CN116197942B - Mechanical arm and robot - Google Patents

Abstract

The application relates to the technical field of robots, in particular to a mechanical arm and a robot. The mechanical arm comprises a mounting frame, an articulation piece, a motion execution piece, a first driving mechanism and a second driving mechanism. The joint connecting piece is rotatably arranged on the mounting frame, and the motion executing piece is rotatably connected with the joint connecting piece. The first driving mechanism is arranged on the mounting frame and is connected with the joint connecting piece in a transmission manner, and the first driving mechanism is used for driving the joint connecting piece to drive the motion executing piece to rotate around the first axis relative to the mounting frame. The second driving mechanism is arranged on the mounting frame and connected with the motion executing piece in a transmission way, and is used for driving the motion executing piece to rotate around a second axis relative to the mounting frame, and the second axis is intersected with the first axis. The mechanical arm realizes two-degree-of-freedom rotation in a compact space.

Description

Mechanical arm and robot

Technical Field

The application relates to the technical field of robots, in particular to a mechanical arm and a robot.

Background

The swing arm is commonly used in the pet robot to simulate the arm of a person so as to make the robot more anthropomorphic, and most of the robots have only one degree of freedom in one direction due to the limitation of space volume, so that the robot is inflexible.

Under the limit of small volume, the swing arm used by the existing pet robot mostly has only one degree of freedom, and has a basic serial structure with two degrees of freedom. The second joint driver of the tandem manipulator is typically placed in the first joint, requiring the first joint driver to have a large driving torque and a large constraint on the build.

Disclosure of Invention

The application provides a mechanical arm, and the application also provides a robot with the mechanical arm.

In a first aspect, the present application provides a robotic arm including a mounting bracket, an articulation member, a motion actuator, a first drive mechanism, and a second drive mechanism. The joint connecting piece is rotatably arranged on the mounting frame, and the motion executing piece is rotatably connected with the joint connecting piece. The first driving mechanism is arranged on the mounting frame and is connected with the joint connecting piece in a transmission manner, and the first driving mechanism is used for driving the joint connecting piece to drive the motion executing piece to rotate around the first axis relative to the mounting frame. The second driving mechanism is arranged on the mounting frame and connected with the motion executing piece in a transmission way, and is used for driving the motion executing piece to rotate around a second axis relative to the mounting frame, and the second axis is intersected with the first axis.

In a second aspect, an embodiment of the present application further provides a robot, including a machine body and any one of the mechanical arms described above, where the mechanical arm is connected to the machine body, and the mounting frame is disposed in the machine body.

Compared with the prior art, when the mechanical arm provided by the embodiment of the application is applied to a robot and the first driving mechanism and the second driving mechanism respectively output power, the movement executing piece can respectively complete rotation around a first axis relative to the mounting frame and rotation around a second axis relative to the mounting frame. When the first driving mechanism and the second driving mechanism are simultaneously output, the mechanical arm can obtain compound space two-degree-of-freedom rotation. The first driving mechanism and the second driving mechanism are arranged on the mounting frame, the mounting frame is integrated in the robot, and two-degree-of-freedom rotation of the mechanical arm in a compact space is realized.

Drawings

In order to more clearly illustrate the technical solutions of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a block diagram of a robot according to an embodiment of the present application.

Fig. 2 is a schematic structural diagram of a mechanical arm according to an embodiment of the present application.

Fig. 3 is a schematic view of the mounting frame and the first driving mechanism of the mechanical arm shown in fig. 2.

Fig. 4 is a schematic view of an exploded view of the motion actuator and the second gimbal of the robotic arm of fig. 2.

Fig. 5 is a schematic view of the mounting frame and the second driving mechanism of the mechanical arm shown in fig. 2.

Fig. 6 is a schematic cross-sectional view of the spindle and the second universal joint of the mechanical arm shown in fig. 2.

Description of the reference numerals: 100. a mechanical arm; 10. a mounting frame; 12. a first bracket; 121. a first fixing member; 123. a second fixing member; 14. a second bracket; 141. a mounting plate; 143. a connecting piece; 145. a support plate; 147. a holding plate; 30. a joint connection; 32. a housing; 321. a mounting cavity; 323. a notch; 34. a rotating part; 36. a bearing; 38. clamping springs; 50. a motion actuator; 52. a rotating shaft; 521. a limit groove; 523. a bolt; 525. fixing the blind hole; 70. a first driving mechanism; 72. a first driving member; 74. a first transmission assembly; 741. a drive bevel gear; 743. a driven bevel gear; 90. a second driving mechanism; 92. a second driving member; 94. a second transmission assembly; 941. a first universal joint; 943. a second universal joint; 945. an adjustment tank; 96. an adjusting block; 200. a robot; 201. a machine body.

Detailed Description

In order to enable those skilled in the art to better understand the present application, the following description will make clear and complete descriptions of the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

As a particular component is referred to by some of the terms used in the description and claims, it should be understood by those skilled in the art that a hardware manufacturer may refer to the same component by different terms. The description and claims do not take the difference in name as a way of distinguishing between components, but rather take the difference in functionality of the components as a criterion for distinguishing. As used throughout the specification and claims, the word "comprise" and "comprises" are to be construed as "including, but not limited to"; by "substantially" is meant that a person skilled in the art can solve the technical problem within a certain error range, essentially achieving the technical effect.

Referring to fig. 1, an embodiment of the present disclosure provides a mechanical arm 100, where the mechanical arm 100 may be applied to a robot 200.

The specific type of the robot 200 is not limited in this specification, and for example, the robot 200 may be an industrial robot arm robot, a cooperative robot or a pet robot, and in this embodiment, the robot 200 is a pet robot. The robot 200 may include a body 201 and a robot arm 100, the robot arm 100 being connected to the body 201, the robot arm 100 being movable with respect to the body 201. In some embodiments, the robot 200 may include a plurality of robotic arms 100.

Referring to fig. 2, in the present embodiment, the mechanical arm 100 may include a mounting frame 10, a motion actuator 50, a first driving mechanism 70, and a second driving mechanism 90. The mounting frame 10 is fixedly arranged in the machine body 201, the movement executing piece 50 can be movably connected with the mounting frame 10, or can be movably connected with the machine body 201, and the movement executing piece 50 is exposed outside the machine body 201. The first driving mechanism 70 and the second driving mechanism 90 are both arranged on the mounting frame 10, the first driving mechanism 70 is in transmission connection with the movement executing piece 50, and the second driving mechanism 90 is in transmission connection with the movement executing piece 50. The first drive mechanism 70 is capable of driving the movement actuator 50 relative to the mounting frame 10 about a first axis O1 and the second drive mechanism 90 is capable of driving the movement actuator 50 relative to the mounting frame 10 about a second axis O2, the first axis O1 and the second axis O2 intersecting. Wherein, "intersecting" may be understood as that the first axis O1 and the second axis O2 are not parallel, not coincident, and the first axis O1 and the second axis O2 may intersect in the same plane, and an included angle between the two is greater than 0 ° and less than 180 °; the first axis O1 and the second axis O2 may be intersecting planes, and an included angle between the intersecting planes is greater than 0 ° and less than or equal to 90 °.

The first driving mechanism 70 and the second driving mechanism 90 of the mechanical arm 100 are disposed on the mounting frame 10, and the mounting frame 10 is integrated in the machine body 201 (as shown in fig. 1), so as to implement two-degree-of-freedom rotation of the mechanical arm 100 in a compact space.

In this application, the terms "mounted," "connected," "secured," and the like are to be construed broadly, unless otherwise specifically indicated or defined. For example, the connection can be fixed connection, detachable connection or integral connection; can be mechanically or electrically connected; the connection may be direct, indirect via an intermediate medium, or communication between two elements, or only surface contact. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

In the present embodiment, the mounting frame 10 is integrated into the body 201, which is used to mount the first driving mechanism 70 and the second driving mechanism 90. The mount 10 includes a first bracket 12 and a second bracket 14. The first bracket 12 has a substantially plate shape, and the specific shape of the first bracket 12 is not limited in this specification, and the specific shape of the first bracket 12 may be adaptively adjusted according to the installation position thereof in the body 201 and the installation positions of the first driving mechanism 70 and the second driving mechanism 90 on the first bracket 12. The second bracket 14 is fixedly connected to the first bracket 12, and the second bracket 14 includes a mounting plate 141 and a connecting member 143, the mounting plate 141 intersecting (e.g., perpendicular to) the first bracket 12, the mounting plate 141 for mounting the movement actuator 50. The connection member 143 is connected between the mounting plate 141 and the first bracket 12, specifically, the connection member 143 is fixedly connected to the mounting plate 141 and is connected to the first bracket 12 by a bolt.

In this application, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.

Referring to fig. 2 and 3, in order to achieve two degrees of freedom rotation of the motion actuator 50, the robotic arm 100 may further include an articulation joint 30. The articulation link 30 is rotatably coupled to a mounting plate 141 for mounting and driving the motion actuator 50. The movement actuator 50 is rotatably mounted to the articulation link 30, and the first drive mechanism 70 is drivingly coupled to the articulation link 30 to drive the movement actuator 50 relative to the mount 10 about the first axis O1 via the articulation link 30. The second drive mechanism 90 drives rotation of the motion actuator 50 relative to the articulation link 30 about the second axis O2. When the first driving mechanism 70 and the second driving mechanism 90 respectively output power, the movement actuators 50 can respectively complete rotation about the first axis O1 and rotation about the second axis O2. When the first driving mechanism 70 and the second driving mechanism 90 output simultaneously, the mechanical arm 100 can obtain a compound space two-degree-of-freedom rotation. The first driving mechanism 70 and the second driving mechanism 90 are disposed on the mounting frame 10, and the mounting frame 10 is integrated in the machine body 201 (as shown in fig. 1), so that two-degree-of-freedom rotation of the mechanical arm 100 in a compact space is realized.

In this embodiment, the articulation component 30 includes a housing 32 and a swivel 34. The housing 32 is substantially cylindrical, and the axis of the housing 32 is substantially parallel to the second axis O2. The housing 32 has a mounting cavity 321 for mounting the movement actuator 50, the mounting cavity 321 penetrating the housing 32 in the axial direction of the housing 32 (i.e., the direction of the second axis O2). The rotating portion 34 is fixedly connected to the peripheral wall of the housing 32, and is rotatably connected to the mounting plate 141, and the rotation axis of the rotating portion 34 is the first axis O1. In the present embodiment, two rotation portions 34 are provided, and the two rotation portions 34 are respectively provided on opposite sides of the housing 32. To facilitate the installation of the rotating portion 34, the second bracket 14 further includes a support plate 145. The support plate 145 is fixedly coupled to the mounting plate 141 and is substantially perpendicular to the mounting plate 141. The number of the support plates 145 is two, and the two support plates 145 are disposed at an opposite interval in the direction of the first axis O1. The articulation piece 30 is disposed between the two support plates 145, and the two rotating portions 34 are rotatably connected to the two support plates 145, respectively. The line connecting the two rotation parts 34 is the axis of rotation of the articulation piece 30 relative to the mounting frame 10, i.e. the first axis O1.

The axis of the housing 32 of the joint connector 30 is substantially parallel to the second axis O2, and the rotation axis of the rotating portion 34 is the first axis O1. Because the articulation link 30 is simple in construction and occupies a small space, the loads required to drive the first drive mechanism 70 and the second drive mechanism 90 are all moments generated from the center of motion of the actuator 50 to the center of rotation, and thus the torque requirements of the first drive mechanism 70 and the second drive mechanism 90 are approximately equal.

In the description of the present application, it should be understood that the terms "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "inner," and the like indicate orientation or positional relationships based on those shown in the drawings, and are merely used for simplifying the description of the present application, rather than indicating or implying that the apparatus or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present application.

Referring to fig. 3 and 4, the motion actuator 50 is rotatably connected to the joint connector 30, and the motion actuator 50 can rotate about the second axis O2 relative to the joint connector 30 under the driving of the second driving mechanism 90. In this embodiment, the mechanical arm 100 may further include a rotating shaft 52, where the rotating shaft 52 is connected to one end of the motion actuator 50 and is rotatably disposed in the mounting cavity 321 of the housing 32. The rotating shaft 52 extends along the second axis O2, and the axis of the rotating shaft 52 is the second axis O2. The end of the shaft 52 facing away from the motion actuator 50 is drivingly connected to a second drive mechanism 90 (shown in fig. 2). The second driving mechanism 90 drives the rotation shaft 52 to rotate relative to the housing 32, and the rotation shaft 52 drives the movement actuator 50 to rotate relative to the mounting frame 10. The axis of the rotating shaft 52 is the second axis O2.

In this embodiment, the mechanical arm 100 further includes a bearing 36 and a snap spring 38 disposed in the mounting cavity 321. The bearing 36 is sleeved outside the rotating shaft 52 and is disposed between the rotating shaft 52 and the inner wall of the housing 32 for realizing the connection of the rotating shaft 52 and the joint connector 30 in a relative rotation manner. The outer ring of the bearing 36 is connected to the inner wall of the housing 32, the fixing manner in the bearing 36 and the housing 32 is not limited in this specification, the outer ring of the bearing 36 may be connected to the housing 32 through a fixing member, or the inner wall of the housing 32 may be provided with a limit step to limit the outer ring of the bearing 36, and the bearing 36 and the housing 32 may be installed through cold pressing. The inner race of the bearing 36 is connected to the spindle 52 by a snap spring 38. The snap spring 38 is sleeved on the rotating shaft 52, a limiting groove 521 is formed in the peripheral wall of the rotating shaft 52, and the peripheral wall of the rotating shaft 52 is recessed towards the axis of the rotating shaft to form the limiting groove 521. The snap spring 38 is embedded in the limit groove 521 and connected to the inner ring of the bearing 36.

The snap spring 38 has an elastic deformation capability along the axial direction of the rotating shaft 52, and the limiting groove 521 is recessed relative to the peripheral wall of the rotating shaft 52, extends along the circumferential direction of the rotating shaft 52, and is substantially annular. The bearing 36 is located between the motion actuator 50 and the limiting groove 521, when the clamp spring 38 is embedded in the limiting groove 521, one end surface of the clamp spring 38 abuts against one side wall of the limiting groove 521 (the side wall faces the direction in which the bearing 36 is located), and the other end surface of the clamp spring 38 can abut against the end surface of the inner ring of the bearing 36 based on elastic deformation capability, so that the bearing 36 is clamped between the clamp spring 38 and the motion actuator 50, and the inner ring of the bearing 36 and the rotating shaft 52 basically achieve rotation-stopping connection. During disassembly, the bearing 38 can be disassembled by only compressing the clamp spring 38 along the axial direction of the rotating shaft 52 and taking out, compared with the traditional method for realizing bearing installation by cold pressing/hole shaft interference fit of the bearing, the method for installing the bearing 36 by adopting the clamp spring 38 enables the bearing 36 to be disassembled and assembled, is convenient to replace, and the method for installing the bearing 36 by adopting the clamp spring 38 is simple and easy to operate. The rotating shaft 52 is rotatably connected to the joint connector 30 through the bearing 36 and the clamp spring 38, so that the installation is simple and the rotation is smooth.

In the present embodiment, the rotation of the movement actuator 50 of the robot arm 100 about the first axis O1 with respect to the body 201 can be understood as the pitching of the robot swing arm. The first drive mechanism 70 may include a first drive member 72 and a first transmission assembly 74. The first driving member 72 is fixedly coupled to the first bracket 12, and the mounting bracket 10 may further include a first fixing member 121 in order to improve the stability of the mounting of the first driving member 72. The first fixing member 121 is connected to the first bracket 12 for holding the first driving member 72. In this embodiment, the first fixing member 121 has a substantially rod-shaped hook structure, which is substantially perpendicular to the first bracket 12, and has one end fixed to the first bracket 12 and the other end bent and clamped at a side of the first driving member 72 facing away from the first bracket 12. The first fixing piece 121 may be made of elastic material, the first fixing piece 121 may be integrally formed in the first bracket 12, during installation, one end of the first fixing piece 121, which deviates from the first bracket 12, is bent to give way to the first driving piece 72, after the first driving piece 72 is placed, the control on the first fixing piece 121 is removed, and one end of the first fixing piece 121, which deviates from the first bracket 12, is abutted against one side of the first driving piece 72, which deviates from the first bracket 12, under the driving of elastic potential energy. The number of the first fixing members 121 may be plural, and the plural first fixing members 121 are distributed along the circumferential direction of the first driving member 72. For ease of installation, the first fixing member 121 may be provided in a detachable structure, or the first driving member 72 may be installed first and then the first fixing member 121 may be fixed. The specific type of the first driving member 72 is not limited in this specification, and for example, the first driving member 72 may be a driving source such as a rotating electric machine, a rotating cylinder, a motor, etc., in this embodiment, the first driving member 72 adopts a steering engine, and the driving end of the first driving member 72 is configured with a threaded hole so as to be in driving connection with the structure of the first transmission assembly 74.

The first transmission assembly 74 is drivingly connected between the first driving member 72 and the articulation link 30, and is configured to rotate the articulation link 30 relative to the mounting frame 10 under the driving of the first driving member 72. The specific structure of the first transmission assembly 74 is not limited in this specification, and for example, the first transmission assembly 74 may be a gear transmission structure, or may be a worm gear, a link transmission structure. In this embodiment, the first transmission assembly 74 may include a drive bevel gear 741 and a driven bevel gear 743. The drive bevel gear 741 is fixedly coupled to the drive end of the first drive member 72, for example, by a jackscrew. The driven bevel gear 743 is connected to the rotating portion 34 of the articulation link 30, the rotating portion 34 of the articulation link 30 adjacent to the first driving member 72 is disposed to protrude from the support plate 145, and the driven bevel gear 743 is sleeved on a portion of the rotating portion 34 protruding from the support plate 145 and engaged with the drive bevel gear 741. The driving end of the first driving member 72 is substantially perpendicular to the rotating portion 34, so that the driving bevel gear 741 and the driven bevel gear 743 are engaged to form a right angle power transmission, thereby facilitating the installation of the first driving member 72 to the first bracket 12 and reducing the overall occupied space.

The first driving member 72 drives the drive bevel gear 741 to rotate, and the drive bevel gear 741 drives the articulation link 30 to rotate through the driven bevel gear 743 and the rotating portion 34, thereby driving the movement actuator 50 to rotate about the first axis O1 with respect to the mount 10.

In order to improve the stability of the driving bevel gear 741 and the driven bevel gear 743, in the present embodiment, the second bracket 14 may further include a holding plate 147, and the holding plate 147 is fixedly connected to the mounting plate 141 and integrally formed with the connection member 143. The driving end of the first driving member 72 is disposed through the holding plate 147 and rotatably engaged with the holding plate 147. A drive bevel gear 741 is connected to one end of the drive end of the first driver 72 that protrudes beyond the retaining plate 147.

Referring to fig. 2 and fig. 5, in the present embodiment, the second driving mechanism 90 and the first driving mechanism 70 are respectively disposed on opposite sides of the first bracket 12, and the second driving mechanism 90 is used for driving the motion actuator 50 to rotate around the second axis O1 relative to the machine body 201, and the rotation action can be understood as the back-and-forth swing of the swing arm of the robot. The second drive mechanism 90 may include a second drive 92 and a second transmission assembly 94. The second driving member 92 is fixedly connected to a side of the first bracket 12 facing away from the first driving member 72, and the mounting frame 10 may further include a second fixing member 123 for improving the mounting stability of the second driving member 92. The second fixing member 123 is connected to the first bracket 12 for holding the second driving member 92. In this embodiment, the second fixing member 123 has a substantially rod-shaped hook structure, which is substantially perpendicular to the first bracket 12, and has one end fixed to the first bracket 12 and the other end bent and clamped at a side of the second driving member 92 facing away from the first bracket 12. The second fixing piece 123 may be made of elastic material, the second fixing piece 123 may be integrally formed in the first bracket 12, during installation, one end of the second fixing piece 123 deviating from the first bracket 12 is bent to give way for the second driving piece 92, after the second driving piece 92 is placed, the control of the second fixing piece 123 is removed, and one end of the second fixing piece 123 deviating from the first bracket 12 is abutted against one side of the second driving piece 92 deviating from the first bracket 12 under the driving of elastic potential energy. The number of the second fixing members 123 may be plural, and the plurality of second fixing members 123 are distributed along the circumferential direction of the second driving member 92. For easy installation, the second fixing member 123 may be provided in a detachable structure, or the second driving member 92 may be installed first and then the second fixing member 123 may be fixed. The specific type of the second driving member 92 is not limited in this specification, for example, the second driving member 92 may be a driving source such as a rotating electric machine, a rotating cylinder, a motor, etc., in this embodiment, the second driving member 92 employs a steering engine, and an output shaft of the second driving member 92 is configured with a threaded hole so as to be in driving connection with the structure of the second transmission assembly 94.

The second transmission assembly 94 is drivingly connected between the second driving member 92 and the spindle 52, and is configured to rotate the movement actuator 50 relative to the mounting frame 10 under the driving of the first driving member 72. The specific structure of the second transmission assembly 94 is not limited in this specification, and for example, the second transmission assembly 94 may be a gear transmission structure, or may be a worm gear, a link transmission structure. In this embodiment, the second drive assembly 94 employs a universal joint in order to reduce overall footprint. The universal joint mainly refers to a cross shaft rigid universal joint and consists of a universal joint fork, a cross shaft, a needle roller bearing, an oil seal, a sleeve, a bearing cover and the like. Universal joints, also known as universal joints, are devices that achieve variable angle power transmission for positions that require a change in the direction of the drive axis. Specifically, the second transmission assembly 94 may include a first universal joint 941 and a second universal joint 943. One end of the first universal joint 941 is connected to the output shaft of the second driver 92 by a bolt, and the other end is connected to the second universal joint 943. The end of the second gimbal 943 remote from the first gimbal 941 is connected to the spindle 52 in a rotation-stopping manner. The term "rotation-proof connection" between the second universal joint 943 and the shaft 52 is understood to mean that the second universal joint 943 is rotationally fixed to the shaft 52, and the shaft 52 can rotate with the rotation of the second universal joint 943. The second universal joint 943 and the spindle 52 may be connected by a bolt, or may be connected by an interference fit, and in this embodiment, as shown in fig. 6, the second universal joint 943 and the spindle 52 are connected by a bolt 523. Specifically, the second universal joint 943 is sleeved outside the rotating shaft 52, a fixed blind hole 525 is formed on the side wall of the rotating shaft 52, the bolt 523 is in threaded connection with the second universal joint 943, and one end of the bolt 523 is embedded in the fixed blind hole 525 on the rotating shaft 52. The second degree of freedom power is transmitted to the motion actuator 50 via the first and second gimbals 941, 943 such that the motion control of the distal end of the motion actuator 50 (i.e., the end of the motion actuator 50 distal from the articulation link 30) is linear, thereby facilitating the implementation of complex motions of the robotic arm 100.

The second driving member 92 drives the first universal joint 941 to rotate, the first universal joint 941 changes the rotation axis direction and drives the second universal joint 943 to rotate, the second universal joint 943 changes the rotation axis direction again and transmits the movement to the rotating shaft 52, and the rotating shaft 52 rotates around its own axis, so that the movement executing member 50 is driven to rotate around the second axis O2 relative to the mounting frame 10.

The right angle power transmission arrangement of the drive bevel gear 721 and the driven bevel gear 723 of the first transmission assembly 72, and the arrangement of the first universal joint 941 and the second universal joint 943 of the second transmission assembly 94 that change the transmission axis direction, allow the first driving member 72 and the second driving member 92 to be arranged approximately in parallel on both sides of the second bracket 14, making the space structure more compact.

The second universal joint 943 is connected to the end portion of the rotating shaft 52 and is located in the housing 32 of the joint connector 30, in order to avoid interference between the housing 32 and the second universal joint 943 to affect the transmission when the joint connector 30 rotates around the first axis O1 relative to the mounting frame 10, in this embodiment, an end of the housing 32 facing away from the motion executing member 50 is recessed to form a notch 323, and the notch 323 is communicated with the mounting cavity 321. The notch 323 presents a structure recessed toward the movement actuator 50 on the peripheral wall of the housing 32, which is substantially arc-shaped. The number of the notches 323 is two, and the two notches 323 are respectively positioned on two opposite sides of the second universal joint 943. When the housing 32 rotates to the limit position around the first axis O1 relative to the mounting frame 10, the second universal joint 943 is connected to one end of the rotating shaft 52 and is accommodated in the notch 323, and when the housing 32 rotates, the second universal joint 943 rotates relative to the joint connector 30 at the notch 323, and the notch 323 achieves the effect of yielding the second universal joint 943, so that the movement of the housing 32 and the movement of the second universal joint 943 are free from interference.

In the present embodiment, the second transmission assembly 94 further includes an adjustment block 96, the adjustment block 96 being used to adjust the distance between the first and second universal joints 941 and 943. The first universal joint 941 is movably connected to the second universal joint 943 by an adjustment block 96. The adjusting block 96 is connected to one end of the first universal joint 941 near the second universal joint 943, one end of the second universal joint 943 near the first universal joint 941 is provided with an adjusting groove 945, and the adjusting block 96 is slidably embedded in the adjusting groove 945. The adjustment block 96 is capable of changing the distance between the first and second gimbals 941, 943 as it slides within the adjustment slot 945. When the first driving member 72 drives the joint connecting member 30 to drive the motion executing member 50 to rotate around the first axis O1, the motion executing member 50 drives the rotating shaft 52 to rotate, and when the rotating shaft 52 rotates around the first axis O1, the motion track of the end of the second universal joint 943 is an arc. The rotation of the shaft 52 pushes or pulls the second gimbal 943 to move, and the adjustment block 96 and the second gimbal 943 slidably cooperate, thereby ensuring that the second drive member 92 is unaffected and does not impede movement of the motion actuator 50 when driven by the first drive member 72.

In order to ensure that the motion of the first gimbal 941 is transferred to the second gimbal 943, the adjustment block 96 is non-rotatably coupled to the second gimbal 943 without interfering with the sliding engagement of the adjustment block 96 and adjustment groove 945. It should be understood that the "anti-rotation connection" between the adjustment block 96 and the second universal joint 943 is understood to mean that the adjustment block 96 and the second universal joint 943 are relatively fixed in terms of rotational movement, and that the second universal joint 943 is rotatable with rotation of the adjustment block 96. In this embodiment, the cross section of the adjusting block 96 is set to be non-circular, and the specific shape of the adjusting block 96 is not limited in this specification, for example, the adjusting block 96 may be a prism, or may be an irregular cylinder, or a limiting protrusion may be disposed on a peripheral wall of the adjusting block 96, so as to ensure that the second universal joint 943 can be driven to rotate during rotation.

In summary, in the mechanical arm 100 provided in the embodiment of the present application, the first driving member 72 drives the drive bevel gear 741 to rotate, and the drive bevel gear 741 drives the articulation link 30 to rotate through the driven bevel gear 743 and the rotating portion 34, so as to drive the motion executing member 50 to rotate around the first axis O1 relative to the mounting frame 10, thereby completing the conduction of the first degree of freedom. The second driving member 92 drives the first universal joint 941 to rotate, the first universal joint 941 changes the rotation axis direction and drives the second universal joint 943 to rotate, the second universal joint 943 changes the rotation axis direction again and transmits the motion to the rotating shaft 52, and the rotating shaft 52 rotates around its own axis, so that the motion executing member 50 is driven to rotate around the second axis O2 relative to the mounting frame 10, and the transmission of the second degree of freedom is completed. When the first driving member 72 and the second driving member 92 respectively output power, the motion executing member 50 can respectively complete pitching (rotating around the first axis O1) and forward/backward (rotating around the second axis O2), and meanwhile, when the power is output, the mechanical arm 100 can obtain compound space two-degree-of-freedom rotation. In the embodiment of the application, the first driving member 72 and the second driving member 92 are both disposed on the mounting frame 10, and the mounting frame 10 is integrated in the body 201 of the robot 200, so that the robot 200 with a small volume can also have a composite space for two degrees of freedom rotation.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting. Although the present application has been described in detail with reference to the foregoing embodiments, one of ordinary skill in the art will appreciate that: the technical scheme described in the foregoing embodiments can be modified or some of the technical features thereof can be replaced by equivalents. Such modifications and substitutions do not drive the essence of the corresponding technical solutions to depart from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims (4)

1. A robotic arm, comprising:

the mounting frame comprises a first bracket and a second bracket, and the second bracket is fixedly connected with the first bracket;

the joint connecting piece comprises a shell and a rotating part connected to the outside of the shell, and the shell is rotatably connected to the second bracket through the rotating part; the rotating part is provided with a rotating axis which is a first axis, the shell is provided with a mounting cavity, the first axis penetrates through the shell and the mounting cavity, and the mounting cavity penetrates through the shell along the direction of a second axis;

a motion actuator rotatably coupled to the articulation joint;

the first driving mechanism is arranged on one side of the first bracket and is connected with the joint connecting piece in a transmission way, and the first driving mechanism is used for driving the joint connecting piece to drive the motion executing piece to rotate around the first axis relative to the mounting frame;

the second driving mechanism is arranged on one side, away from the first driving mechanism, of the first bracket, and comprises a second driving piece and a second transmission assembly, wherein the second transmission assembly comprises a first universal joint, a second universal joint and an adjusting block connected between the first universal joint and the universal joint, the first universal joint is in transmission connection with the second driving piece, the second universal joint is connected with the motion executing piece, and one end of the second universal joint is provided with an adjusting groove; one end of the adjusting block is connected with the first universal joint, the other end of the adjusting block is slidably embedded in the adjusting groove, and the adjusting block is in anti-rotation connection with the second universal joint; the second driving mechanism is used for driving the motion executing piece to rotate around the second axis relative to the mounting frame; and

the rotating shaft penetrates through the mounting cavity along the second axis and is rotatably connected with the shell, one end of the rotating shaft is connected with the motion executing piece, and the other end of the rotating shaft is connected with the second driving mechanism in a transmission mode.

2. The mechanical arm of claim 1, wherein the first drive mechanism comprises a first drive member and a first transmission assembly, the first drive member is fixedly disposed on the first bracket, and the first transmission assembly is in transmission connection between the first drive member and the articulation member.

3. The mechanical arm of claim 2, wherein the first transmission assembly includes a drive bevel gear and a driven bevel gear intermeshed, the drive bevel gear coupled to the drive end of the first drive member, the driven bevel gear coupled to the articulation member.

4. A robot, comprising:

a body; and

the mechanical arm according to any one of claims 1-3, wherein the mechanical arm is connected to the machine body, and the mounting frame is disposed in the machine body.