CN112154050A

CN112154050A - Mechanical arm, movable machine and assembling method of mechanical arm

Info

Publication number: CN112154050A
Application number: CN202080002832.0A
Authority: CN
Inventors: 李亮; 王振旭; 刘晓宇
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-03-09
Filing date: 2020-03-09
Publication date: 2020-12-29
Also published as: WO2021179141A1

Abstract

A mechanical arm (10), a movable machine (1000) and an assembling method of the mechanical arm (10), wherein the mechanical arm (10) comprises a mechanical arm main body (100) and a hand clamping prevention structure (200), and at least part of the mechanical arm main body (100) can be switched between a spreading position and a retracting position; the hand clamping prevention structure (200) is arranged on the mechanical arm main body (100); the anti-pinch structure (200) is used for preventing the mechanical arm main body (100) in the unfolding position and/or the folding position from clamping a person or an object.

Description

Mechanical arm, movable machine and assembling method of mechanical arm

Technical Field

The application relates to the technical field of robots, in particular to a mechanical arm, a movable machine and an assembling method of the mechanical arm.

Background

With the increasing development of the robot technology, the mechanical arm can perform a lot of delicate and complex operations, the precision of the mechanical arm simulating the human hand is higher and higher, and the mechanical arm is widely applied to the fields of industry and the like so as to reduce the working strength of manual operation and improve the production efficiency. Existing robotic arms typically have parts made of relatively hard materials. The mechanical arm is easy to cause the danger of accidental clamping injury sometimes in the assembling or using process, thereby causing unnecessary injury to personnel and property, and the safety and reliability are not ideal enough.

Disclosure of Invention

Based on this, the application provides a mechanical arm, mobile machine and arm's assembly method, aims at preventing that the arm from pressing from both sides the operating personnel or the object in the in-process of equipment or use arm, improves the fail safe nature of personnel's property.

According to a first aspect of the present application, there is provided a robot arm comprising:

a robot arm body, at least a part of which is switchable between a deployed position and a stowed position;

the hand clamping prevention structure is arranged on the mechanical arm main body;

the anti-pinch structure is used for preventing the mechanical arm main body in the unfolding position and/or the folding position from clamping people or objects.

According to a second aspect of the present application, there is provided a movable machine comprising:

a movable body; and

the mechanical arm is arranged on the movable body.

According to a third aspect of the present application, there is provided a method for assembling a robot arm, including:

assembling the first arm, the first connecting rod assembly, the power assembly and the mounting seat;

connecting the driving assembly with the connecting rod connecting piece to obtain a driving intermediate piece;

and penetrating the connecting rod connecting piece of the driving intermediate piece into an installation seat, and penetrating at least part of the connecting rod connecting piece into the first arm to be inserted on a supporting seat, wherein the supporting seat is arranged on the installation seat.

According to a fourth aspect of the present application, there is provided a method for assembling a robot arm, including:

the manual operation piece penetrates through the first arm, the connecting rod connecting piece and the rudder disc and is locked to the driving piece.

The embodiment of the application provides a mechanical arm, a movable machine and an assembling method of the mechanical arm, and the mechanical arm can be prevented from clamping operators or objects in the process of assembling or using the mechanical arm through an anti-pinch structure, so that potential safety hazards in assembling or using the mechanical arm are eliminated, and the safety and reliability of personal belongings are improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic diagram of a mobile machine according to an embodiment of the present disclosure;

FIG. 2 is a partial schematic view of a robotic arm provided in accordance with an embodiment of the present application at an angle;

FIG. 3 is a partial schematic view of a robotic arm provided in accordance with an embodiment of the present application at another angle;

FIG. 4 is a partial schematic view of a robotic arm provided in accordance with an embodiment of the present application at a further angle;

FIG. 5 is an exploded view of a robotic arm provided in accordance with an embodiment of the present application;

FIG. 6 is a partial cross-sectional view of a robotic arm provided in accordance with an embodiment of the present application;

FIG. 7 is an enlarged partial schematic view of FIG. 6 at A;

FIG. 8 is an enlarged partial schematic view of FIG. 6 at B;

FIG. 9 is a schematic structural diagram of a transmission assembly provided in an embodiment of the present application;

FIG. 10 is an exploded schematic view of a drive assembly provided by an embodiment of the present application;

FIG. 11 is a cross-sectional view of a robotic arm provided in an embodiment of the present application, with the mounting portion not shown;

FIG. 12 is a schematic structural diagram of a connecting rod coupling member according to an embodiment of the present application;

FIG. 13 is a cross-sectional view of a robotic arm provided in an embodiment of the present application, with the mounting portion not shown;

FIG. 14 is a schematic structural view of a connecting rod coupling provided in accordance with an embodiment of the present application;

FIG. 15 is an enlarged partial schematic view of FIG. 3 at C;

FIG. 16 is an enlarged partial schematic view of FIG. 4 at D;

FIG. 17 is an enlarged partial schematic view of FIG. 4 at E;

FIG. 18 is an enlarged partial schematic view of FIG. 3 at F;

FIG. 19 is a schematic structural diagram of a mounting base provided in an embodiment of the present application;

FIG. 20 is a schematic view of a portion of a robot arm provided in accordance with an embodiment of the present application;

FIG. 21 is a schematic structural diagram of a manual operation device according to an embodiment of the present application;

fig. 22 is a schematic flow chart illustrating a method for assembling a robot arm according to an embodiment of the present disclosure;

fig. 23 is a schematic flow chart of a robot arm assembling method according to an embodiment of the present disclosure.

Description of reference numerals:

1000. a movable machine;

10. a mechanical arm; 20. a movable body; 30. a rotating wheel; 40. a photographing device;

100. a robot arm main body;

101. a mechanical arm body;

110. a mounting seat; 111. a trough-shaped space; 112. a mounting member; 1121. an installation opening; 113. an assembly member; 114. a base; 1101. a first shielding portion; 1102. a second shielding portion; 1103. a first open mouth; 1104. a second open mouth;

120. a drive arm mechanism; 121. a connecting seat; 122. a drive arm assembly; 1221. a first arm; 12211. perforating holes; 1222. a second arm; 12221. an inclined surface; 123. a connecting rod structure;

130. a first link assembly; 131. a first link; 1311. a first mating surface; 1312. a first movable surface; 1313. a second mating surface; 132. connecting rod connecting pieces; 1321. a connecting rod connecting part; 1322. a confinement structure;

140. a second linkage assembly; 141. a connecting rod connecting piece; 1411. a connecting rod transmission body; 1412. a limiting structure; 1413. an insertion portion; 142. a second link; 1421. a first mating surface; 1422. a second movable surface; 1423. a second mating surface; 150. a third link assembly; 151. a third link; 152. an articulation member; 160. a locking member;

171. a restraining body; 172. a restricting section; 1721. a mating groove; 1722. a first stop surface; 1723. a second stop surface; 181. a limiting part; 1811. an adaptation groove; 1812. a first abutment surface; 1813. a second abutment surface; 182. a connecting rod joint;

102. a drive mechanism; 103. a drive assembly; 1031. a drive member; 1032. a rudder wheel; 104. a power assembly; 1041. a power member; 1042. a transmission kit; 1043. a transmission member; 10431. a first drive sub-assembly; 10432. a second drive sub-assembly; 1044. a buffer member;

105. a supporting seat; 1051. supporting the slot; 106. a manual operating member; 1061. an operation section; 1062. a connecting part;

200. a hand-clamping prevention structure; 210. a first avoidance structure; 211. a first notch portion; 212. a second notch portion;

220. a second avoidance structure; 221. a first avoidance structure; 2211. a first grooved section; 2212. a first channel-shaped portion; 222. a second avoidance structure; 2221. a second grooved section; 2222. a second channel-shaped portion;

230. a third avoidance structure; 231. a recessed portion; 232. a first avoidance gap; 240. a fourth avoidance structure; 241. a wedge portion; 242. a second avoidance gap;

300. a mounting section; 400. a fastener; 500. a shooting frame; 510. a carrier plate.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.

The inventors of the present application have found that during the assembly of a robot arm, an operator often holds or holds a part of the robot arm with a body part, particularly a hand, to facilitate the installation of a part of the robot arm in a predetermined position. The operator is not aware of the situation, and does not timely withdraw, grasp or support the body part, especially the hand part, of a certain part of the mechanical arm, the body part, especially the hand part, and the adjacent parts of the mechanical arm are easy to clamp, so that the danger of accidental clamping injury is caused, and the safety and the reliability are not guaranteed.

Therefore, the inventor of the application provides the mechanical arm, so that the personnel and the property are prevented from being accidentally clamped and injured in the assembling or using process of the mechanical arm, and the safety and the reliability of the mechanical arm are improved.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Referring to FIG. 1, embodiments of the present application provide a mobile machine 1000 that includes a robotic arm 10 and a mobile body 20. The robot arm 10 is provided on the movable body 20. The movable body 20 of the mobile machine 1000 can move, rotate, turn, and the like, and the movable body 20 can drive the mechanical arm 10 to move to different positions or different angles to collect the target object. While the robot arm 10 may also move relative to the movable body 20. Mobile machine 1000 may be a mobile vehicle, unmanned aerial vehicle, unmanned ship, unmanned vehicle, or the like; alternatively, the mobile machine 1000 may be one type of mobile vehicle, unmanned aerial vehicle, unmanned ship, unmanned vehicle, or the like in one form, or another type of mobile vehicle, unmanned aerial vehicle, unmanned ship, unmanned vehicle, or the like in another form. Mobile machine 1000 may also take the form of various robots, robotic animals, machine toys, and the like.

The following description will be given taking an example in which the mobile machine 1000 is an unmanned vehicle. It is to be appreciated that the particular form of mobile machine 1000 is not limited to a ride vehicle, and is not intended to be limiting. The mobile machine 1000 may include a wheel 30, and the rotation of the wheel 30 may move the mobile body 20 and further move the robot arm 10.

Referring to FIG. 2, in some embodiments, the robot 10 includes a robot body 100 and a finger grip prevention structure 200. At least a part of the robot arm body 100 can be switched between the deployed position and the stowed position. The anti-pinch structure 200 is disposed on the robot main body 100. The anti-pinch structure 200 is used to prevent the robot arm body 100 in the deployed position and/or the retracted position from pinching a person or an object, particularly, a hand of an installer.

The utility model provides a manipulator 10 prevents that tong structure 200 can prevent that manipulator 10 from hindering operating personnel or object in the equipment or the in-process clamp that uses manipulator 10 to the potential safety hazard when getting rid of the equipment or using manipulator 10 improves the fail safe nature of personnel's property.

Referring to fig. 2, in some embodiments, the robot main body 100 includes a robot body 101 and a driving mechanism 102. The anti-pinch structure 200 is disposed on the mechanical arm body 101. The driving mechanism 102 is in transmission connection with the robot arm body 101. Specifically, the robot arm body 101 includes a mount 110 and a transmission arm mechanism 120. The drive mechanism 102 is mounted on a mount 110. The anti-pinch structure 200 is disposed on the mounting seat 110 and/or the actuator arm mechanism 120, and is used for preventing the mounting seat 110 and/or the actuator arm mechanism 120 from pinching the hand or object of the operator when the actuator arm mechanism 120 is in the extended position and/or the retracted position.

The driving mechanism 102 is in driving connection with the driving arm mechanism 120, and is used for driving the driving arm mechanism 120 to move, so that the driving arm mechanism 120 is switched between the unfolding position and the folding position. Specifically, the driving mechanism 102 can drive the driving arm mechanism 120 to switch between the deployed position and the stowed position, so that the driving arm mechanism 120 can take up or place the target object when in the deployed position; in the retracted position, the movable body 20 facilitates movement of the robotic arm 10 to different positions or different angles. It will be appreciated that the deployed position may have one or more positions, and that the actuator arm mechanism 120 may be placed in the appropriate deployed position to pick up or place the target item, depending on the actual requirements. In addition, the deployed position may also be any other position of the actuator arm mechanism 120 besides the stowed position, that is, the actuator arm mechanism 120 may be a pickup position where the target object is picked up or placed, or may be any intermediate position in the process of switching the actuator arm mechanism 120 from the stowed position to the pickup position.

Referring to fig. 2-5, in some embodiments, the driving mechanism 102 includes a driving assembly 103 and a power assembly 104. The driving assembly 103 is in transmission connection with the mechanical arm body 101, and the driving assembly 103 is mounted on the mounting base 110. The power assembly 104 is in transmission connection with the robot arm body 101. The power assembly 104 is mounted on a mount 110. Both the driving assembly 103 and the power assembly 104 are drivingly connected to the actuator arm mechanism 120, i.e., the actuator arm mechanism 120 is driven by the driving assembly 103 and the power assembly 104 to switch between the deployed position and the stowed position.

It is understood that in other embodiments, only one of the driving assembly 103 and the power assembly 104 may be provided according to actual requirements, and is not limited herein.

Referring to fig. 2 to 5, in some embodiments, the driving arm mechanism 120 includes a connecting seat 121, a driving arm assembly 122 and a connecting rod structure 123. Drive mechanism 102 and connecting base 121 are both connected to drive arm assembly 122. The driving mechanism 102 is in transmission connection with the connecting seat 121 through the connecting rod structure 123 and the transmission arm assembly 122. Referring to fig. 5, the robot arm 10 further includes a carrying portion 300 for carrying a target item. The mounting unit 300 is connected to the robot arm body 101. Specifically, the mounting portion 300 is connected to the connection holder 121. When the actuator arm mechanism 120 is located at a proper deployment position, the mounting portion 300 can pick up a target item or place the target item to a preset placement position. The target item can be mounted on the mounting portion 300 and can move in accordance with the movement of the robot arm 10.

Specifically, the driving assembly 103 is in driving connection with the link structure 123. The power assembly 104 is drivingly connected to the drive arm assembly 122. The connecting rod structure 123 and the transmission arm assembly 122 are both connected with the connecting seat 121. The driving assembly 103 and the power assembly 104 may operate simultaneously or one of them may operate to drive the driving arm mechanism 120 to move, so as to drive the carrying portion 300 connected to the driving arm mechanism 120 to move. Namely, the driving assembly 103 can drive the connecting rod structure 123 to move; and/or the power assembly 104 can drive the transmission arm assembly 122 to move, thereby driving the carrying part 300 connected to the connecting seat 121 to move to a proper position.

Referring to fig. 5, 6 and 7, in some embodiments, the drive assembly 103 includes a driver 1031 and a rudder plate 1032. The actuator 1031 is mounted on the mounting base 110. It will be appreciated that the driving member 1031 can be mounted on the mounting seat 110 by any suitable mounting method according to actual requirements, such as mounting the driving member 1031 on the mounting seat 110 by using a stud or a screw. The driver 1031 is drivingly connected to the link arrangement 123 via a rudder plate 1032. The drive member 1031 may be any suitable drive device, such as a motor or steering engine.

Referring to fig. 5, 6 and 8, in some embodiments, the power assembly 104 includes a power member 1041 and a transmission sleeve 1042. Drive sleeve 1042 is connected to power member 1041 and drive arm mechanism 120. The power member 1041 may be mounted on the mounting base 110 by any suitable mounting method according to actual requirements, for example, the power member 1041 is mounted on the mounting base 110 by screws. The power member 1041 may be any suitable power device, such as an electric motor or a steering engine.

The drive sleeve 1042 can be designed in any suitable drive configuration. For example, the drive sleeve 1042 is a rudder disk. For another example, referring to fig. 8, 9 and 10, the transmission set 1042 includes a transmission member 1043 and a buffer member 1044. The power member 1041 is in transmission connection with the transmission arm assembly 122 through a transmission member 1043. Specifically, the power member 1041 is drivingly connected to the first arm 1221 through the transmission member 1043. The buffer 1044 is disposed on the transmission member 1043. When the mechanical arm 10 is impacted, the buffer 1044 can absorb impact force generated to the driving mechanism 102, especially the power element 1041, when the mechanical arm 10 is impacted, so that the driving mechanism 102, especially the power element 1041, is prevented from being damaged, impact of impact to the driving mechanism 102, especially the power element 1041, is effectively reduced, stability and reliability of the driving mechanism 102 or the power element 1041 are greatly improved, and service life of the driving mechanism 102 or the power element 1041 is prolonged.

Referring to fig. 10 in conjunction with fig. 9, in some embodiments, the transmission member 1043 includes a first transmission member 10431 and a second transmission member 10432. The first transmission member 10431 is connected to the power member 1041. The second drive sub 10432 is connected to the drive arm assembly 122. Specifically, the second drive sub 10432 is connected to the first arm 1221. The buffer 1044 is disposed between the first transmission sub-element 10431 and the second transmission sub-element 10432. The first transmission sub-element 10431 and the second transmission sub-element 10432 are tightly fitted with the buffer element 1044, so that the buffer element 1044 can absorb impact force caused when the mechanical arm 10 is impacted by external force, and impact of the impact on the power element 1041 is reduced.

The cushion 1044 may be made of any suitable material, for example, a material with a cushion function, such as silica gel, foam, or soft gel. When the mechanical arm 10 is impacted, the buffer 1044 can deform by itself to effectively absorb the impact force, thereby ensuring the stability and reliability of the driving mechanism 102 or the power element 1041 and prolonging the service life thereof. The buffering member 1044, the first transmission sub-member 10431 and the second transmission sub-member 10432 may be designed in any suitable shape or structure according to practical requirements, which is not limited to the structure or shape in fig. 10.

Referring again to fig. 2-6, in some embodiments, the actuator arm assembly 122 includes a first arm 1221 and a second arm 1222. The first arm 1221 is drivingly connected to the drive mechanism 102, and the first arm 1221 is connected to the link structure 123. The second arm 1222 is connected to the first arm 1221 and the connecting seat 121, and the second arm 1222 is movably connected to the first arm 1221.

Referring again to fig. 6 and 8, in some embodiments, the robot arm body 100 further includes a fastener 400. The fastener 400 penetrates through the transmission arm assembly 122 and the transmission sleeve 1042 to be connected with the power element 1041, so as to lock and fix the transmission sleeve 1042 and the power element 1041. Specifically, the fastener 400 penetrates through the first arm 1221, the second transmission sub-element 10432, the buffering member 1044, and the first transmission sub-element 10431 to be locked on the power element 1041. The fastener 400 may be any suitable fastening structure, such as a screw or the like.

Referring to fig. 8 again, in conjunction with fig. 2, more specifically, the first arm 1221 is provided with a through hole 12211. When mounted, the first arm 1221 is connected to the first arm 1221 by any suitable connection structure, such as screws. The fastener 400 passes from a first side of the first arm 1221 through the through-hole 12211 to a second side of the first arm 1221. The first side of the first arm 1221 is disposed opposite to the second side of the first arm 1221, and the second side of the first arm 1221 is disposed toward the power member 1041. After the fastener 400 reaches the second side of the first arm 1221, the fastener 400 sequentially penetrates through the second transmission sub-element 10432, the buffer member 1044, the first transmission sub-element 10431 and the output shaft of the power element 1041, so that the second transmission sub-element 10432, the buffer member 1044, the first transmission sub-element 10431 and the power element 1041 are locked and fixed.

Referring again to fig. 2-5, it can be appreciated that the linkage structure 123 includes a first linkage assembly 130, a second linkage assembly 140, and a third linkage assembly 150. The first link assembly 130 is coupled to the mount 110. The drive assembly 103 is drivingly connected to the second arm 1222 via the second linkage assembly 140. The second arm 1222 and the first link assembly 130 are each drivingly connected to the third link assembly 150.

Referring to fig. 2 to 5, in some embodiments, the link structure 123 further includes a locking member 160. The locking member 160 penetrates the third link assembly 150, the first arm 1221, and the second arm 1222 to fix the third link assembly 150, the first arm 1221, and the second arm 1222. It will be appreciated that the first arm 1221 is movably connected to the second arm 1222 via the locking member 160. Illustratively, the locking member 160 may include a locking rod body and a locking screw. After the locking rod body penetrates through the third connecting rod assembly 150, the first arm 1221 and the second arm 1222, the locking screw is locked at one end of the locking rod body, so that the assembly connection of the third connecting rod assembly 150, the first arm 1221 and the second arm 1222 is realized. After the third link assembly 150, the first arm 1221 and the second arm 1222 are connected, the first arm 1221 and the second arm 1222 are movably connected, and the third link assembly 150 and the first link assembly 130 are movably connected.

It will be appreciated that the first and

second arms

1221, 1222 may be connected by any movable connection. For example, the first arm 1221 is movably connected to the second arm 1222 via the locking member 160. The locking member 160 may include a first rod and a screw.

Referring to fig. 11 in conjunction with fig. 5, in some embodiments, the first link assembly 130 includes a first link 131 and a link connector 132. One end of the first link 131 is connected to the mounting base 110, and the other end of the first link 131 is connected to the third link assembly 150. The first link 131 is connected to the mount 110 by a link connector 132. The first link 131 and the link connector 132 may be integrally formed and connected or may be separately provided. When the first connecting rod 131 and the connecting rod connecting member 132 are separately disposed, the first connecting rod 131 may be connected to the connecting rod connecting member 132 by a connecting member such as a screw. The connecting rod connecting member 132 is fixed to the mounting base 110 by other connecting members such as screws.

It is understood that in other embodiments, the link connector 132 may be omitted and the first link 131 is directly connected to the mounting base 110.

Referring to fig. 12, in some embodiments, the connecting rod connecting member 132 has a connecting rod connecting portion 1321 and a limiting structure 1322. The link connection portion 1321 is movably connected to the first link 131. The limiting structure 1322 is connected to the connecting rod connecting portion 1321, and is configured to limit the movement of the first connecting rod 131, so that the first arm 1221 moves in a first predetermined angle range with respect to the predetermined plane. The preset plane can be selected according to actual requirements, for example, the horizontal plane of the unmanned vehicle when the unmanned vehicle drives on the ground.

Referring to fig. 12 in conjunction with fig. 11, in some embodiments, the limiting structure 1322 includes a limiting body 171 and a limiting portion 172. The restricting body 171 is connected to the link connecting portion 1321. The regulating portion 172 is provided on the regulating body 171. Specifically, the link connecting portion 1321 and the limiting portion 172 cooperate to form a moving space to avoid the first link 131, so that the first arm 1221 moves in the first moving angle range with respect to the preset plane. The active space communicates with the mating groove 1721. The first movable surface 1312 can rotate in the fitting groove 1721.

Referring to fig. 12, in some embodiments, the restriction 172 includes a mating groove 1721, a first stop surface 1722, and a second stop surface 1723. At least a portion of the first link 131 is disposed on the fitting groove 1721. The first stopper surface 1722 is provided at one end of a groove wall of the fitting groove 1721. The second stopper surface 1723 is provided at the other end of the groove wall of the fitting groove 1721. The second stop surface 1723 cooperates with the first stop surface 1722 to limit the movement of the first link 131, so as to limit the movement of the first arm 1221 within a first movable angle range relative to a preset plane.

Referring to fig. 11, in some embodiments, the first connecting rod 131 includes a first mating surface 1311, a first movable surface 1312, and a second mating surface 1313. The first mating surface 1311 and the second mating surface 1313 are connected to opposite sides of the first movable surface 1312. First mating surface 1311 mates with first stop surface 1722. The first movable surface 1312 is fitted into the fitting groove 1721. Second mating surface 1313 mates with second stop surface 1723. When first link rod 131 rotates relative to limiting portion 172 toward first stop surface 1722 until first mating surface 1311 abuts first stop surface 1722, first stop surface 1722 can prevent first link rod 131 from continuing to rotate toward first stop surface 1722. When first link 131 rotates relative to limiting portion 172 toward second stop surface 1723 until second mating surface 1313 abuts second stop surface 1723, second stop surface 1723 can prevent first link 131 from continuing to rotate toward second stop surface 1723. Therefore, the limiting portion 172 can limit the movement of the first link 131 between the two limit positions and the two limit positions, thereby limiting the movement of the first link 131. Due to the opposite side relationship of the parallelogram between the first link 131 and the first arm 1221, when the first link 131 contacts the first stopping surface 1722 and the second stopping surface 1723 of the limiting portion 172, the first link 131 is locked in motion, so that the first arm 1221 is limited from moving in the first movable angle range relative to the predetermined plane.

The first stop surface 1722, the bottom wall of the mating groove 1721, and the second stop surface 1723 can be any suitably shaped surfaces. Illustratively, the bottom wall of the mating slot 1721 is an arcuate surface. The first and second stop surfaces 1722, 1723 are sloped. The first and second stop surfaces 1722 and 1723 are each inclined from a side facing away from the mating groove 1721 toward a side near the mating groove 1721 toward the mating groove 1721. The first and second stop surfaces 1722, 1723 are disposed at an angle. The included angle between the first and second stop surfaces 1722, 1723 is 30 ° -150 °, i.e., any one of 30 °, 50 °, 80 °, 100 °, 120 °, 150 °, and 30 ° -150 °.

It is to be understood that the link connecting member 132 and the link connecting member 141 are not limited to the structures of the above-described embodiments, but may be any other suitable structures.

Referring to fig. 13, in some embodiments, the second link assembly 140 includes a link connector 141 and a second link 142. One end of the connecting rod connecting piece 141 is in transmission connection with the driving component 103. One end of the second link 142 is drivingly connected to the other end of the link connector 141, and the other end of the second link 142 is drivingly connected to the second arm 1222. The second link 142 may be integrally formed with the link connector 141 or may be provided separately. When the second link 142 and the link connector 141 are separately provided, the second link 142 may be connected to the second link 142 by a connector such as a screw. The connecting rod connecting piece 141 is fixed on the steering engine of the driving component 103 through connecting pieces such as other screws.

Referring to fig. 14 in conjunction with fig. 13, in some embodiments, the connecting rod connecting element 141 has a connecting rod transmission body 1411 and a limiting structure 1412. The link transmission body 1411 is in transmission connection with the driving assembly 103. The limiting structure 1412 is connected to the link transmission body 1411 and the second link 142, and is used for limiting the movement of the second link 142, so that the second arm 1222 can move in a second preset movement angle range relative to the second link 142.

Referring to fig. 14, in some embodiments, the position-limiting structure 1412 includes a position-limiting portion 181. The limiting portion 181 cooperates with the second link 142 to limit the movement of the second link 142. The limiting portion 181 is connected to one end of the link transmission body 1411. The stop structure 1412 also includes a link engaging portion 182. The connecting rod coupling portion 182 is disposed on the limiting portion 181. The link coupling portion 182 is movably connected to the second link 142.

In some embodiments, the link coupling portion 182 and the limiting portion 181 cooperate to form a movement space to avoid the second link 142, so that the second arm 1222 moves in a second movement angle range relative to the second link 142.

Referring to fig. 14, in some embodiments, the limiting portion 181 includes an adapting groove 1811, a first resisting surface 1812 and a second resisting surface 1813. At least a portion of the second link 142 is disposed on the adapter slot 1811. The first abutting surface 1812 is disposed at one end of a groove wall of the fitting groove 1811. The second abutting surface 1813 is provided at the other end of the groove wall of the fitting groove 1811. Since the connecting rod connecting member 141 and the second connecting rod 142 are connected in series, the limiting portion 181 can realize angular limitation between the connecting rod connecting member 141 and the second connecting rod 142. Based on the parallelogram principle, when the second link 142 contacts with the first resisting surface 1812 and the second resisting surface 1813 of the limiting portion 181, a movement lock is formed, so as to limit the second arm 1222 to move in a second preset movement angle range relative to the second link 142.

Referring to fig. 13, in some embodiments, the second link 142 includes a first adapting surface 1421, a second movable surface 1422 and a second adapting surface 1423. The first and second

fitting surfaces

1421 and 1423 are connected to opposite sides of the second movable surface 1422. The first fitting surface 1421 cooperates with the first resisting surface 1812. The second movable surface 1422 is engaged with the fitting groove 1811. The second fitting surface 1423 is engaged with the second resisting surface 1813. When the second link 142 rotates towards the first abutting surface 1812 relative to the limiting portion 181 until the first adapting surface 1421 abuts against the first abutting surface 1812, the first abutting surface 1812 can prevent the second link 142 from continuing to rotate towards the first abutting surface 1812. When the second link 142 rotates towards the second resisting surface 1813 relative to the limiting portion 181 until the second adapting surface 1423 abuts against the second resisting surface 1813, the second resisting surface 1813 can prevent the second link 142 from continuing to rotate towards the second resisting surface 1813. Thus, the first and second abutting

surfaces

1812 and 1813 can limit the movement of the second link 142 between the two extreme positions, thereby limiting the movement of the second arm 1222 relative to the second link 142 in the second movable angular range.

The first abutting surface 1812, the bottom wall of the fitting groove 1811 and the second abutting surface 1813 may be any suitably shaped surfaces. Illustratively, the bottom wall of the fitting groove 1811 is an arcuate surface. The first abutting surface 1812 and the second abutting surface 1813 are both inclined surfaces. The first abutting surface 1812 and the second abutting surface 1813 are inclined from a side away from the fitting groove 1721 toward a side close to the fitting groove 1721 toward the fitting groove 1721. The first abutting surface 1812 and the second abutting surface 1813 form an included angle. The included angle between the first resisting surface 1812 and the second resisting surface 1813 is 30-150 degrees, namely any one of angles between 30 degrees, 50 degrees, 80 degrees, 100 degrees, 120 degrees, 150 degrees and 30-150 degrees.

Referring to fig. 3 and 5, in some embodiments, the third link assembly 150 includes a third link 151 and a hinge 152. One end of the third link 151 is connected to the connection seat 121. One end of the third link 151 is connected to the connection seat 121. The first arm 1221 is movably connected to the second arm 1222 by a locking member 160. The first link 131 is drivingly connected to the third link 151 via a hinge 152. The locking member 160 is disposed through the hinge 152, the first arm 1221, and the second arm 1222 to allow the first arm 1221 to be hinged to the second arm 1222. Specifically, hinge 152 has a first portion, a second portion, and a third portion. The first portion is connected to the first link 131. A locking member 160 extends through the second portion, the first arm 1221 and the second arm 1222 to connect the first arm 1221, the second arm 1222 and the hinge 152. The third portion is connected to the third link 151.

Referring to fig. 15 and 16 in conjunction with fig. 3 and 4, in some embodiments, the anti-pinch structure 200 includes a first avoidance structure 210 for preventing the first arm 1221 and/or the second arm 1222 from accidentally pinching a person or property, thereby improving the safety of the robot arm 10. The first bypass structure 210 is formed by the mating of the first and

second arms

1221, 1222. Specifically, the first avoidance structure 210 includes a first notched portion 211. The first notch 211 is provided in the first arm 1221. Specifically, the first notch 211 is disposed at an end of the first arm 1221 away from the mounting base 110. Compared with the situation that the first notch portion 211 is not arranged, the first avoidance structure 210 according to the embodiment of the present application can increase the gap between the first arm 1221 and the second arm 1222, that is, the first notch portion 211 can avoid people or property, so as to avoid or reduce the risk of accidental pinching of the people and the property by the first arm 1221 and the second arm 1222, and improve the safety of the robot arm 10.

Referring to fig. 15 and 16, in combination with fig. 3 and 4, in some embodiments, the first avoiding structure 210 further includes a second notched portion 212, the second notched portion 212 is disposed on the second arm 1222, and the first notched portion 211 and the second notched portion 212 cooperate to avoid each other. Specifically, when a person or property is mistakenly inserted between the first arm 1221 and the second arm 1222 due to an improper operation or the like, that is, the person or property is interposed between the first arm 1221 and the second arm 1222, the gap between the first arm 1221 and the second arm 1222 can be increased by the first notch portion 211 and the second notch portion 212, and the person or property can be avoided by the first notch portion 211 and/or the second notch portion 212, so that the risk of accidental pinching of the person or property by the first arm 1221 and/or the second arm 1222 is avoided or reduced, and the use safety of the robot arm 10 is further improved.

In order to prevent personal belongings from being injured by contacting the first cutout portion 211 and/or the second cutout portion 212, the wall surface of the first cutout portion 211 and/or the wall surface of the second cutout portion 212 are smooth transition surfaces.

The number of the first and second notched

portions

211 and 212 may be designed according to actual requirements. Illustratively, the number of the first and

second notch portions

211 and 212 is two, and the two first notch portions 211 are oppositely disposed at both sides of the end portion of the first arm 1221. The two second notch portions 212 are oppositely disposed on opposite sides of the second arm 1222, so that the operator can grip or support the second arm 1222 and prevent personal belongings from being pinched by the second arm 1222. One of the first notch portions 211 and one of the second notch portions 212 cooperate to form a first relief structure 210. The other first notch portion 211 and the other second notch portion 212 cooperate to form another first avoidance structure 210.

Referring to fig. 16 in conjunction with fig. 15 and 4, in some embodiments, the anti-pinch structure 200 further includes a second avoidance structure 220 for preventing at least one of the third link assembly 150, the second link assembly 140, the first link assembly 130 and the second arm 1222 from accidentally pinching the property of the person, thereby further improving the safety and reliability of the robot arm 10. The second avoidance structure 220 is cooperatively formed by the third link assembly 150, the second link assembly 140, the first link assembly 130, and the second arm 1222.

Referring to fig. 16 in conjunction with fig. 15 and 4, in some embodiments, the second avoidance structure 220 includes a first avoidance formation 221 and a second avoidance formation 222. The first bypass feature 221 is formed by the second linkage assembly 140 in cooperation with the second arm 1222. Specifically, the second link 142 and the second arm 1222 cooperate to form the first escape configuration 221, thereby preventing a person or property from accidentally entering between the second link 142 and the second arm 1222 and being pinched by the second link 142 and/or the second arm 1222.

Referring to fig. 16 in conjunction with fig. 4, in some embodiments, the first avoidance formation 221 includes a first slot portion 2211 and a first slot portion 2212. The first slot-shaped portion 2212 cooperates with the first slot-shaped portion 2211 to avoid. The first slotted portion 2211 is provided on the second arm 1222. The first slot 2212 is provided on the second link assembly 140. Specifically, the first groove 2212 is provided on the second link 142. When a person or property mistakenly enters the space between the second link 142 and the second arm 1222 due to misoperation or the like, that is, the person or property is clamped between the second link 142 and the second arm 1222, the first slotted portion 2211 and/or the first slotted portion 2212 can increase the gap between the second link 142 and the second arm 1222 to avoid the person or property, so that the risk of accidental clamping damage of the person or property by the second link 142 and/or the second arm 1222 is reduced, and the use safety of the mechanical arm 10 is further improved. In other embodiments, only one of the first slot 2211 and the first slot 2212 may be provided, which is not limited herein.

Referring to fig. 16 in conjunction with fig. 4, for example, the first slot 2212 may be formed by bending one end of the second link 142 from the body of the second link 142 toward the first arm 1221. Illustratively, the first slotted portion 2211 and the second notched portion 212 are disposed at intervals along the length extension direction of the second arm 1222. The second gap portion 212 is disposed between the connection holder 121 and the first slot portion 2211.

Referring to fig. 16, in conjunction with fig. 4, the second avoidance structure 222 is disposed opposite to the first avoidance structure 221. The second bypass configuration 222 is formed by the first link assembly 130 in cooperation with the third link assembly 150. Specifically, first link 131 and hinge 152 cooperate to form a second bypass feature 222, thereby preventing a person or property from accidentally entering between first link 131 and hinge 152 and being pinched by first link 131 and/or hinge 152.

Referring to fig. 15 and 16 in conjunction with fig. 4, in some embodiments, the second avoidance structure 222 includes a second grooved portion 2221 and a second grooved portion 2222. The second groove 2222 and the second groove 2221 are matched to avoid each other. The second slot portion 2221 is provided on the third link assembly 150. The second groove 2222 is provided on the first link assembly 130. Specifically, the second slot 2221 is provided on the hinge 152. The second groove 2222 is provided on the first link 131. When a person or property is mistakenly inserted between the first link 131 and the hinge 152 due to misoperation or the like, that is, the person or property is clamped between the first link 131 and the hinge 152, the second slot 2221 and/or the second slot 2222 can increase the gap between the first link 131 and the hinge 152 to avoid the person or property. Thereby reducing the risk of accidental pinching of personal belongings by first link 131 and/or hinge 152.

Referring to fig. 15 and 16 in conjunction with fig. 4, for example, the second groove 2222 may be formed by bending one end of the first link 131 from the body of the first link 131 toward the first arm 1221. In order to prevent injury to the personal belongings due to contact with the second groove 2221 and/or the second groove 2222, the wall surface of the second groove 2221 and/or the wall surface of the second groove 2222 are smoothly transitioned.

Referring to fig. 17 in conjunction with fig. 4, in some embodiments, the anti-pinch structure 200 further includes a third avoiding structure 230 for preventing people or property from being accidentally pinched by the mounting base 110 and/or the second link assembly 140, thereby further improving the safety and reliability of the robot arm 10. The third avoidance structure 230 is formed by the cooperation of the mount 110 and the second link assembly 140.

Referring to fig. 17 in conjunction with fig. 4, in some embodiments, the third avoiding structure 230 includes a recess 231 and a first avoiding gap 232. The recess 231 is provided on the second link assembly 140. The first avoiding gap 232 is disposed on the mounting base 110, and the first avoiding gap 232 and the recess 231 are matched to avoid each other. Specifically, the recess 231 is provided on the link connector 141. The arrangement of the recess 231 and the first avoiding gap 232 can prevent the connecting rod connecting member 141 and/or the mounting seat 110 from injuring people or property during the assembling process of the mechanical arm 10.

Referring to fig. 17 in conjunction with fig. 4, in some embodiments, the mounting base 110 has a mounting base body and a first shielding portion 1101. The mount body is used to mount the driving mechanism 102, and can be connected to the movable body 20. The first shielding portion 1101 is matched with the mounting seat body to form a first avoiding gap 232. In the process of assembling or using the robot arm 10, when the deployed position and the stowed position of the robot arm 10 are switched, the first shielding portion 1101 can shield most of the link connecting members 141, so that an operator or property is prevented from entering the gap between the mounting base 110 and the link connecting members 141 by mistake and being damaged by pinching, and the safety and reliability of the robot arm 10 are further improved.

Referring to fig. 18 in conjunction with fig. 3, in some embodiments, the anti-pinch structure 200 further includes a fourth avoidance structure 240 for preventing people or property from being accidentally pinched by the mounting base 110 and the first link assembly 130, thereby further improving the safety and reliability of the robot arm 10. The fourth bypass structure 240 is formed by the cooperation of the mount 110 and the first link assembly 130. The fourth avoidance structure 240 includes a wedge portion 241 and a second avoidance gap 242. The wedge 241 is provided on the first link assembly 130. The second avoiding gap 242 is disposed on the mounting base 110, and the second avoiding gap 242 and the wedge portion 241 are matched to avoid each other. Specifically, the wedge 241 is provided on the first link 131. The second avoiding gap 242 and the wedge 241 are disposed to prevent the first link 131 and/or the mounting base 110 from injuring people or property during the assembling process of the robot arm 10.

Referring to fig. 18 in conjunction with fig. 3, in some embodiments, the mounting base 110 further has a second shielding portion 1102. The second shielding portion 1102 is matched with the mounting seat body to form a second avoiding gap 242. In the process of assembling or using the robot arm 10, when the deployed position and the retracted position of the robot arm 10 are switched, the second shielding portion 1102 can shield part of the first link 131, so that an operator or property is prevented from entering the gap between the mounting base 110 and the link connecting member 141 by mistake and being damaged by clamping, and the safety and reliability of the robot arm 10 are further improved.

The first movable angle range and the second movable angle range can be designed according to actual requirements. To further ensure that the robotic arm 10 pinches a person or property, the first range of angles of motion is 22 ° -92 ° (including 22 ° and 92 °). The second range of motion angles is 45 deg. -135 deg. (including 45 deg. and 135 deg.). In the angle range of the first and second movable angle ranges, at least one of the first avoidance structure 210, the second avoidance structure 220, the third avoidance structure 230, and the fourth avoidance structure 240 may have a sufficient gap to satisfy free movement of the hand of the operator, so that the operator may not be injured by the mounting base 110 and/or the driving arm mechanism 120 even if the hand of the operator accidentally enters the gap during the process of assembling or using the robot arm 10, thereby ensuring safety and reliability of the robot arm 10.

When the mechanical arm 10 of the embodiment moves to the extreme position, the anti-pinch structure 200 and/or the angle limiting structure are/is arranged, so that the mechanical arm 10 can meet the free movement of the hand of an operator at each extreme position, the risk of pinching people or properties is avoided, and the safety and reliability of the mechanical arm 10 are improved.

Referring to fig. 19 in conjunction with fig. 2, in some embodiments, mounting base 110 has a channel space 111, and at least a portion of actuator arm assembly 122 and at least a portion of linkage structure 123 are located within channel space 111. Specifically, the link connector 132, at least a portion of the link connector 141, and at least a portion of the first arm 1221 are positioned within the slot-shaped space 111. The power member 1041 and the driving member 1031 are installed outside the slot-shaped space 111.

Referring to fig. 19 in conjunction with fig. 4 and 13, in some embodiments, mount 110 includes a mounting member 112. Drive assembly 103 is mounted to mounting member 112, and actuator arm mechanism 120 and at least a portion of drive assembly 103 are disposed on opposite sides of mounting member 112. In particular, the first arm 1221 and at least part of the actuation member 1031 are provided on both sides of the mounting member 112. The mounting member 112 is provided with a mounting opening 1121, and at least a portion of the driving assembly 103 is inserted through the mounting opening 1121 to be connected to the driving arm mechanism 120. The rudder plate 1032 and the first arm 1221 are both connected to the link connection 141. In some embodiments, the rudder plate 1032 and the link connection 141 may be threaded into the slot space 111 from the mounting opening 1121 to connect with the first arm 1221.

Wherein the actuating member 1031 is mounted to the mounting member 112. In particular, the rudder plate 1032 is fixed to the driver 1031, the rudder plate 1032 is connected to the link connection 141, and the driver 1031 is fixedly mounted to the mounting member 112. Illustratively, at least part of the rudder plate 1032 and at least part of the driver 1031 are provided on either side of the mounting member 112.

Referring to fig. 19 in conjunction with fig. 3 and 11, in some embodiments, mount 110 includes a fitting 113. The power assembly 104 is mounted on a mount 113. Specifically, the power member 1041 is mounted on the fitting member 113. The power member 1041 is drivingly connected to the first arm 1221 via the driving sleeve 1042.

Referring to fig. 6 and 8, in some embodiments, at least a portion of the transmission sleeve 1042 and at least a portion of the power member 1041 are disposed on both sides of the assembly 113.

Referring to fig. 6 and 8, in some embodiments, actuator arm mechanism 120 and at least a portion of power assembly 104 are disposed on opposite sides of mounting member 113. Specifically, the first arm 1221 and at least a portion of the power member 1041 are disposed on both sides of the fitting 113. Specifically, the second transmission element 10432, the buffering element 1044, the at least first transmission element 10431 and at least part of the first arm 1221 are located in the slot-shaped space 111, and at least part of the power element 1041 is located outside the slot-shaped space 111.

Referring to fig. 19, in some embodiments, the mounting base 110 further includes a base 114. Both the mounting member 112 and the fitting member 113 are connected to the base 114. The base 114 can also be mounted on the movable body 20. The mounting member 112, fitting 113 and base 114 cooperate to form a channel space 111.

Referring to fig. 19, in some embodiments, the mounting member 112 and the mounting member 113 are disposed opposite to each other on the base 114. The mounting member 112 and the fitting 113 are spaced on opposite sides of the base 114, the mounting member 112 and the fitting 113 cooperate to form a channel space 111, a first opening 1103 and two second openings 1104, and the first opening 1103 and the second openings 1104 are both in communication with the channel space 111. The first opening 1103 is provided on a side of the mounting member 112 away from the base 114. The two second openings 1104 are oppositely disposed on the other two opposite sides of the base 114.

The first opening 1103 allows at least one of the first arm 1221, the first link assembly 130, and the second link assembly 140 to move within a designed track range, and allows an operator's hand or other auxiliary tools to enter the slotted space 111 through the first opening 1103 to assemble at least one of the first arm 1221, the first link assembly, and the second link assembly 140, which is convenient for assembly, improves installation friendliness, and increases user experience.

The second opening 1104 can allow a hand of an operator or other auxiliary tools to enter the slotted space 111 from the second opening 1104 to assemble and connect at least one of the first arm 1221, the first connecting assembly and the second connecting assembly 140, so that assembly is facilitated, installation friendliness is improved, and installation experience of a user is improved.

Referring to fig. 2 to 7, the mechanical arm main body 100 further includes a support seat 105 for supporting at least a portion of the transmission arm assembly 122 and at least a portion of the link structure 123, so as to realize double-end support for the power member 1041 and the driving member 1031, so that the power member 1041 and the driving member 1031 are uniformly stressed, the stability of the power member 1041 and the driving member 1031 is improved, and the service lives of the power member 1041 and the driving member 1031 are prolonged. The support base 105 is disposed on the mounting base 110.

Referring to fig. 6 and 7, at least a portion of the connecting rod structure 123 and at least a portion of the connecting rod structure 123 are directly or indirectly connected to the supporting base 105. Specifically, the link connection 141 and the first arm 1221 are both directly or indirectly connected to the support base 105. The direct or indirect connection mode can be selected according to actual requirements. For example, the link connector 141 is installed on the support base 105 by passing through the first arm 1221. When the connecting rod 141 is fixed to the driving assembly 103 and supported on the supporting seat 105, the connecting rod 141 can also support the first arm 1221, so that the forces of the power member 1041 and the driving member 1031 are uniformly distributed. The mechanical arm 10 of the embodiment of the application has the advantages of being even in stress distribution, simple in structure, capable of improving installation friendliness, convenient to assemble and capable of increasing installation experience of users. Of course, in other embodiments, an auxiliary connector such as a screw is inserted into the support base 105 to fix the first arm 1221 and the link connector 141 relative to each other, thereby supporting the first arm 1221 and the link connector 141.

Specifically, power component 104 and the one end fixed connection of first arm 1221, the other one end of first arm 1221 supports through connecting rod connecting piece 141 to the realization supports the bi-polar of power piece 1041, makes power piece 1041 atress distribute evenly, has improved power piece 1041's stability, and has prolonged power piece 1041's life. Connecting rod connecting piece 141 is connected with driving piece 1031 through steering wheel 1032, has fixed one end in other words, and other one end is then supported through supporting seat 105 for driving piece 1031 atress distributes evenly, thereby realizes supporting driving piece 1031's bi-polar, has improved driving piece 1031's stability, and has prolonged driving piece 1031's life.

Referring to fig. 6, in some embodiments, the mounting member 112, the support base 105, and the mounting member 113 are sequentially spaced apart from one another on the base 114. The mounting member 112 is spaced apart from the support base 105 to provide a mounting space for the first arm 1221, the link connector 141 and the rudder plate 1032.

Referring to fig. 5 to 7, in some embodiments, the supporting base 105 is provided with a supporting slot 1051, and the connecting rod connecting member 141 penetrates through the first arm 1221 and is partially inserted into the supporting slot 1051, so as to support the first arm 1221 and the connecting rod connecting member 141. When assembling the first arm 1221, the connecting rod connecting piece 141 and the supporting base 105, the assembling among the three can be completed only by penetrating the connecting rod connecting piece 141 through the first arm 1221 and inserting the connecting rod connecting piece into the supporting slot 1051, and the assembling is convenient.

Referring to fig. 7 and 14, in some embodiments, the connecting rod connecting member 141 further includes an inserting portion 1413. The inserting portion 1413 is arranged on one side, away from the driving assembly 103, of the connecting rod transmission body 1411, and the inserting portion 1413 penetrates through the first arm 1221 and is inserted into the supporting slot 1051. The support slot 1051 cooperates with the insertion portion 1413 to support the first arm 1221 and the link transmission body 1411. The shapes of the inserting portion 1413 and the supporting slot 1051 can be designed according to actual requirements, for example, the inserting portion 1413 is cylindrical, and the supporting slot 1051 is a circular slot.

In some embodiments, the inserting portion 1413, the connecting rod transmission body 1411 and the limiting structure 1412 may be integrally formed, so as to reduce the assembling process of the mechanical arm 10 and improve the assembling efficiency of the mechanical arm 10. Of course, in other embodiments, at least two of the insertion portion 1413, the link transmission body 1411, and the limit structure 1412 may be separately provided.

In some embodiments, the supporting base 105 and the base 114 are separately disposed and can be connected and fixed by a connecting member such as a screw, so that when the robot arm 10 is not needed, each part of the robot arm 10 can be detached, thereby facilitating storage and reducing storage space. Of course, in other embodiments, the supporting base 105 and the base 114 can be integrally formed.

Referring to fig. 2-5, in some embodiments, the robotic arm 10 further includes a camera rig 500. The photographing bracket 500 is provided on the second arm 1222 to carry the photographing apparatus 40. The photographing apparatus 40 may be a device such as a camera having an image or video acquisition function. The photographing apparatus 40 is detachably connected to the photographing frame 500 to facilitate the disassembly and assembly or the replacement of the photographing apparatus 40. The detachable connection mode can be a buckle connection mode, a screw connection mode and the like.

The photographing frame 500 may be designed as any suitable bearing structure as long as it can bear the photographing apparatus 40. Referring to fig. 5, the photographing frame 500 illustratively includes a bearing plate 510. The loading plate 510 is provided on the second arm 1222 to carry the photographing apparatus 40. This shoot frame 500 can not shelter from the shooting field of vision of shooting equipment 40, and simple structure, and the loading board 510 is convenient with assembling of shooting equipment 40.

It is understood that the photographing frame 500 may be integrally formed with the second arm 1222 to reduce the number of parts of the robot arm 10 and improve the assembling efficiency of the robot arm 10. Of course, in other embodiments, the photographing frame 500 may be provided separately from the second arm 1222, and is not limited herein.

In some embodiments, the robot arm 10 has an object-taking state and a retracted state, and when the robot arm 10 is in the object-taking state, the photographing apparatus 40 has a first photographing posture; when the robot arm 10 is in the retracted state, the photographing apparatus 40 has the second photographing posture. The first shooting direction of the first shooting posture and the second shooting direction of the second shooting posture form an included angle.

When the mechanical arm 10 is located at the retracted position, the mechanical arm 10 is in the retracted state, and at this time, the movable body 20 can drive the mechanical arm 10 to move. When the robot arm 10 is in the deployed position, the robot arm 10 may be controlled to pick up or place the target object such that the robot arm 10 is in the pick-up state.

The mechanical arm 10 can move the photographing apparatus 40 between the first photographing posture and the second photographing posture so that the photographing apparatus 40 obtains different photographing directions or photographing angles. When the shooting device 40 is in the first shooting posture, the first shooting direction of the shooting device 40 faces the front end of the movable body 20 to provide a good working view of the mechanical arm 10, so that a user can observe the working state of the carrying part 300 connected with the connecting seat 121, and the user can conveniently operate the carrying part 300 to collect or place target objects. When the photographing apparatus 40 is in the second photographing posture, the second photographing direction of the photographing apparatus 40 is directed toward the front ground of the movable machine 1000 to provide a good driving view of the movable body 20.

Specifically, the loading plate 510 is mounted on an end of the second arm 1222 away from the connection base 121. When the photographing apparatus 40 is switched between the first photographing posture and the second photographing posture, the robot arm 10 does not obstruct the photographing apparatus 40, so that the photographing apparatus 40 has a good photographing view.

Referring to fig. 2, 4 and 5, in some embodiments, the second arm 1222 has an inclined surface 12221, and the bearing plate 510 and the inclined surface 12221 are disposed at a predetermined included angle, so that the shooting device 40 can shoot the second arm 1222 as little as possible, a useless structure is prevented from occupying a visual field space, and meanwhile, the shooting device 40 can have a good shooting visual field during the operation of the robot arm 10 or the driving process of the movable body 20, so that a user can observe the operation state of the carrying portion 300 or the environment of the ground in front of the movable platform, and the user can conveniently operate the robot arm 10 or the movable platform. The included angle between the loading plate 510 and the inclined surface can be any suitable angle, such as 15 ° to 45 °, i.e., any other suitable angle between 15 °, 20 °, 30 °, 45 °, and 15 ° to 45 °.

When the mechanical arm 10 is applied to the stacking field, since the groove-shaped space 111 of the mounting seat 110 is limited, when the assembly of the first arm 1221, the power assembly 104 and the mounting seat 110 is completed, there is not enough operating space in the groove-shaped space 111 for tools such as a screwdriver to assemble the driving assembly 103, the first arm 1221 and the connecting rod connecting member 141, and the first arm 1221 interferes with the assembly of the driving assembly 103, the first arm 1221 and the connecting rod connecting member 141, which is inconvenient to assemble and poor in assembly friendliness.

In order to solve the problem, please refer to fig. 6, fig. 7 and fig. 14, in combination with fig. 5, in some embodiments, the insertion portion 1413 of the connecting rod connecting member 141 penetrates through the first arm 1221 and is inserted on the supporting seat 105, and the connecting rod connecting member 141 and the steering engine of the driving assembly 103 are locked and fixed, so that the assembly is convenient, the assembly process is friendly, and the structure is simple.

Referring to fig. 20 and 21, in other embodiments, the robot arm body 100 further includes a manual operating member 106. The driving assembly 103 is connected to the robot body 101 through a manual operating member 106 to facilitate assembly of the robot 10. The manual operation tool 106 is operated so that the manual operation tool 106 is inserted through a part of the robot arm body 101 and connected to the driving unit 103. Specifically, the manual operating member 106 is fastened to the driving member 1031 through one end of the first arm 1221, the link connection member 141, and the rudder plate 1032.

Referring to fig. 21, in some embodiments, the manual operating device 106 has an operating portion 1061 and a coupling portion 1062. The coupling portion 1062 is connected to the operation portion 1061, and the coupling portion 1062 penetrates a portion of the robot arm main body 100 to be connected to the driving unit 103. Specifically, the coupling 1062 is fastened to the output shaft of the driver 1031 by passing one end of the first arm 1221, the link connection 141, and the rudder plate 1032 therethrough.

When assembling the first arm 1221, the link connection 141 and the drive assembly 103, the drive member 1031, the rudder plate 1032 and the link connection 141 are assembled and fixed. The operator's hand enters the slot space 111 to operate the operation part 1061, so that the operation part 1061 sequentially penetrates through the first arm 1221, the connecting rod connector 141 and the rudder plate 1032 and is locked into the output shaft of the driving member 1031. Because the manual operation part 106 can be directly operated by the hand of an operator without using auxiliary tools such as a screwdriver and the like, the assembly process is more friendly, and the assembly is convenient and has a simple structure.

Referring to fig. 22, an embodiment of the present application further provides a method for assembling a mechanical arm, which can improve the assembling friendliness of the mechanical arm, thereby improving the user experience of a user. The robot arm is the robot arm in any of the above embodiments, and is not described herein again.

Referring to fig. 22, the assembling method includes: steps S101 to S103.

And S101, assembling the first arm, the first connecting rod assembly, the power assembly and the mounting seat.

And S102, connecting the driving assembly with the connecting rod connecting piece to obtain a driving intermediate piece.

Step S103, the connecting rod connecting piece of the driving intermediate piece penetrates through the mounting seat, and at least part of the connecting rod connecting piece penetrates through the first arm to be inserted on the supporting seat. The supporting seat is arranged on the mounting seat.

In some embodiments, assembling the first arm, the first link assembly, the power assembly, and the mount includes: mounting a power piece on the mounting seat; assembling and connecting the transmission kit with the first arm; and connecting the assembled transmission sleeve and the first arm to a power part arranged on the mounting seat.

Specifically, the power member is mounted on the mount. The assembled drive member and first arm are then attached to the power element.

In some embodiments, the drive assembly comprises a rudder disk and a drive; said connecting the drive assembly with the connecting rod connection to obtain a drive intermediate, comprising: connecting the rudder disc with the driving piece; and tightly connecting the connecting rod connecting piece with the rudder disk to obtain the driving intermediate piece.

In some embodiments, after said passing the connecting rod connecting piece of the driving intermediate piece through the mounting seat, the method further comprises: and the driving piece locks the mounting seat and the driving intermediate piece.

In some embodiments, before passing at least part of the link connector through the first arm to be inserted on the support seat, the method further comprises: and installing the supporting seat on the mounting seat so as to be used for supporting the first arm and the connecting rod connecting piece.

In some embodiments, after the passing of at least part of the connecting rod connecting member through the first arm to be inserted on the supporting seat, the method further comprises: a second arm is connected to the first arm. In particular, the second arm may be connected to the first arm by a locking member. More specifically, the locking member includes a screw and a first rod. The first rod body penetrates through the first arm and the second arm, and connecting pieces such as screws are fixedly locked at one end of the first rod body.

In some embodiments, before the attaching the second arm to the first arm, further comprises: and installing the shooting equipment on the shooting frame of the second arm. Specifically, connecting pieces such as screws can penetrate through the shooting frame and be locked on the shooting device, so that the shooting device and the shooting frame are fixedly connected.

In some embodiments, after the attaching the second arm to the first arm, further comprises: a second link is connected to the link connector and the second arm. Specifically, the second link may be connected to the link connector by a connector such as a screw. More specifically, the connecting members such as screws penetrate through the connecting member and are locked on the second connecting rod to realize the connection between the two.

In some embodiments, the second link may be connected to the second arm by a screw and a second rod. More specifically, the second rod body penetrates through the second arm, and the screw penetrates through the second connecting rod and is fixedly locked on the second rod body.

In some embodiments, said connecting the second link to the link connector and the second arm further comprises: and fixing the first connecting rod component on the mounting seat. Before the first link assembly is fixed on the mount pad, still include: connecting a first link to a link interface to form the first link assembly.

Specifically, the connecting members such as screws are inserted through the first connecting rod and locked to the connecting rod connecting member. After the first connecting rod is connected and assembled with the connecting rod connecting piece, the assembling piece and the connecting rod connecting piece are penetrated through by another connecting piece such as a screw, so that the first connecting rod component is fixed on the mounting seat.

In some embodiments, after the fixing the first link assembly to the mounting base, the method further includes: the hinge is connected to the first link of the first link assembly. Specifically, the connecting pieces such as screws penetrate through the hinge piece and are fixedly locked on the first connecting rod, so that the first connecting rod is connected with the hinge piece. After the hinge is connected to the first link of the first link assembly, the method further comprises: the other connecting piece, such as a screw, penetrates through the hinged piece and is fixedly locked at the other end of the first rod body, so that the first arm, the second arm and the hinged piece are assembled.

In some embodiments, after the connecting the hinge member to the first link of the first link assembly, further comprises: connecting a third link to the hinge and the connecting base. Before the third link is connected to the hinge and the connecting seat, the method further includes: the connecting base is connected to the second arm. After the connecting the third link to the hinge and the connecting seat, the method further includes: the carrying part is connected with the connecting seat.

In an embodiment of the present application, an assembling method of a robot arm is specifically as follows:

four studs are mounted on the assembly. The four screws penetrate through the power piece and are correspondingly arranged on the four screws, so that the power piece is arranged on the assembly piece. Then, two screws penetrate through the first arm and are fixedly locked on the transmission external member. After the transmission external member and the first arm are assembled, the transmission external member is aligned to the power member, and a long screw is adopted to penetrate through the first arm and the transmission external member and is locked on an output shaft of the power member. After the transmission external member and the power member are locked, the two screws penetrate through the base from the bottom of the base and are locked at the bottom of the supporting seat. After the supporting seat is fixed on the mounting seat, the rudder disk is mounted on the driving piece by adopting a screw. And then four screws penetrate through the connecting rod connecting piece and are fixedly locked on the rudder plate, so that the driving intermediate piece is obtained.

The connecting rod connecting piece for driving the intermediate piece penetrates through the mounting opening from the first side of the mounting piece to reach the second side of the mounting piece, and the inserting portion of the connecting rod connecting piece penetrates through the first arm and is inserted into the supporting groove of the supporting seat. The second side of the mounting is the side where the channel space is located. The driving member for driving the intermediate member is mounted to the mounting member by four screws. Then, the photographing apparatus is mounted on the photographing frame of the second arm by two screws. The first rod body penetrates through the first arm, the second arm of the shooting device is arranged on the first arm, and one screw of the locking piece is locked at one end of the first rod body of the locking piece. Then, the second rod body is arranged through the second arm and is locked at one end of the second rod body through a screw. A screw is inserted through the second connecting rod and is locked at the other end of the second rod body, so that the second connecting rod is connected with the second arm. The first connecting rod is connected with the connecting rod connecting piece through a screw to form a first connecting rod component.

A screw is adopted to penetrate through the assembly part and is locked on the connecting rod connecting part, so that the first connecting rod component is connected with the mounting seat. After the first connecting rod assembly and the mounting seat are assembled, a screw penetrates through the hinge piece and is locked on the first connecting rod. After the first connecting rod and the hinge are assembled, another screw of the locking piece penetrates through the hinge and is locked at the other end of the first rod body of the locking piece, and therefore the first arm, the second arm and the hinge are assembled. Then, adopt two screws to be fixed in the one end that the shooting equipment was kept away from to the second arm with the connecting seat. And then, one end of the third connecting rod is connected with the hinge piece by adopting one screw, and the other end of the third connecting rod is connected with the connecting seat by adopting the other screw. And then the carrying part is arranged on the connecting seat through four screws.

The assembling method of the mechanical arm can reduce or avoid assembling interference of the first arm on assembling parts of the mechanical arm, so that the mechanical arm is convenient to assemble, assembling friendliness of the mechanical arm is improved, and using experience of a user is improved.

Referring to fig. 23, an embodiment of the present application further provides a method for assembling a mechanical arm, which can improve the assembling friendliness of the mechanical arm, thereby improving the user experience of a user. The robot arm is a robot arm in any of the above suitable embodiments, and is not described in detail herein.

Referring to fig. 23, the assembling method includes: steps S201 to S202.

Step S201, assembling the first arm, the first connecting rod assembly, the power assembly and the mounting seat.

And S202, enabling the manual operation piece to penetrate through the first arm, the connecting rod connecting piece and the rudder disc and locking the manual operation piece to the driving piece.

In some embodiments, assembling the first arm, the first link assembly, the power assembly, and the mount includes: mounting the power piece on the mounting seat; connecting a connecting rod connecting piece with the mounting seat; connecting the first arm with a rudder transmission kit; and the power part is used for installing the connected first arm and the transmission sleeve piece on the installation seat.

In some embodiments, before the manual operating device is inserted through the first arm, the connecting rod connector and the rudder disk and locked to the driving member, the manual operating device further comprises: and the connecting rod connecting piece is tightly connected with the rudder disk.

In some embodiments, after the manual operating device is inserted through the first arm, the connecting rod connector and the rudder disk and locked to the driving member, the manual operating device further comprises: and installing the driving piece on the installation seat.

In some embodiments, after the manual operating device is inserted through the first arm, the connecting rod connector and the rudder disk and locked to the driving member, the manual operating device further comprises: a second arm is connected to the first arm.

In some embodiments, before the attaching the second arm to the first arm, further comprises: and installing the shooting equipment on the shooting frame of the second arm.

In some embodiments, after the attaching the second arm to the first arm, further comprises: a second link is connected to the link connector and the second arm.

In some embodiments, after the connecting rod connecting piece with the mounting seat, the method further includes: and connecting the first connecting rod with the connecting rod connecting piece.

In some embodiments, after the connecting the first link with the link interface, the method further comprises: the hinge is connected to the first link.

In some embodiments, after the connecting the hinge with the first link, the method further includes: connecting a third link to the hinge and the connecting base.

four studs are mounted on the assembly. The four screws penetrate through the power piece and are correspondingly arranged on the four screws, so that the power piece is arranged on the assembly piece. And then, connecting the connecting rod connecting piece with the mounting seat by adopting two screws. The first arm is connected to the drive kit by two screws. And then the connected first arm and the transmission sleeve piece are placed at proper positions, and the first arm and the power piece are fastened through a screw. The rudder disc is tightly connected with the connecting rod connecting piece through four screws. The driving piece is arranged on the mounting seat through four screws. The link connection member to which the rudder disk is attached is inserted into the driver in the axial direction of the driver. The manual operation piece penetrates through the first arm, the connecting rod connecting piece and the rudder disc, and is operated to lock the manual operation piece on the output shaft of the driving piece. The assembling method of other parts of the mechanical arm can refer to the assembling method of the mechanical arm in the foregoing embodiment, and details are not repeated here.

While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and those skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A robotic arm, comprising:

2. The mechanical arm as claimed in claim 1, wherein the mechanical arm main body comprises:

the hand clamping preventing structure is arranged on the mechanical arm body;

and the driving mechanism is in transmission connection with the mechanical arm body.

3. A robotic arm as claimed in claim 2, wherein the robotic arm body comprises:

the driving mechanism is arranged on the mounting seat;

and the driving mechanism is in transmission connection with the transmission arm mechanism and is used for driving the transmission arm mechanism to move.

4. A robotic arm as claimed in claim 3, in which the drive mechanism comprises:

and the driving assembly is in transmission connection with the mechanical arm body and is arranged on the mounting seat.

5. A robotic arm as claimed in claim 4, in which the actuator arm mechanism comprises:

a connecting seat;

the driving mechanism and the connecting seat are connected with the transmission arm assembly;

and the driving mechanism is in transmission connection with the connecting seat through the connecting rod structure and the transmission arm assembly.

6. A robotic arm as claimed in claim 5, in which the mounting block has a slotted space in which at least part of the drive arm assembly and at least part of the link arrangement are located.

7. A robotic arm as claimed in claim 5, in which the drive arm assembly comprises:

the first arm is in transmission connection with the driving mechanism and is connected to the connecting rod structure;

the second arm is connected to the first arm and the connecting seat, and the second arm is movably connected with the first arm.

8. The mechanical arm of claim 7, wherein the anti-pinch structure comprises:

and the first avoidance structure is formed by matching the first arm and the second arm.

9. A robotic arm as claimed in claim 8, wherein the first avoidance structure comprises:

the first notch portion is arranged on the first arm.

10. The robotic arm of claim 9, wherein the first avoidance structure further comprises:

and the second notch part is arranged on the second arm, and the first notch part and the second notch part are matched to avoid.

11. A robotic arm as claimed in claim 7, in which the link arrangement comprises:

the first connecting rod component is connected with the mounting seat;

the driving assembly is in transmission connection with the second arm through the second connecting rod assembly;

and the second arm and the first connecting rod assembly are in transmission connection with the third connecting rod assembly.

12. A robotic arm as claimed in claim 11, wherein the link structure further comprises:

and the locking piece penetrates through the third connecting rod assembly, the first arm and the second arm so as to fix the third connecting rod assembly, the first arm and the second arm.

13. The mechanical arm of claim 11, wherein the anti-pinch structure further comprises:

and the second avoidance structure is formed by matching the third connecting rod assembly, the second connecting rod assembly, the first connecting rod assembly and the second arm.

14. A robotic arm as claimed in claim 13, wherein the second avoidance structure comprises:

a first avoidance structure formed by the second link assembly in cooperation with the second arm;

and the second avoidance structure is opposite to the first avoidance structure and is formed by matching the first connecting rod assembly and the third connecting rod assembly.

15. A robotic arm as claimed in claim 14, wherein the first avoidance configuration comprises:

a first slotted portion provided on the second arm;

the first groove-shaped part is arranged on the second connecting rod assembly, and the first groove-shaped part is matched with the first slotted part to avoid.

16. A robotic arm as claimed in claim 14, in which the second avoidance configuration comprises:

the second slotted part is arranged on the third connecting rod assembly;

and the second groove-shaped part is arranged on the first connecting rod component, and the second groove-shaped part is matched with the second slotted part to avoid.

17. The mechanical arm of claim 11, wherein the anti-pinch structure further comprises:

and the third avoidance structure is formed by matching the mounting seat and the second connecting rod assembly.

18. A robotic arm as claimed in claim 17, wherein the third avoidance structure comprises:

the concave part is arranged on the second connecting rod assembly;

the first position breach of keeping away is located on the mount pad, first keep away the position breach with the depressed part cooperation is dodged.

19. The mechanical arm of claim 11, wherein the anti-pinch structure further comprises:

and the fourth avoidance structure is formed by matching the mounting seat and the first connecting rod component.

20. A robotic arm as claimed in claim 19, wherein the fourth avoidance structure comprises:

the wedge part is arranged on the first connecting rod component;

and the second avoidance gap is arranged on the mounting seat and matched with the wedge-shaped part for avoiding.

21. A robotic arm as claimed in claim 12, wherein the first link assembly comprises:

one end of the first connecting rod is connected with the mounting seat, and the other end of the first connecting rod is connected with the third connecting rod assembly.

22. A robotic arm as claimed in claim 21, wherein the first link assembly further comprises:

and the first connecting rod is connected with the mounting seat through the connecting rod connecting piece.

23. A robotic arm as claimed in claim 22, in which the link members have thereon:

the connecting rod connecting part is movably connected with the first connecting rod;

and the limiting structure is connected with the connecting rod connecting part and used for limiting the movement of the first connecting rod, so that the first arm moves in a preset first movement angle range relative to a preset plane.

24. A robotic arm as claimed in claim 23, in which the restraining structure comprises:

a limiting body connected with the connecting rod connecting part;

and a restricting part provided on the restricting body.

25. A robotic arm as claimed in claim 24, in which the restraining part comprises:

the matching groove is formed in the position, on which at least part of the first connecting rod is arranged, of the matching groove;

the first stop surface is arranged at one end of the groove wall of the matching groove;

the second stop surface is arranged at the other end of the groove wall of the matching groove and matched with the first stop surface to limit the movement of the first connecting rod, so that the first arm is limited to move in the first movement angle range relative to the preset plane.

26. A robotic arm as claimed in claim 12, in which the second linkage assembly comprises:

one end of the connecting rod connecting piece is in transmission connection with the driving assembly;

and one end of the second connecting rod is in transmission connection with the other end of the connecting rod connecting piece, and the other end of the second connecting rod is in transmission connection with the second arm.

27. A robotic arm as claimed in claim 26, wherein the link connection has:

the connecting rod transmission body is in transmission connection with the driving assembly;

and the limiting structure is connected with the connecting rod transmission body and the second connecting rod and used for limiting the movement of the second connecting rod, so that the second arm moves in a preset second movement angle range relative to the second connecting rod.

28. A robotic arm as claimed in claim 27, in which the stop arrangement comprises a stop portion which cooperates with the second linkage to limit movement of the second link.

29. A robotic arm as claimed in claim 28, in which the stop comprises:

the adaptive groove is formed in the position, on which at least part of the second connecting rod is arranged;

the first blocking surface is arranged at one end of the groove wall of the adapting groove;

and the second blocking surface is arranged at the other end of the groove wall of the adapting groove and is matched with the first blocking surface to limit the movement of the second connecting rod.

30. A robotic arm as claimed in claim 28, wherein the stop arrangement further comprises:

the connecting rod combining part is arranged on the limiting part; and is movably connected with the second connecting rod.

31. A robotic arm as claimed in claim 20, in which the third link assembly comprises:

one end of the third connecting rod is connected with the connecting seat;

the first arm is movably connected with the second arm through the locking piece; the first connecting rod is in transmission connection with the third connecting rod through the hinge.

32. A robotic arm as claimed in claim 6, wherein the mounting block comprises:

the driving assembly is arranged on the mounting piece, and the transmission arm mechanism and at least part of the driving assembly are arranged on two sides of the mounting piece.

33. A robotic arm as claimed in claim 32, in which the mounting member is provided with a mounting opening through which at least part of the drive assembly passes to connect with the drive arm mechanism.

34. A robotic arm as claimed in claim 32, wherein the drive assembly comprises:

a driving member mounted on the mounting member;

and the driving piece is in transmission connection with the connecting rod structure through the rudder disc.

35. A robotic arm as claimed in claim 34, in which at least part of the tiller and at least part of the drive member are provided on either side of the mounting member.

36. A robotic arm as claimed in claim 32, wherein the drive mechanism further comprises:

and the power assembly is in transmission connection with the transmission arm assembly and is arranged on the mounting seat.

37. A robotic arm as claimed in claim 36, wherein the mounting block comprises:

the assembly part is provided with the power assembly, and the transmission arm mechanism and at least part of the power assembly are arranged on two sides of the assembly part.

38. A robotic arm as claimed in claim 37, wherein the mount further comprises:

a base, the mounting, the fitting, and the base cooperating to form the channel space.

39. A robotic arm as claimed in claim 38, in which the mounting and the fitting are oppositely disposed on the base.

40. A robotic arm as claimed in claim 37, in which the power assembly comprises:

a power member mounted on the assembly member;

and the transmission external member is connected to the power member and the transmission arm mechanism.

41. A robotic arm as claimed in claim 40, in which at least part of the drive assembly and at least part of the power element are provided on either side of the mounting member.

42. A robotic arm as claimed in claim 40, wherein the arm body further comprises:

and the fastener penetrates through the transmission arm assembly and the transmission sleeve part and is connected with the power part.

43. A robotic arm as claimed in claim 40, in which the transmission kit comprises:

the power part is in transmission connection with the transmission arm assembly through the transmission part;

the buffer piece is arranged on the transmission piece.

44. A robotic arm as claimed in claim 43, in which the transmission comprises:

the first transmission sub-element is connected with the power element;

the second transmission sub-element is connected with the transmission arm assembly, and the buffer element is arranged between the first transmission sub-element and the second transmission sub-element.

45. A robotic arm as claimed in claim 40, wherein the arm body further comprises:

and the supporting seat is arranged on the mounting seat and is used for supporting at least part of the transmission arm assembly and at least part of the connecting rod structure.

46. A robotic arm as claimed in claim 45, in which the mounting comprises a base, a mounting and a fitting, the mounting, the support and the fitting being spaced apart in sequence on the base.

47. The mechanical arm of claim 45, wherein the transmission arm mechanism comprises a first arm and a connecting rod connecting piece in transmission connection with the driving assembly, a supporting slot is arranged on the supporting seat, and the connecting rod connecting piece penetrates through the first arm and is partially inserted into the supporting slot.

48. A robotic arm as claimed in claim 47, wherein the link connection comprises:

the inserting portion is arranged on one side, away from the driving assembly, of the connecting rod transmission body, and the inserting portion penetrates through the first arm and is inserted into the supporting groove.

49. A robotic arm as claimed in claim 7, further comprising:

and the shooting frame is arranged on the second arm and used for bearing shooting equipment.

50. The robotic arm of claim 49, wherein the capture device is removably attached to the capture frame.

51. The robotic arm of claim 49, wherein the camera rig comprises:

and the bearing plate is arranged on the second arm and used for bearing the shooting equipment.

52. A robotic arm as claimed in claim 51, in which the second arm has an inclined surface, the carrier plate being disposed at a predetermined included angle to the inclined surface.

53. A robot arm as claimed in claim 52, wherein the angle between the carrier plate and the ramp is any suitable angle, such as 15-45 °.

54. The robotic arm of claim 51, wherein the robotic arm has an object-fetching state and a stowed state, the capture device having a first capture pose when the robotic arm is in the object-fetching state; when the mechanical arm is in a retracted state, the shooting equipment has a second shooting posture; the first shooting direction of the first shooting posture and the second shooting direction of the second shooting posture are arranged at an included angle.

55. The robotic arm of claim 4, wherein the robotic arm body further comprises:

the driving assembly is connected with the mechanical arm body through the manual operating piece; and operating the manual operating piece so that the manual operating piece penetrates through part of the mechanical arm body and is connected with the driving assembly.

56. A robotic arm as claimed in claim 55, in which the manual operating member comprises:

an operation section;

the connecting part is connected with the operating part, and a part of the mechanical arm main body is arranged through the connecting part and is connected with the driving assembly.

57. A movable machine, comprising:

a movable body; and

a robotic arm as claimed in any one of claims 1 to 56, provided on the moveable body.

58. The movable machine of claim 57, wherein the movable machine comprises at least one of a movable vehicle, a drone, an unmanned ship, an unmanned vehicle, a robot.

59. A method for assembling a mechanical arm is characterized by comprising the following steps:

60. A method of assembling a robotic arm as claimed in claim 59, wherein said assembling the first arm, the first link assembly, the power assembly and the mounting block comprises:

mounting a power piece on the mounting seat;

assembling and connecting the transmission kit with the first arm;

and connecting the assembled transmission sleeve and the first arm to a power part arranged on the mounting seat.

61. A method of assembling a robotic arm as claimed in claim 59, wherein the drive assembly comprises a tiller and a drive member; said connecting the drive assembly with the connecting rod connection to obtain a drive intermediate, comprising:

connecting the rudder disc with the driving piece;

and tightly connecting the connecting rod connecting piece with the rudder disk to obtain the driving intermediate piece.

62. The method of assembling a robotic arm as claimed in claim 59, further comprising, after said inserting the link connecting member of the driving intermediate member through the mounting block:

and the driving piece locks the mounting seat and the driving intermediate piece.

63. A method of assembling a robotic arm as claimed in claim 59, wherein, prior to inserting at least part of the link connector through the first arm for insertion on the support base, further comprising:

and installing the supporting seat on the installation seat.

64. The method of assembling a robotic arm as claimed in claim 59, wherein after inserting at least part of the link connector through the first arm for insertion on the support base, further comprising:

a second arm is connected to the first arm.

65. A method of assembling a robotic arm as claimed in claim 64, wherein, prior to attaching the second arm to the first arm, further comprising:

and installing the shooting equipment on the shooting frame of the second arm.

66. A method of assembling a robotic arm as claimed in claim 64, wherein after attaching the second arm to the first arm, further comprising:

a second link is connected to the link connector and the second arm.

67. The method of assembling a robotic arm as claimed in claim 66, wherein the step of connecting the second link to the link connector and the second arm further comprises:

and fixing the first connecting rod component on the mounting seat.

68. A method of assembling a robotic arm as claimed in claim 67, wherein prior to securing the first link assembly to the mounting block, further comprising:

connecting a first link to a link interface to form the first link assembly.

69. The method of assembling a robotic arm of claim 68, wherein after said securing the first link assembly to the mount, further comprising:

the hinge is connected to the first link of the first link assembly.

70. The method of assembling a robotic arm as claimed in claim 69, wherein after attaching the hinge to the first link of the first link assembly, further comprising:

connecting a third link to the hinge and the connecting base.

71. A method for assembling a mechanical arm is characterized by comprising the following steps:

72. A method of assembling a robotic arm as claimed in claim 71, wherein assembling the first arm, the first link assembly, the power assembly and the mounting block comprises:

mounting the power piece on the mounting seat;

connecting a connecting rod connecting piece with the mounting seat;

connecting the first arm to the drive assembly;

and the power part is used for installing the connected first arm and the transmission sleeve piece on the installation seat.

73. A method of assembling a robotic arm as claimed in claim 72, wherein after connecting the link adapter to the mounting block, further comprising:

and connecting the first connecting rod with the connecting rod connecting piece.

74. The method of assembling a robotic arm as claimed in claim 73, wherein after connecting the first link to the link interface, further comprising:

the hinge is connected to the first link.

75. The method of assembling a robotic arm as claimed in claim 74, wherein after connecting the hinge member to the first link, further comprising:

connecting a third link to the hinge and the connecting base.

76. The method for assembling mechanical arms of claim 71, wherein before the manual operating device is inserted into the first arm, the connecting rod connecting member and the rudder plate and locked to the driving member, the method further comprises:

and the connecting rod connecting piece is tightly connected with the rudder disk.

77. The method for assembling mechanical arms of claim 71, wherein after the manual operating device is inserted into the first arm, the connecting rod connecting piece and the rudder disk and locked to the driving piece, the method further comprises:

and installing the driving piece on the installation seat.

78. The method for assembling mechanical arms of claim 71, wherein after the manual operating device is inserted into the first arm, the connecting rod connecting piece and the rudder disk and locked to the driving piece, the method further comprises:

a second arm is connected to the first arm.

79. A method of assembling a robotic arm as claimed in claim 78, wherein, prior to attaching the second arm to the first arm, further comprising:

and installing the shooting equipment on the shooting frame of the second arm.

80. A method of assembling a robotic arm as claimed in claim 79, wherein, after attaching the second arm to the first arm, further comprising:

a second link is connected to the link connector and the second arm.

81. A method of assembling a robotic arm as claimed in claim 71, wherein after connecting the link adapter to the mounting block, further comprising:

82. The method of assembling a robotic arm as claimed in claim 81, wherein after connecting the first link to the link interface, further comprising:

the hinge is connected to the first link.

83. The method of assembling a robotic arm as claimed in claim 82, wherein after connecting the hinge member to the first link, further comprising:

connecting a third link to the hinge and the connecting base.