second through hole 130, the second wire through hole 312 and the second wiring channel 311 in sequence within the robotic arm assembly.

[0039] See Figure 1 , Figure 2 and Figure 4 , Figure 4 Explosion of a robotic arm structure provided in an embodiment of this application Figure 1 In one embodiment, the first output shaft extends through the first cable through hole 212, meaning that both the cable 520 and the first output shaft pass through the first cable through hole 212. As a result, during the rotation of the lever assembly 100 around the axis of the first output shaft, the length change of the cable 520 located between the first through hole 120 and the first cable through hole 212 is small, thereby reducing the shearing or pulling of the cable 520, thus reducing interference to the movement of the robotic arm structure and improving the reliability of the robotic arm structure.

[0040] See Figure 1 , Figure 2 and Figure 4 In one embodiment, when the first output shaft extends through the first wire hole 212, the first through hole 120 corresponds to the position of the first wire hole 212, the first output shaft passes through the first through hole 120, and is connected to the hole wall of the first through hole 120.

[0041] Specifically, the first output shaft passes through the first through hole 120 and is connected to the hole wall of the first through hole 120, thereby stably driving the lever assembly 100 to rotate around the axis of the first output shaft. Since the first output shaft extends through the first cable hole 212 and the first cable hole 212 corresponds to the position of the first through hole 120, the cable 520 enters the first through hole 120 through the first cable hole 212. Therefore, during the rotation of the lever assembly 100 around the axis of the first output shaft, the length change of the cable 520 located between the first through hole 120 and the first cable hole 212 can be further reduced, thereby further reducing the shearing or pulling of the cable 520, thereby reducing interference to the movement of the robotic arm structure and improving the reliability of the robotic arm structure.

[0042] See Figure 1 , Figure 2 and Figure 4 In one embodiment, when the first output shaft extends through the first wire hole 212, the first output shaft is a hollow shaft for the cable 520 to pass through.

[0043] Specifically, the cable 520 is output via the first output shaft, thus preventing tangling during the rotation of the first output shaft driven by the first drive member 220. The wiring within the first wiring channel 211 extends into the wiring cavity 110 via the first output shaft. When the lever assembly 100 rotates relative to the first connecting rod 210 around the axis of the first output shaft, since the cable 520 passes through the first output shaft (i.e., the cable 520 is located on the rotation axis of the lever assembly 100), tangling and pulling of the cable 520 will not occur, thus preventing interference with the movement of the robotic arm structure. Furthermore, the wiring within the first wiring channel 211 extends into the wiring cavity 110 via the first output shaft, ensuring that no cable 520 is exposed to the outside in the area between the lever assembly 100 and the first connecting rod 210, effectively protecting the cable 520. Preferably, the first drive member 220 is a motor.

[0044] See Figure 1 , Figure 2 and Figure 4 In one embodiment, the second output shaft extends through the second cable hole 312, that is, both the cable 520 and the second output shaft pass through the second cable hole 312. As a result, during the rotation of the second link 310 relative to the lever arm assembly 100 around the axis of the second output shaft, the length change of the cable 520 located between the second through hole 130 and the second cable hole 312 is small, thereby reducing the shearing or pulling of the cable 520, thereby reducing the interference to the movement of the robotic arm structure and improving the reliability of the robotic arm structure.

[0045] See Figure 1 , Figure 2 and Figure 4 In one embodiment, when the second output shaft extends through the second through hole 312, the second through hole 130 corresponds to the position of the second outlet hole 313, the second output shaft passes through the second through hole 130, and is connected to the hole wall of the second through hole 130.

[0046] Specifically, the second output shaft passes through the second through hole 130 and is connected to the wall of the second through hole 130, thereby stably driving the lever assembly 100 to rotate around the axis of the second output shaft. Since the second output shaft extends through the second cable outlet hole 313 and the second cable outlet hole 313 corresponds to the position of the second through hole 130, the cable 520 enters the second cable outlet hole 313 through the second through hole 130. Therefore, during the rotation of the lever assembly 100 around the axis of the second output shaft, the length change of the cable 520 located between the second through hole 130 and the second cable outlet hole 312 can be further reduced, thereby further reducing the shearing or pulling of the cable 520, thereby reducing interference with the movement of the robotic arm structure and improving the reliability of the robotic arm structure.

[0047] See Figure 1, Figure 2 and Figure 4 In one embodiment, when the second output shaft extends through the second cable hole 312, the second output shaft is a hollow shaft for the cable 520 to pass through.

[0048] Specifically, the cable 520 is output via the second output shaft, thus preventing tangling during the rotation of the second output shaft driven by the second drive member 320. The wiring within the second wiring channel 311 extends into the wiring cavity 110 via the second output shaft. When the second link 310 rotates relative to the lever arm assembly 100 around the axis of the second output shaft, since the cable 520 passes through the second output shaft (i.e., the cable 520 is located on the rotation axis of the second link 310), tangling and pulling of the cable 520 will not occur, thus preventing interference with the movement of the robotic arm structure. Furthermore, the wiring within the second wiring channel 311 extends into the wiring cavity 110 via the second output shaft, ensuring that no cable 520 is exposed to the outside in the area between the lever arm assembly 100 and the second link 310, effectively protecting the cable 520. Preferably, the second drive member 320 is a motor.

[0049] See Figure 1 , Figure 2 and Figure 4 In one embodiment, a first wire buckle 111 is provided in the wiring cavity 110. The first wire buckle 111 is used to fix the cable 520, thereby preventing the cable 520 from moving and improving the reliability of the robotic arm structure.

[0050] Furthermore, the first cable clip 111 is located in the same direction as the first through hole 120 and the second through hole 130, thereby avoiding bending of the cable. The first cable clip 111 can be a cable tie, Velcro, or other fixing structure, as long as it can fix the cable 520 and prevent the cable 520 from moving.

[0051] See Figure 1 , Figure 2 and Figure 4 In one embodiment, the lever assembly 100 includes a drive plate 140 and a cover plate 150. The two ends of the drive plate 140 are connected to a first output shaft and a second output shaft, respectively. The drive plate 140 is provided with a first groove. The cover plate 150 is detachably connected to the drive plate 140. The cover plate 150 is used to cover the first groove to form a wiring cavity 110 with the first groove.

[0052] Specifically, when the cover plate 150 is connected to the drive plate 140, the cover plate 150 covers the first groove to form a cable routing cavity 110, which allows the cable 520 to pass through and protects the cable 520. The detachable connection between the cover plate 150 and the drive plate 140 facilitates the removal of the cover plate 150 relative to the drive plate 140, thereby exposing the first groove and facilitating the passage of the cable 520 through the cable routing cavity 110, improving the efficiency of cable installation on the robotic arm structure.

[0053] Furthermore, the first through hole 120 and the second through hole 130 are disposed at both ends of the drive plate 140, and the first groove is disposed on the side of the drive plate 140 opposite to the first connecting rod 210.

[0054] See Figure 1 , Figure 2 , Figure 4 and Figure 5 , Figure 5 Explosion of a robotic arm structure provided in an embodiment of this application Figure 2 In one embodiment, the lever assembly 100 further includes a driven plate 160, one end of which is rotatably connected to the side of the first connecting rod 210 away from the drive plate 140 about the axis of the first output shaft, and the other end of which is rotatably connected to the side of the second connecting rod 310 away from the drive plate 140 about the axis of the second output shaft. This avoids a suspended structure, reduces the bending moment load on the first and second output shafts, and improves connection reliability.

[0055] Furthermore, the driven plate 160 has a first convex shaft 170 and a second convex shaft 190 at both ends, and the first connecting rod 210 has a first mating hole 270 and a second mating hole 360 ​​on the side opposite to the drive plate 140. The first convex shaft 170 is used to insert and engage with the first mating hole 270, and the second convex shaft 190 is used to insert and engage with the second mating hole 360. Preferably, a bearing is provided between the first convex shaft 170 and the first mating hole 270. A bearing is also provided between the second convex shaft 190 and the second mating hole 360.

[0056] See Figure 1 , Figure 2 and Figure 4 In one embodiment, the lever assembly 100 further includes a reinforcing member 180, which is disposed between the drive plate 140 and the driven plate 160 and is connected to both the drive plate 140 and the driven plate 160 to form a three-dimensional structure. This increases the rigidity and strength of the lever assembly 100, improves the load capacity of the lever assembly 100, and reduces the deformation and vibration problems of the lever assembly 100.

[0057] Furthermore, the reinforcing member 180 has a first limiting surface 181. The first limiting surface 181 is configured to abut against the first connecting rod 210 when the lever arm assembly 100 rotates relative to the first connecting rod 210 to a first extreme position, thereby limiting the continued rotation of the lever arm assembly 100 relative to the first connecting rod 210, that is, limiting the rotation range of the arm assembly relative to the first connecting rod 210, thereby effectively preventing damage caused by loss of control of the robotic arm structure. Preferably, when the first limiting surface 181 abuts against the first connecting rod 210, it fits against the rod wall of the first connecting rod 210.

[0058] Furthermore, the reinforcing member 180 has a second limiting surface 182. The second limiting surface 182 is configured to abut against the second link 310 when the second link 310 rotates relative to the lever arm assembly 100 to the second extreme position, thereby limiting the continued rotation of the second link 310 relative to the lever arm assembly 100, i.e., limiting the rotation range of the second link 310 relative to the control arm assembly, thus effectively preventing damage caused by loss of control of the robotic arm structure. Preferably, when the second limiting surface 182 abuts against the second link 310, it fits against the wall of the second link 310.

[0059] See Figure 1 , Figure 2 and Figure 3 In one embodiment, the robotic arm structure further includes a base 400 for mounting a circuit board 510, and the first drive assembly 200 further includes a third drive member 230. The third drive member 230 is mounted on the end of the first wiring channel 211 away from the lever assembly 100, and the third output shaft of the third drive member 230 extends out of the first wiring channel 211 and is connected to the base 400. The third drive member 230 is used to drive the first connecting rod 210 to rotate relative to the base 400 about the axis of the first output shaft. The end of the first wiring channel 211 away from the first wire hole 212 has a wire inlet hole 213 communicating with the outside.

[0060] Specifically, the first wiring channel 211 has an inlet hole 213 at the end away from the first wire through hole 212, which is connected to the outside. This allows the circuit board 510 to be installed on the base 400, i.e. the outside of the first drive assembly 200. As a result, interference with the circuit board 510 can be reduced and reliability can be improved during the rotation of the first connecting rod 210.

[0061] The first connecting rod 210 has a hollow structure, and the end of the first wiring channel 211 away from the first wire passage hole 212 is connected to the outside through the wire inlet hole 213. This allows the cable 520 to connect to the first drive component 220 via the circuit board 510 mounted on the base 400 through the wire inlet hole 213, and then to the second drive component 320 via the first wiring channel 211, finally exiting through the first wire passage hole 212. This ensures that the wiring channel of the cable 520 is fully continuous, fulfilling the wiring requirements of all drive components on the multi-joint robotic arm. Because the first wiring channel 211 is located inside the first connecting rod 210, the rotation of the first connecting rod 210 relative to the base 400 does not affect the movement of the robotic arm structure. It also prevents the cable 520 from being sheared or pulled due to the rotation of the first connecting rod 210, thus not restricting the range of motion of the first connecting rod 210, ensuring the performance of the robotic arm structure, and improving reliability.

[0062] Furthermore, the third output shaft extends through the inlet hole 213, meaning that both the cable 520 and the third output shaft pass through the inlet hole 213. As a result, during the rotation of the first link 210 around the axis of the third output shaft, the length of the cable 520 located between the base 400 and the inlet hole 213 changes less, which can reduce the pulling on the cable 520, thereby reducing interference with the movement of the robotic arm structure and improving the reliability of the robotic arm structure.

[0063] See Figure 1 , Figure 3 and Figure 4 In one embodiment, the base 400 is provided with a third through hole 430 corresponding to the inlet hole 213, and the third output shaft passes through the third through hole 430 and is connected to the hole wall of the third through hole 430.

[0064] Specifically, since the third output shaft extends through the inlet hole 213 and the third through hole 430 corresponds to the inlet hole 213, the cable 520 enters the inlet hole 213 through the third through hole 430. As the first link 210 rotates around the axis of the third output shaft, the length change of the cable 520 located between the third through hole 430 and the inlet hole 213 can be further reduced, thereby further reducing the pulling on the cable 520, reducing interference to the movement of the robotic arm structure, and improving the reliability of the robotic arm structure.

[0065] See Figure 1 , Figure 3 and Figure 4In one embodiment, when the third output shaft extends through the inlet hole 213, the third output shaft is a hollow shaft to allow the cable 520 to pass through, thus preventing the cable 520 from tangling during the rotation of the third output shaft driven by the third drive member 230. Specifically, when the cable 520 on the circuit board 510 extends into the first wiring channel 211 via the third output shaft, and the first connecting rod 210 rotates relative to the base 400 around the axis of the third output shaft, since the cable 520 passes through the third output shaft (i.e., the cable 520 is located on the rotation axis of the first connecting rod 210), tangling and pulling of the cable 520 will not occur, thus preventing interference with the movement of the robotic arm structure. Furthermore, the cable 520 on the circuit board 510 extending into the first wiring channel 211 via the third output shaft ensures that no cable 520 is exposed to the outside in the area between the base 400 and the first connecting rod 210, effectively protecting the cable 520. Preferably, the third drive member 230 is a motor.

[0066] Furthermore, a second cable clip 260 is provided in the first cable routing channel 211. The second cable clip 260 is used to fix the cable 520, thereby preventing the cable 520 from moving and improving the reliability of the robotic arm structure.

[0067] The second cable clip 260 is located in the direction of the arrangement of the first cable routing channel 211 and the cable inlet hole 213, thereby avoiding bending of the cable. The second cable clip 260 can be a cable tie, Velcro, or other fixing structure, as long as it can fix the cable 520 and prevent the cable 520 from moving.

[0068] See Figure 1 , Figure 4 and Figure 5 In one embodiment, the base 400 includes a first plate 410 and a second plate 420 connected to each other. The first plate 410 is connected to the third output shaft, and the second plate 420 is rotatably connected to the first connecting rod 210 about the axis of the first output shaft. This avoids the suspended structure, reduces the bending moment load on the third output shaft, and improves the connection reliability.

[0069] Furthermore, the base 400 also includes a reinforcing plate 450, the two ends of which are connected to the first plate 410 and the second plate 420 respectively, forming a three-dimensional structure, thereby increasing the rigidity and strength of the base 400.

[0070] Furthermore, the base 400 also includes a base plate 440, to which the first plate 410, the second plate 420, and the reinforcing plate 450 are all connected, thereby further improving the strength of the base 400. The circuit board 510 is mounted on the base plate 440.

[0071] See Figure 1 , Figure 3 , Figure 4 and Figure 5 In one embodiment, the second drive assembly 300 further includes a fourth drive member 330, which is mounted on the end of the second wiring channel 311 away from the lever assembly 100, and the fourth output shaft of the fourth drive member 330 extends out of the second wiring channel 311 for connection with an external actuator. The fourth drive assembly is used to drive the actuator to rotate relative to the second link 310 about the axis of the fourth output shaft, wherein the end of the second wiring channel 311 away from the second wire hole 312 has a wire outlet hole 313 communicating with the outside.

[0072] Specifically, the second wiring channel 311 has an outlet hole 313 at the end away from the second wiring hole 312, which is connected to the outside world. This allows the cable 520 to extend out of the robotic arm structure through the outlet hole 313 and connect to the external actuator, thereby further adapting to the wiring of the multi-joint robotic arm.

[0073] The second link 310 has a hollow structure, and the end of the second wiring channel 311 furthest from the second wire passage 312 is connected to the outside through the wire outlet 313. This allows the cable 520 to enter the second wiring channel 311 through the second wire passage 312, connect with the second drive component 320 and the fourth drive component 330 within the second wiring channel 311, and then exit through the wire outlet 313. This ensures that the wiring channel of the cable 520 is fully continuous, thus meeting the wiring requirements of all drive components on the multi-joint robotic arm. Because the second wiring channel 311 is located inside the second link 310, the movement of the robotic arm structure is not affected during the rotation of the actuator relative to the second link 310. It also prevents the cable 520 from being sheared or pulled due to the rotation of the actuator, thus not restricting the range of motion of the actuator, ensuring the performance of the robotic arm structure, and improving reliability.

[0074] Furthermore, the fourth output shaft extends through the cable outlet 313, meaning that both the cable 520 and the fourth output shaft pass through the cable outlet 313. As a result, during the rotation of the actuator around the axis of the fourth output shaft, the length of the cable 520 located between the actuator and the cable outlet 313 changes less, which can reduce the pulling on the cable 520, thereby reducing interference with the movement of the robotic arm structure and improving the reliability of the robotic arm structure.

[0075] See Figure 1 , Figure 4 and Figure 5In one embodiment, the first link 210 includes a first driving link 240 and a first driven link 250 that are detachably connected. The first driving link 240 and the first driven link 250 are each provided with a second groove on their opposite sides. When the first driving link 240 and the first driven link 250 are connected, the two second grooves engage to form a first wiring channel 211.

[0076] See Figure 1 , Figure 4 and Figure 5 In one embodiment, the second link 310 includes a second driving link 340 and a second driven link 350 that are detachably connected. The second driving link 340 and the second driven link 350 are each provided with a third groove on opposite sides. When the second driving link 340 and the second driven link 350 are connected, the two third grooves engage to form a second wiring channel 311.

[0077] This application embodiment also provides a robot, including the aforementioned robotic arm structure. The robotic arm structure is a hollow structure, allowing the cable 520 to be routed through the entire length of the cable, thereby fulfilling the routing requirements of all drive components on the multi-joint robotic arm. Since the cable 520 routing channel is located inside the robotic arm structure, the movement of the robotic arm structure is not affected during the relative rotation of adjacent structural components, thus not restricting the range of motion of the robotic arm structure, ensuring the performance of the robotic arm structure, and improving the reliability of the robot.

[0078] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0079] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A robotic arm structure, characterized in that, The robotic arm structure includes: A lever arm assembly, wherein the lever arm assembly has a cable routing cavity, and the two ends of the cable routing cavity are respectively provided with a first through hole and a second through hole communicating with the outside; A first drive assembly includes a first connecting rod and a first drive member. The first connecting rod has a first wiring channel, one end of which has a first wire-passing hole communicating with the outside. The first drive member is mounted on the end of the first wiring channel near the first wire-passing hole, and a first output shaft of the first drive member extends out of the first wiring channel for transmission connection with the lever arm assembly. The first drive member is used to drive the lever arm assembly to rotate relative to the first connecting rod about the axis of the first output shaft. The second drive assembly includes a second connecting rod and a second drive member. The second connecting rod has a second wiring channel, and the end of the second wiring channel near the lever arm assembly has a second wire-passing hole communicating with the outside. The second drive member is installed in the second wiring channel, and the second output shaft of the second drive member extends out of the second wiring channel to be connected to the end of the lever arm assembly away from the first drive assembly. The second drive member is used to drive the second connecting rod to rotate relative to the lever arm assembly around the axis of the second output shaft.

2. The robotic arm structure according to claim 1, characterized in that, The first output shaft extends through the first wire hole; and / or, the second output shaft extends through the second wire hole.

3. The robotic arm structure according to claim 2, characterized in that, When the first output shaft extends through the first wire hole, the first through hole corresponds to the position of the first wire hole, the first output shaft passes through the first through hole, and is connected to the wall of the first through hole; and / or, When the second output shaft extends through the second wire hole, the second through hole corresponds to the position of the second wire hole, the second output shaft passes through the second through hole, and is connected to the hole wall of the second through hole.

4. The robotic arm structure according to claim 3, characterized in that, When the first output shaft extends through the first cable guide hole, the first output shaft is a hollow shaft to allow cable passage; and / or, When the second output shaft extends through the second cable hole, the second output shaft is a hollow shaft for cable routing.

5. The robotic arm structure according to any one of claims 1-4, characterized in that, The cable routing cavity is provided with a first wire clip, which is used to fix the cable.

6. The robotic arm structure according to any one of claims 1-4, characterized in that, The lever assembly includes a drive plate and a cover plate. The two ends of the drive plate are connected to the first output shaft and the second output shaft, respectively. The drive plate is provided with a first groove. The cover plate is detachably connected to the drive plate and is used to cover the first groove to form the wiring cavity with the first groove.

7. The robotic arm structure according to claim 6, characterized in that, The lever assembly further includes a driven plate, one end of which is rotatably connected to the side of the first connecting rod opposite to the drive plate about the axis of the first output shaft, and the other end of which is rotatably connected to the side of the second connecting rod opposite to the drive plate about the axis of the second output shaft.

8. The robotic arm structure according to any one of claims 1-4, characterized in that, The robotic arm structure also includes a base for mounting a circuit board. The first drive assembly further includes a third drive member. The third drive member is mounted on the end of the first wiring channel away from the lever assembly, and the third output shaft of the third drive member extends out of the first wiring channel and is connected to the base. The third drive member is used to drive the first connecting rod to rotate relative to the base around the axis of the first output shaft. The end of the first wiring channel away from the first wire through hole has a wire inlet hole communicating with the outside.

9. The robotic arm structure according to any one of claims 1-4, characterized in that, The second drive assembly further includes a fourth drive member, which is mounted on the end of the second wiring channel away from the lever assembly, and the fourth output shaft of the fourth drive member extends out of the second wiring channel for connection with an external actuator. The fourth drive member is used to drive the actuator to rotate relative to the second connecting rod about the axis of the fourth output shaft, wherein the end of the second wiring channel away from the second wire hole has a wire outlet hole communicating with the outside.

10. A robot, characterized in that, Includes the robotic arm structure as described in any one of claims 1-9.

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