CN112077874B

CN112077874B - Mechanical arm and robot

Info

Publication number: CN112077874B
Application number: CN202010922278.XA
Authority: CN
Inventors: 董泽锋; 文辉; 朱荣佳; 陈修奇; 吴信宜
Original assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Current assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Priority date: 2020-09-04
Filing date: 2020-09-04
Publication date: 2022-03-01
Anticipated expiration: 2040-09-04
Also published as: CN112077874A

Abstract

The invention relates to a mechanical arm and a robot, wherein the mechanical arm comprises an extension arm, a first fixing arm and a second fixing arm, two ends of the extension arm are respectively used for being combined with the first fixing arm and the second fixing arm to form two combining parts, and a connecting assembly is arranged inside each combining part and used for connecting the extension arm with the corresponding fixing arm. In other words, the connecting assembly is located inside the lengthened arm and the corresponding fixed arm, so that a protruding structure which is arranged for realizing connection between the lengthened arm and the two fixed arms is not arranged on the outer side, the situation that foreign matters are involved when the mechanical arm runs is effectively avoided, the normal running of the mechanical arm is ensured, and the safety risk is reduced. And the extended arm and the two fixed arms are integrated in the overall vision, so that the condition that a flange or a screw is protruded is avoided, and the visual effect is better.

Description

Mechanical arm and robot

Technical Field

The invention relates to the technical field of intelligent manufacturing equipment, in particular to a mechanical arm and a robot.

Background

The robot is an intelligent device capable of independently completing certain actions, and a system control unit contained in the robot can control a mechanical arm to run according to a certain track to complete corresponding actions. The main body of the motion is a mechanical arm included in the robot, and the mechanical arm is a terminal structure for implementing a specific motion and needs to be adapted to different work occasions. The length of the mechanical arm reflects the working radius of the robot to a certain extent, and the longer the length of the mechanical arm, the larger the working radius of the robot, and the wider the range which can be covered. The required working radius of different work occasions is different, namely the length of the required mechanical arm is different. Therefore, the general mechanical arm comprises the lengthened arm and the fixed arm, when a large working radius is needed, the lengthened arm is connected in the fixed arm, so that the length of the whole mechanical arm is increased, and when the needed working radius is small, only the fixed arm is selected. The connection between the extension arm and the fixed arm generally requires flanges to be arranged outside the extension arm and the fixed arm, and the extension arm and the fixed arm are connected by connecting pieces such as bolts. In the use process, the bolts exposed outside the lengthened arm and the fixed arm are easy to be involved in foreign matters, so that the mechanical arm cannot normally operate, and a large safety risk exists on the other hand.

Disclosure of Invention

The invention provides a mechanical arm and a robot, aiming at the problems that the mechanical arm cannot normally operate and has larger safety risk due to the fact that foreign matters are easily involved after a common mechanical arm adopts an elongated arm to increase the working radius, and the technical effects that foreign matters are avoided being involved, the mechanical arm can normally operate and the safety risk is reduced are achieved.

The utility model provides a mechanical arm, includes extension arm, first fixed arm and second fixed arm, the both ends of extension arm be used for respectively with first fixed arm with the combination of second fixed arm, and form two joints, the inside of joint is equipped with coupling assembling and is used for with the extension arm is connected with corresponding fixed arm.

According to the scheme, the mechanical arm is based on the fact that the connecting assembly used for achieving connection between the lengthening arm and the corresponding fixed arm is located inside the corresponding joint portion, in other words, the connecting assembly is located inside the lengthening arm and the corresponding fixed arm, and therefore a protruding structure arranged for achieving connection between the lengthening arm and the two fixed arms is not arranged on the outer side, the situation that foreign matters are involved when the mechanical arm operates is effectively avoided, normal operation of the mechanical arm is guaranteed, and safety risks are reduced. And the extended arm and the two fixed arms are integrated in the overall vision, so that the condition that a flange or a screw is protruded is avoided, and the visual effect is better.

In one embodiment, the elongated arm is a tubular structure and the connection assembly is at least partially located in a through hole in the elongated arm.

In one embodiment, the connection component at the joint of the elongated arm and the first fixing arm is a first connection component, an outer edge of the first connection component is connected with the elongated arm, and a portion of the first connection component, which is used for being connected with the first fixing arm, is opposite to the through hole of the elongated arm.

In one embodiment, a groove is formed in an end face, opposite to the first fixing arm, of the extension arm, the groove is spaced from the outer peripheral surface of the extension arm, and an outer edge portion of the first connecting component is located in the groove and connected with the extension arm.

In one embodiment, the first connecting assembly comprises a first flange, a first connecting piece and a second connecting piece, a first connecting hole is formed in the outer edge portion of the first flange, the outer edge portion of the first flange is located in the groove, a first threaded hole is formed in the bottom wall of the groove, the position of the bottom wall of the groove corresponds to the first connecting hole, the first connecting piece penetrates through the first connecting hole to be matched and locked in the first threaded hole, a second connecting hole is formed in the portion, used for being connected with the first fixing arm, of the first flange, and the second connecting piece penetrates through the second connecting hole to be connected with the first fixing arm.

In one embodiment, the connection component at the joint of the extension arm and the second fixing arm is a second connection component, an outer edge of the second connection component is connected with the second fixing arm, a position of the second connection component connected with the extension arm is closer to the middle of the second connection component than the outer edge of the second connection component, and the second fixing arm is provided with an installation channel opposite to a position of the second connection component used for being connected with the extension arm.

In one embodiment, the second connecting assembly includes a second flange and a third flange, which are stacked, an outer edge portion of the third flange is connected to the second fixing arm, the second flange is detachably connected to the third flange, a portion of the third flange, which is used for being connected to the second flange, is closer to a middle portion than the outer edge portion of the third flange, and the second flange is connected to the extension arm.

In one embodiment, the second connecting assembly further includes a third connecting piece and a fourth connecting piece, the third flange is provided with a plurality of third connecting holes and a plurality of fourth connecting holes, the plurality of third connecting holes are distributed at the outer edge of the third flange at intervals along the circumferential direction, the plurality of fourth connecting holes are arranged along the circumferential direction of the third flange, a ring in which the plurality of fourth connecting holes are located is located on the inner side of the ring in which the plurality of third connecting holes are located, the second fixing arm is provided with a second threaded hole at a position corresponding to the third connecting holes, the third connecting piece penetrates through the third connecting holes to be matched and locked in the second threaded hole, and the fourth connecting piece penetrates through the fourth connecting holes to be connected with the second flange.

In one embodiment, the second connecting assembly further comprises a fifth connecting piece, a locking protrusion is arranged on the inner wall of the lengthened arm, the second flange is provided with a plurality of fifth connecting holes, the fifth connecting holes are circumferentially arranged along the second flange, and the fifth connecting piece penetrates through the fifth connecting holes to be connected with the locking protrusion.

In one embodiment, the locking protrusion includes a plurality of strip-shaped protrusions, the strip-shaped protrusions are arranged along the axial direction of the elongated arm, the strip-shaped protrusions are circumferentially distributed on the inner wall of the elongated arm at intervals, the end faces of the strip-shaped protrusions form a positioning face, the second flange is pressed against the positioning face, and the fifth connecting member penetrates through the fifth connecting hole to be connected with the strip-shaped protrusions.

In one embodiment, the ring where the fifth connecting holes are located is located on the outer side of the ring where the fourth connecting pieces are located, an annular first yielding recess is formed in the second flange towards the end face of the third flange, the fifth connecting holes are located in the first yielding recessed portion in the second flange, an annular second yielding recess is formed in the third flange towards the end face of the second flange, and the third connecting holes are located in the second yielding recessed portion in the third flange.

In one embodiment, the second fixing arm is provided with a long notch, the long notch is arranged along the axial direction of the second fixing arm, the long notch penetrates through the side face of the second fixing arm, one end of the long notch is located close to the position of the second connecting assembly to form a part of the installation channel, the installation channel further comprises an installation through hole coaxially arranged with the second fixing arm, one end of the installation through hole is communicated with the long notch, and the other end of the installation through hole is opposite to the second connecting assembly.

In one embodiment, the lengthened arm and the first fixed arm are respectively provided with a wire running pipe, and the two wire running pipes are correspondingly communicated and used for allowing cables to pass through.

In one embodiment, the outer peripheral surface of the extension arm is flush with the outer peripheral surface of the corresponding fixing arm at the joint portion.

A robot comprises the mechanical arm.

Above-mentioned scheme provides a robot, through adopting the arm in above-mentioned arbitrary embodiment to when setting up the extension arm and enlarging working radius, hide coupling assembling inside two joints, there is not outstanding structure to show, the condition that effectively avoids the arm when moving foreign matter to be drawn into takes place, ensures the arm normal operating, reduces the safety risk.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate exemplary embodiments of the invention and, together with the description, serve to explain the invention and are not intended to limit the invention.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic structural diagram of the robot arm according to the present embodiment when no extension arm is provided;

FIG. 2 is a schematic structural diagram of the robot arm according to the present embodiment after an elongated arm is disposed;

FIG. 3 is a cross-sectional view of the connection of a first stationary arm to a second stationary arm of the robotic arm of FIG. 1;

FIG. 4 is a cross-sectional view of the connection of the elongated arm with the first stationary arm and the second stationary arm of the robotic arm of FIG. 2;

FIG. 5 is a schematic structural diagram of the first flange according to the present embodiment;

FIG. 6 is a schematic structural view of a second flange according to the present embodiment;

fig. 7 is a schematic structural view of a third flange according to the present embodiment;

fig. 8 is a schematic structural view of the extension arm according to this embodiment.

Description of reference numerals:

10. a mechanical arm; 11. a first fixed arm; 111. a speed reducer; 12. a second fixed arm; 121. a long strip gap; 122. mounting a through hole; 13. a lengthening arm; 131. strip-shaped bulges; 132. a groove; 14. a first connecting assembly; 141. a first flange; 1411. a first connection hole; 1412. a second connection hole; 142. a first connecting member; 143. a second connecting member; 15. a second connection assembly; 151. a second flange; 1511. a fifth connecting hole; 1512. a first abdication recess; 152. a third flange; 1521. a third connection hole; 1522. a fourth connection hole; 1523. a second abdicating recess; 153. a third connecting member; 154. a fourth connecting member; 155. a fifth connecting member; 16. a wiring pipe.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention can be embodied in many different forms than those herein described and one skilled in the art can make similar modifications without departing from the spirit of the invention and it is therefore not limited to the specific embodiments disclosed below.

As shown in fig. 1 and 2, in one embodiment, a mechanical arm 10 is provided, which includes an elongated arm 13, a first fixing arm 11, and a second fixing arm 12, and two ends of the elongated arm 13 are respectively used for combining with the first fixing arm 11 and the second fixing arm 12 to form two combining portions. The joint is provided with a connecting assembly for connecting the extension arm 13 and the corresponding fixing arm. In particular, the connection assembly can detachably connect the elongated arm 13 and the corresponding fixed arm together. So that during use, if the required working radius is large, said extension arm 13 is connected between said first fixing arm 11 and said second fixing arm 12 as shown in fig. 2; if the required working radius is small, the extension arm 13 is removed from between the first fixing arm 11 and the second fixing arm 12 as shown in fig. 1, and the first fixing arm 11 and the second fixing arm 12 are directly connected together.

Further, as shown in fig. 3 and 4, the connection assembly is located inside the coupling portion. In other words, the connecting assembly is located inside the extension arm 13 and the corresponding fixed arm, so that no protruding structure is arranged outside for connecting the extension arm 13 and the two fixed arms, thereby effectively avoiding the occurrence of foreign matter from being involved when the mechanical arm 10 operates, ensuring the normal operation of the mechanical arm 10, and reducing the safety risk. And the extended arm 13 and the two fixed arms are integrated in the overall visual sense, so that no flange or screw protrudes out, and the visual effect is better.

Specifically, the connecting assembly may connect the elongated arm 13 and the corresponding fixed arm together at the joint portion by means of a snap-fit manner, or connect the elongated arm 13 and the fixed arm together by means of a screw connection manner.

More specifically, in one embodiment, as shown in fig. 8, the elongated arm 13 is a tubular structure. So that when said elongated arm 13 is connected between said first fixing arm 11 and said second fixing arm 12, said connecting assembly is at least partially located in a through hole in said elongated arm 13, as shown in fig. 4. Thereby ensuring that the connection assembly can be located within the joint without being exposed to the outside.

Further, in order to further improve the integrity of the mechanical arm 10, as shown in fig. 2 and 4, when the extension arm 13 is connected between the first fixing arm 11 and the second fixing arm 12, the outer circumferential surface of the extension arm 13 is flush with the outer circumferential surface of the corresponding fixing arm at the joint portion.

More specifically, in one embodiment, as shown in fig. 4, the connection assembly at the junction of the elongated arm 13 and the first fixed arm 11 is a first connection assembly 14. The outer edge of the first connecting component 14 is connected to the elongated arm 13, and the portion of the first connecting component 14 connected to the first fixing arm 11 is opposite to the through hole of the elongated arm 13.

Because the elongated arm 13 is a tubular structure, during the assembly process, the outer edge of the first connecting component 14 can be connected with the elongated arm 13, and then the first connecting component 14 connected with the elongated arm 13 can be assembled on the first fixing arm 11 by using the through hole in the middle of the elongated arm 13 as an operation space. For example, if a screw connection is used between the first connecting assembly 14 and the first fixing arm 11, a wrench for tightening the screw can be inserted from the end of the elongated arm 13 that needs to be connected to the second fixing arm 12 later, and the wrench is located in the through hole of the elongated arm 13 until the wrench contacts the screw to tighten the screw, and finally the connection between the elongated arm 13 and the first fixing arm 11 is achieved. In the process of detachment, the screw needs to be loosened by a wrench by means of the space of the through hole in the middle of the elongated arm 13, so that the first connecting component 14 is detached from the first fixing arm 11. The first connecting member 14 and the extension arm 13 are then disconnected from each other.

The outer edge of the first connecting component 14 and the extension arm 13 may be screwed, clamped or screwed.

Further, as shown in fig. 4, the first fixing arm 11 includes a reducer 111, and the first connecting assembly 14 is connected to the reducer 111.

When the extension arm 13 is detached from between the first fixing arm 11 and the second fixing arm 12, the first fixing arm 11 and the second fixing arm 12 are directly connected. At this time, the first connecting assembly 14 may serve as a connecting structure between the first fixing arm 11 and the second fixing arm 12. As shown in fig. 3, an outer edge portion of the first connecting member 14 is connected to the second fixing arm 12, and a middle portion of the first connecting member 14 is connected to the first fixing arm 11. During the assembling process, the outer edge of the first connecting component 14 is assembled with the second fixing arm 12, and then the first connecting component 14 assembled with the second fixing arm 12 is connected to the first fixing arm 11.

Further, in one embodiment, as shown in fig. 4, the end surface of the elongated arm 13 opposite to the first fixing arm 11 is provided with a groove 132, and the groove 132 is spaced from the outer circumferential surface of the elongated arm 13. In other words, there is a partial housing of the extension arm 13 around the groove 132, and the outer circumference of the partial housing may be flush with the outer circumference of the first fixing arm 11. The outer edge of the first connecting member 14 is located in the groove 132 and connected to the elongated arm 13. The first connecting member 14 is hidden in the extension arm 13, and the portion of the housing around the recess 132 shields the first connecting member 14, so that the robot arm 10 looks as a whole at the position where the extension arm 13 is coupled to the first fixing arm 11, and the appearance visual effect is high, and a situation where a protruding link is involved in foreign matter does not occur.

More specifically, in one embodiment, as shown in fig. 3-5, the first connection assembly 14 includes a first flange 141, a first connector 142, and a second connector 143. As shown in fig. 4 and 5, the outer edge of the first flange 141 is provided with a first connection hole 1411, the outer edge of the first flange 141 is located in the groove 132, a first threaded hole is formed in a position of the bottom wall of the groove 132 corresponding to the first connection hole 1411, and the first connecting piece 142 passes through the first connection hole 1411 and is locked in the first threaded hole in a matching manner, so as to assemble the first flange 141 and the extension arm 13 together. A second connection hole 1412 is formed at a portion of the first flange 141, which is used for being connected with the first fixing arm 11, and the second connection member 143 passes through the second connection hole 1412 and is connected with the first fixing arm 11. The first flange 141 assembled with the extension arm 13 is then connected to the first fixing arm 11, and finally the assembly connection between the first fixing arm 11 and the extension arm 13 is achieved.

When the extension arm 13 is detached from between the first fixing arm 11 and the second fixing arm 12, the first fixing arm 11 and the second fixing arm 12 are connected together by the first flange 141. Specifically, as shown in fig. 3, a threaded hole is formed in the second fixing arm 12 at a position corresponding to the first connection hole 1411 of the first flange 141, and the first connector 142 is locked in the threaded hole by passing through the first connection hole 1411, so that the first flange 141 and the second fixing arm 12 are connected together. The first flange 141, which is connected to the second fixing arm 12, is then connected to the first fixing arm 11 by means of the second connecting piece 143.

Further, as shown in fig. 4, in one embodiment, the connection component at the junction of the elongated arm 13 and the second fixing arm 12 is a second connection component 15, an outer edge portion of the second connection component 15 is connected to the second fixing arm 12, and a portion of the second connection component 15 connected to the elongated arm 13 is closer to a middle portion than an outer edge portion thereof. The second fixing arm 12 is provided with a mounting channel, and the mounting channel is opposite to the part of the second connecting assembly 15, which is used for connecting the extension arm 13.

During assembly, the outer edge portion of the second connecting member 15 is connected to the second fixing arm 12. A second connecting assembly 15, which is connected to the second fixing arm 12, is then connected to said elongated arm 13. In particular, when the second connecting assembly 15 is connected with the elongated arm 13, an operating space is provided for screwing the connecting piece by virtue of the space of the mounting channel on the second fixing arm 12.

Similarly, the outer edge of the second connecting assembly 15 and the second fixing arm 12 may be connected by a screw, a snap, or a bolt.

More specifically, in one embodiment, as shown in fig. 4, 6 and 7, the second connection assembly 15 includes a second flange 151 and a third flange 152 arranged in a stack. The outer edge of the third flange 152 is connected to the second fixing arm 12, the second flange 151 is detachably connected to the third flange 152, a portion of the third flange 152, which is used for connecting to the second flange 151, is closer to the middle of the outer edge of the third flange with respect to the middle of the outer edge, and the second flange 151 is connected to the extension arm 13.

In the assembling process, the second flange 151 and the third flange 152 are connected to the extension arm 13 and the second fixing arm 12, and then the second flange 151 is connected to the third flange 152, so that the extension arm 13 can be additionally arranged between the second fixing arm 12 and the first fixing arm 11.

Specifically, as shown in fig. 4, in one embodiment, the second connecting assembly 15 further includes a third connecting member 153 and a fourth connecting member 154. As shown in fig. 7, a plurality of third connection holes 1521 and a plurality of fourth connection holes 1522 are disposed on the third flange 152, the plurality of third connection holes 1521 are circumferentially distributed at intervals on an outer edge portion of the third flange 152, the plurality of fourth connection holes 1522 are circumferentially disposed on the third flange 152, and a ring where the plurality of fourth connection holes 1522 are located is located on an inner side of a ring where the plurality of third connection holes 1521 are located. A second threaded hole is formed in the second fixing arm 12 at a position corresponding to the third connecting hole 1521, and the third connecting piece 153 penetrates through the third connecting hole 1521 and is locked in the second threaded hole in a matching manner. The fourth connecting member 154 is connected to the second flange 151 through the fourth connecting hole 1522.

As shown in fig. 4, the mounting channel provided on the second fixing arm 12 provides an operating space for the final assembly of the fourth connecting member 154. When the fourth connector 154 is a screw, a wrench for screwing the screw is rotated in the installation passage.

More specifically, in one embodiment, as shown in fig. 4, the second connection assembly 15 further includes a fifth connection member 155; as shown in fig. 4 and 8, the inner wall of the elongated arm 13 is provided with a locking protrusion; as shown in fig. 4 and 6, the second flange 151 is provided with a plurality of fifth coupling holes 1511, the plurality of fifth coupling holes 1511 are circumferentially arranged along the second flange 151, and the fifth connection member 155 is coupled to the locking protrusion through the fifth coupling holes 1511. Connecting the second flange 151 to the elongated arm 13. The arrangement of the locking protrusion provides a point of application for the connection between the second flange 151 and the elongated arm 13 while hiding the connection structure within the elongated arm 13.

In this application the number of connecting piece can be unanimous with the number that corresponds the connecting hole for can the one-to-one between connecting piece and the corresponding connecting hole.

Specifically, the locking protrusion may be an annular protrusion, and the annular protrusion is circumferentially disposed along the inner wall of the elongated arm 13.

Or, in an embodiment, as shown in fig. 4 and 8, the locking protrusion includes a plurality of strip-shaped protrusions 131, the strip-shaped protrusions 131 are disposed along an axial direction of the elongated arm 13, the plurality of strip-shaped protrusions 131 are circumferentially distributed on an inner wall of the elongated arm 13 at intervals, end surfaces of the plurality of strip-shaped protrusions 131 form a positioning surface, the second flange 151 abuts against the positioning surface, and the fifth connecting member 155 passes through the fifth connecting hole 1511 and is connected to the strip-shaped protrusions 131. The number of the bar-shaped protrusions 131 may be the same as that of the second connection holes 1412, and the two may correspond to each other.

Further, in one embodiment, as shown in fig. 4 and 6, a plurality of fifth connection holes 1511 are formed at the outer side of a plurality of fourth connection members 154. The end surface of the second flange 151 facing the third flange 152 is provided with an annular first yielding recess 1512, and the fifth connecting hole 1511 is located on the second flange 151 at the position of the first yielding recess 1512. The third flange 152 is faced the terminal surface of second flange 151 is equipped with annular second and gives way sunken 1523, third connecting hole 1521 is located be equipped with on the third flange 152 the position of second recess 1523 of giving way.

The first yielding recess 1512 provides a yielding space for the fifth connector 155, so that the nut of the fifth connector 155 can be located in the yielding space without interfering with the third flange 152. The second abdicating recess 1523 provides an abdicating space for the third connecting member 153, so that the nut of the third connecting member 153 is located in the abdicating space and does not interfere with the second flange 151.

Further, as shown in fig. 1 and 2, in one embodiment, the second fixing arm 12 is provided with an elongated notch 121, the elongated notch 121 is disposed along an axial direction of the second fixing arm 12, the elongated notch 121 penetrates through a side surface of the second fixing arm 12, and one end of the elongated notch 121 is located near the second connecting assembly 15 to form a part of the installation channel. As shown in fig. 4, the mounting channel further includes a mounting through hole 122 coaxially disposed with the second fixing arm 12, one end of the mounting through hole 122 is communicated with the elongated notch 121, and the other end of the mounting through hole 122 is opposite to the second connecting assembly 15.

So that finally, when it is desired to connect the third flange 152, to which the second fixing arm 12 is connected, to the second flange 151, to which the extension arm 13 is connected, a wrench for tightening acts on the corresponding screw through said elongated notch 121 and the mounting through hole 122.

Further, in one embodiment, as shown in fig. 4, a routing tube 16 is disposed in each of the elongated arm 13 and the first fixing arm 11, and the two routing tubes 16 are correspondingly communicated for passing a cable.

When the extension arm 13 and the second fixing arm 12 rotate, the cable is positioned in the wiring pipe 16, and friction damage is reduced.

Further, in another embodiment, a robot is provided, comprising the robot arm 10 described above.

Above-mentioned scheme provides a robot, through adopting arm 10 in any one of the above-mentioned embodiments to when setting up extension arm 13 and expanding working radius, hide coupling assembling inside two junctions, do not have the prominent structure to show, the condition that effectively avoids the arm 10 foreign matter to be drawn in when moving takes place, ensures that arm 10 normally operates, reduces the safety risk.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the device or element so indicated must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered as limiting the invention.

Furthermore, the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integral to one another; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected through the interior of two elements or through the interaction of two elements unless otherwise specifically limited. The specific meaning of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature "under," "below," and "beneath" a second feature may be directly or obliquely under the first feature or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. The mechanical arm is characterized by comprising an extension arm, a first fixing arm and a second fixing arm, wherein two ends of the extension arm are respectively used for being combined with the first fixing arm and the second fixing arm to form two combining parts, and a connecting assembly is arranged in each combining part and used for connecting the extension arm with the corresponding fixing arm;

the elongated arm is of a tubular structure, and the connecting assembly is at least partially positioned in a through hole in the elongated arm;

the connecting assembly located at the joint of the lengthened arm and the second fixed arm is a second connecting assembly, the outer edge of the second connecting assembly is connected with the second fixed arm, the position, connected with the lengthened arm, on the second connecting assembly is closer to the middle part relative to the outer edge of the second connecting assembly, an installation channel is arranged on the second fixed arm, and the installation channel is opposite to the position, connected with the lengthened arm, on the second connecting assembly;

the second fixed arm is equipped with rectangular breach, rectangular breach is followed the axial setting of second fixed arm, rectangular breach runs through the side of second fixed arm, the one end of rectangular breach is located and is close to second coupling assembling's position constitutes the partly of installation passageway, the installation passageway still include with the installation through-hole of the coaxial setting of second fixed arm, installation through-hole one end with rectangular breach intercommunication, the installation through-hole other end with second coupling assembling is relative.

2. The mechanical arm as claimed in claim 1, wherein the connecting component at the joint of the elongated arm and the first fixing arm is a first connecting component, the outer edge of the first connecting component is connected with the elongated arm, and the position of the first connecting component for connecting with the first fixing arm is opposite to the through hole of the elongated arm.

3. The mechanical arm as claimed in claim 2, wherein the end surface of the elongated arm opposite to the first fixing arm is provided with a groove, the groove is spaced from the outer circumferential surface of the elongated arm, and the outer edge of the first connecting component is located in the groove and connected with the elongated arm.

4. The mechanical arm as claimed in claim 3, wherein the first connecting assembly comprises a first flange, a first connecting piece and a second connecting piece, a first connecting hole is formed in an outer edge portion of the first flange, the outer edge portion of the first flange is located in the groove, a first threaded hole is formed in a position, corresponding to the first connecting hole, of a bottom wall of the groove, the first connecting piece penetrates through the first connecting hole to be locked in the first threaded hole in a matching mode, a second connecting hole is formed in a portion, used for being connected with the first fixing arm, of the first flange, and the second connecting piece penetrates through the second connecting hole to be connected with the first fixing arm.

5. A robotic arm as claimed in any one of claims 1 to 4, in which the second connecting assembly comprises a second flange and a third flange arranged one above the other, the outer edge portion of the third flange being connected to the second fixing arm, the second flange being detachably connected to the third flange, the third flange being arranged such that the portion thereof for connection to the second flange is located closer to the middle than the outer edge portion thereof, and the second flange being connected to the elongate arm.

6. The mechanical arm according to claim 5, wherein the second connecting assembly further comprises a third connecting piece and a fourth connecting piece, the third flange is provided with a plurality of third connecting holes and a plurality of fourth connecting holes, the plurality of third connecting holes are circumferentially distributed at intervals on the outer edge portion of the third flange, the plurality of fourth connecting holes are circumferentially arranged along the third flange, a ring in which the plurality of fourth connecting holes are located is positioned on the inner side of the ring in which the plurality of third connecting holes are located, a second threaded hole is formed in the second fixing arm at a position corresponding to the third connecting holes, the third connecting piece penetrates through the third connecting holes and is locked in the second threaded hole in a matched mode, and the fourth connecting piece penetrates through the fourth connecting holes and is connected with the second flange.

7. The mechanical arm as claimed in claim 6, wherein the second connecting assembly further comprises a fifth connecting member, the inner wall of the elongated arm is provided with a locking protrusion, the second flange is provided with a plurality of fifth connecting holes, the plurality of fifth connecting holes are circumferentially arranged along the second flange, and the fifth connecting member passes through the fifth connecting holes and is connected with the locking protrusion.

8. The mechanical arm according to claim 7, wherein the locking protrusion comprises a plurality of strip-shaped protrusions, the strip-shaped protrusions are arranged along the axial direction of the elongated arm, the strip-shaped protrusions are distributed on the inner wall of the elongated arm at intervals along the circumferential direction, the end faces of the strip-shaped protrusions form a positioning face, the second flange is pressed against the positioning face, and the fifth connecting piece penetrates through the fifth connecting hole to be connected with the strip-shaped protrusions.

9. The mechanical arm according to claim 7, wherein the ring where the fifth connecting holes are located is located on the outer side of the ring where the fourth connecting pieces are located, an annular first yielding recess is formed in the second flange towards the end face of the third flange, the fifth connecting holes are located in the portion, on the second flange, of the first yielding recess, an annular second yielding recess is formed in the third flange towards the end face of the second flange, and the third connecting holes are located in the portion, on the third flange, of the second yielding recess.

10. A mechanical arm as claimed in any one of claims 1 to 4, wherein wiring pipes are arranged in the lengthened arm and the first fixed arm, and the two wiring pipes are correspondingly communicated for cables to pass through.

11. A robot arm as claimed in any of claims 1 to 4, wherein the outer circumference of the elongate arm at the junction is flush with the outer circumference of the corresponding stationary arm.

12. A robot comprising a robot arm as claimed in any one of claims 1 to 11.