CN219190258U

CN219190258U - Mechanical arm and robot

Info

Publication number: CN219190258U
Application number: CN202223488177.XU
Authority: CN
Inventors: 单世强; 杨敉琳; 黄宗勇
Original assignee: Shenzhen Youibot Robotics Technology Co ltd
Current assignee: Shenzhen Youibot Robotics Technology Co ltd
Priority date: 2022-12-22
Filing date: 2022-12-22
Publication date: 2023-06-16
Anticipated expiration: 2032-12-22

Abstract

The utility model is applicable to the field of robots, and discloses a mechanical arm and a robot. The mechanical arm can reduce the probability of relative rotation between the first transmission part and the second transmission part, improve the connection stability between the first transmission part and the second transmission part, and can adjust the pressure between the first pressing part and the second transmission part through the adjusting part, so as to adjust the torque between the first transmission part and the second transmission part, and further comprehensively improve the accuracy of driving and controlling the movement of the actuating mechanism, so as to improve the control precision of the actuating mechanism.

Description

Mechanical arm and robot

Technical Field

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

Background

In the related art robot with an end effector, two transmission members connected by transmission used in a driving device for driving the effector to perform a task at the end of a mechanical arm are easy to generate relative rotation therebetween, so that it is difficult for the two transmission members to maintain synchronous rotation, thereby resulting in low control accuracy of the effector.

Disclosure of Invention

The first objective of the present utility model is to provide a mechanical arm, which aims to solve the technical problem that in the driving device at the tail end of the mechanical arm in the related art, relative rotation is easy to occur between two transmission parts, so that the control precision of an actuator is low.

In order to achieve the above purpose, the utility model provides the following scheme:

a robotic arm, comprising:

the mechanical arm comprises a mechanical arm body and a driving device which is arranged at the tail end of the mechanical arm body and used for driving an executing mechanism to rotate;

the driving device comprises a power assembly, a first transmission part, a second transmission part, an adjusting part and a first pressing part, wherein one of the first transmission part and the second transmission part is connected with the power assembly, and the other one of the first transmission part and the second transmission part is connected with the executing mechanism;

the first transmission piece is provided with a transmission shaft, the second transmission piece is provided with a shaft hole, and at least part of the transmission shaft penetrates through the shaft hole so as to realize transmission connection of the first transmission piece and the second transmission piece;

the first pressing piece is connected with the transmission shaft and rotates along with the transmission shaft, one end of the first pressing piece in the axial direction of the transmission shaft is pressed against the second transmission piece, and the first pressing piece is matched with the second transmission piece to generate resistance for preventing the first transmission piece and the second transmission piece from rotating relatively;

the adjusting part is connected to the transmission shaft and used for adjusting the pressure of the first pressing piece against the second transmission piece.

Further, the outer side wall of the first pressing piece is in abutting fit with the inner side wall of the shaft hole, so that the first transmission piece and the second transmission piece are in transmission connection.

Further, the shaft hole comprises a first hole section and a second hole section, the first hole section and the second hole section are sequentially communicated along the same axis, and the aperture of the second hole section is larger than that of the first hole section;

the first pressing piece is arranged in the second hole section and presses against a first step end face formed at the junction of the first hole section and the second hole section.

Further, the shaft hole further comprises a third hole section, the first hole section and the second hole section are sequentially communicated along the same axis, and the aperture of the third hole section is larger than that of the first hole section.

Further, the transmission shaft comprises a first shaft part and a second shaft part, wherein the first shaft part at least partially penetrates through the first hole section and the second hole section, and the second shaft part at least partially penetrates through the third hole section;

the first pressing piece is connected to the first shaft portion and rotates along with the first shaft portion, and the adjusting component is connected to the first shaft portion and used for adjusting the pressure of the first pressing piece pressing against the end face of the first step.

Further, the driving device further comprises a second pressing piece, the first shaft part is partially arranged in the third hole section in a penetrating mode, the second pressing piece is sleeved on the first shaft part and located in the third hole section, one axial end of the second pressing piece abuts against a second step end face formed at the junction of the first hole section and the third hole section, and the other end of the second pressing piece abuts against one axial end of the second shaft part.

Further, the adjusting part comprises an adjusting part and an elastic part, the two axial ends of the elastic part are respectively propped against the first propping part and the adjusting part, and the elastic part is used for providing elastic acting force for the first propping part to be propped against the second transmission part; the adjusting piece is movably connected to the transmission shaft and used for adjusting the elastic force of the elastic piece acting on the first pressing piece.

Further, the adjusting piece is provided with at least two protruding portions at intervals along the circumferential direction, each protruding portion is provided with a perforation, and the elastic piece abuts against one end of the adjusting piece and sequentially penetrates through and is connected with the perforation.

Further, the first transmission piece and the second transmission piece are sequentially connected along the same axis; and/or the number of the groups of groups,

the power assembly comprises a driving piece and a mounting plate body arranged at the tail end of the mechanical arm body, wherein the driving piece is arranged on the mounting plate body and is in driving connection with one of the first transmission piece and the second transmission piece.

A second object of the present utility model is to provide a robot including: the manipulator comprises a movable base, an executing mechanism for executing an operation task and the manipulator, wherein the manipulator main body is arranged on the movable base, and the executing mechanism is arranged on the driving device.

The mechanical arm provided by the utility model has the following beneficial effects:

the mechanical arm comprises a mechanical arm body and a driving device arranged at the tail end of the mechanical arm body and used for driving an actuating mechanism to rotate, wherein the driving device comprises a power assembly, a first transmission piece, a second transmission piece, an adjusting part and a first pressing piece, one of the first transmission piece and the second transmission piece is connected with the power assembly, the other one of the first transmission piece and the second transmission piece is connected with the actuating mechanism, and the power assembly is used for providing driving force to drive the actuating mechanism to operate.

In the application, the first transmission member is provided with a transmission shaft, the second transmission member is provided with a shaft hole, and at least part of the transmission shaft penetrates through the shaft hole so as to realize transmission connection of the first transmission member and the second transmission member; the first pressing piece is connected with the transmission shaft and rotates along with the transmission shaft, one end of the first pressing piece in the axial direction of the transmission shaft is pressed against the second transmission piece, and the first pressing piece is matched with the second transmission piece to generate resistance for preventing the first transmission piece and the second transmission piece from rotating relatively. Therefore, the probability of relative rotation between the first transmission piece and the second transmission piece can be reduced, so that the connection stability between the first transmission piece and the second transmission piece is improved, the first transmission piece and the second transmission piece are ensured to synchronously rotate, and the control precision of the actuating mechanism is improved.

In addition, the adjusting part is connected to the transmission shaft, so that the pressure of the first pressing part pressed against the second transmission part is adjusted, the pressure between the first pressing part and the second transmission part is adjusted, the torque between the first transmission part and the second transmission part can be adjusted, the effect that the driving device of the mechanical arm outputs different torques to the actuating mechanism is achieved, and the accuracy of controlling the movement of the actuating mechanism is improved.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of a robot removal base and a mechanical arm body according to an embodiment of the present utility model;

fig. 2 is a schematic structural diagram of a driving device in a mechanical arm according to an embodiment of the present utility model;

fig. 3 is a schematic structural view of a driving device in a mechanical arm according to an embodiment of the present utility model with a power component removed;

FIG. 4 is a schematic diagram of the explosive structure of FIG. 3;

fig. 5 is a schematic diagram of an assembly structure of a first transmission member, an adjusting member, and a first pressing member in a mechanical arm according to an embodiment of the present utility model;

fig. 6 is a schematic structural diagram of a first transmission member in a mechanical arm according to an embodiment of the present utility model;

fig. 7 is a schematic structural diagram of a view angle of a second transmission member in the mechanical arm according to an embodiment of the present utility model;

fig. 8 is a schematic structural diagram of another view of the second transmission member in the mechanical arm according to the embodiment of the present utility model;

reference numerals illustrate:

100. a mechanical arm; 200. a robot;

110. a driving device;

111. a power assembly; 1111. a driving member; 1112. a mounting plate body; 1113. a connection hole;

112. a first transmission member; 1121. a transmission shaft; 11211. a first shaft portion; 11212. a second shaft portion; 11213. a mounting part; 11214. a mounting hole;

113. a second transmission member; 1131. a shaft hole; 11311. a first bore section; 11312. a second bore section; 11313. a third bore section; 11314. an annular step; 11315. an annular protrusion;

114. an adjusting member; 1141. an adjusting member; 1142. an elastic member; 1143. a boss;

115. a first pressing member; 116. a first step end face; 117. a second pressing member; 118. a second step end face;

210. an actuator; 211. a rotating disc; 212. a rotation shaft; 213. rotating the sleeve; 214. and a clamping part.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that all directional indications (such as up, down, left, right, front, and rear … …) in the embodiments of the present utility model are merely used to explain the relative positional relationship between the components, the movement condition, etc. in a specific posture, and if the specific posture is changed, the directional indication is changed accordingly.

It will also be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or be indirectly connected to the other element through intervening elements.

Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a 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 addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present utility model.

As shown in fig. 1 to 8, the mechanical arm 100 provided in the embodiment of the present application is used to drive the actuator 210 in the robot 200 to perform a rotational motion, so as to drive the actuator 210 to perform an operation task, such as clamping a workpiece such as a camera.

As shown in fig. 1 to 4, the mechanical arm 100 provided in the present application includes a mechanical arm body (not labeled) and a driving device 110 mounted at an end of the mechanical arm body for driving the actuator 210 to rotate, so that the actuator 210 can perform tasks, for example, when the actuator 210 is the actuator 210 capable of rotationally clamping a workpiece, a camera can be clamped.

The driving device 110 includes a power assembly 111, a first transmission member 112, a second transmission member 113, an adjusting member 114, and a first pressing member 115, where one of the first transmission member 112 and the second transmission member 113 is connected to the power assembly 111, and the other is used to connect to an actuator 210. In this embodiment, the first transmission member 112 is connected to the power assembly 111, and the second transmission member 113 is used to connect to the actuator 210 to transmit the rotation output power of the power assembly 111 to the second transmission member 113 via the first transmission member 112.

The first transmission member 112 is provided with a transmission shaft 1121, the second transmission member 113 is provided with a shaft hole 1131, and at least part of the transmission shaft 1121 penetrates through the shaft hole 1131 so as to realize transmission connection between the first transmission member 112 and the second transmission member 113; the first pressing member 115 is connected to the transmission shaft 1121 and rotates along with the transmission shaft 1121, and one end of the first pressing member 115 along the axial direction of the transmission shaft 1121 presses against the second transmission member 113 and cooperates with the second transmission member 113 to generate a resistance for preventing the first transmission member 112 and the second transmission member 113 from rotating relatively, so that the connection between the first transmission member 112 and the second transmission member 113 is more stable. The adjusting component 114 is connected to the transmission shaft 1121, so as to adjust the pressure of the first pressing member 115 against the second transmission member 113, thereby adjusting the pressure between the first pressing member 115 and the second transmission member 113.

It can be appreciated that the mechanical arm 100 of the present embodiment includes a mechanical arm body and a driving device 110 mounted at the end of the mechanical arm body for driving the actuator 210 to rotate, so that the mechanical arm body and the driving device 110 can be assembled separately, thereby saving the assembly time. The mechanical arm 100 of the present embodiment is connected to the power assembly 111 by providing one of the first transmission member 112 and the second transmission member 113, and the other is connected to the actuator 210, so that the power output by the power assembly 111 can be transmitted to the actuator 210. In this application, the first transmission member 112 is provided with a transmission shaft 1121, the second transmission member 113 is provided with a shaft hole 1131, and at least part of the transmission shaft 1121 is disposed through the shaft hole 1131, so as to realize transmission connection between the first transmission member 112 and the second transmission member 113. The first pressing member 115 is connected to the transmission shaft 1121 and rotates along with the transmission shaft 1121, and one end of the first pressing member 115 along the axial direction of the transmission shaft 1121 presses against the second transmission member 113 and cooperates with the second transmission member 113 to generate a resistance for preventing the first transmission member 112 and the second transmission member 113 from rotating relatively. In this way, the connection between the first transmission member 112 and the second transmission member 113 can be more stable, so that the probability of relative rotation between the first transmission member 112 and the second transmission member 113 can be reduced, the connection stability between the first rotation member and the second transmission member 113 can be improved, the synchronous rotation of the first transmission member 112 and the second transmission member 113 can be ensured, and the control precision of the actuator 210 can be improved.

In addition, the adjusting component 114 is connected to the transmission shaft 1121, so as to adjust the pressure of the first pressing member 115 against the second transmission member 113, thereby adjusting the pressure between the first pressing member 115 and the second transmission member 113. For example, when the driving device 110 of the mechanical arm 100 is assembled, according to the workpiece to be clamped, the pressure between the first pressing member and the second transmission member 113 can be increased or decreased by using the adjusting member 114, so that the torque between the first transmission member 112 and the second transmission member 113 can be adjusted, so as to achieve the effect of enabling the driving device 110 of the mechanical arm 100 to output different torques to the actuator 210, and further improve the accuracy of controlling the movement of the actuator 210.

As shown in fig. 4, in some embodiments, an outer sidewall of the first pressing member 115 is in abutting engagement with an inner sidewall of the shaft hole 1131 to realize a driving connection of the first driving member 112 and the second driving member 113. The first pressing member 115 is a gasket, which not only can realize the transmission connection between the first transmission member 112 and the second transmission member 113, but also can reduce the abrasion at the contact position between the first pressing member 115 and the second transmission member 113, thereby prolonging the service lives of the first pressing member 115 and the second transmission member 113.

As shown in fig. 4, 5, and 8, in some embodiments, the shaft bore 1131 includes a first bore section 11311 and a second bore section 11312, the first bore section 11311 and the second bore section 11312 communicating sequentially along the same axis such that the first bore section 11311 and the second bore section 11312 remain coaxially rotated. The aperture of the second hole section 11312 is larger than that of the first hole section 11311, and the first pressing member 115 is arranged in the second hole section 11312 and presses against the first step end surface 116 formed at the junction of the first hole section 11311 and the second hole section 11312, so that the first pressing member 115 presses against the second transmission member 113 along the axial direction of the transmission shaft 1121. Further, the magnitude of the pressure between the first pressing member 115 and the second transmission member 113 can be adjusted by adjusting the pressure between the first pressing member 115 and the first stepped end surface 116. Wherein, the pressure regulating component and the first pressing piece 115 are both positioned in the second hole section 11312, so that the structural compactness can be improved.

As shown in fig. 4, 7 and 8, in some embodiments, the shaft hole 1131 further includes a third hole section 11313, and the third hole section 11313, the first hole section 11311 and the second hole section 11312 are sequentially communicated along the same axis, so that the third hole section 11313, the first hole section 11311 and the second hole section 11312 can all keep coaxial rotation, the aperture of the third hole section 11313 is larger than the aperture of the first hole section 11311, and the aperture of the second hole section 11312 is also larger than the aperture of the first hole section 11311, and obviously, the inner wall of the shaft hole 1131 radially extends out of the annular step 11314.

As shown in fig. 4, 5, and 6, in some embodiments, the drive shaft 1121 includes a first shaft portion 11211 and a second shaft portion 11212, the first shaft portion 11211 at least partially penetrating the first hole section 11311 and the second hole section 11312 to facilitate installation of the first pressure abutment 115 and the pressure regulating member, and the second shaft portion 11212 at least partially penetrating the third hole section 11313. The first pressing member 115 is connected to the first shaft 11211 and rotates with the first shaft 11211, and the adjusting member 114 is connected to the first shaft 11211 for adjusting the pressure of the first pressing member 115 against the first stepped end surface 116.

As shown in fig. 4, as an embodiment, at least one of the third hole section 11313 and the first hole section 11311 is in abutting fit with the outer side wall of the transmission shaft 1121, and transmission connection between the first transmission member 112 and the second transmission member 113 can also be achieved, in which case, in order to facilitate assembly of the first transmission member 112 and the second transmission member 113, an outer diameter of the first shaft portion 11211 is adapted to an inner diameter of the first hole section 11311, and an outer diameter of the second shaft portion 11212 is adapted to an inner diameter of the third hole section 11313. However, in order to reduce wear between the first transmission member 112 and the second transmission member 113, as another embodiment, a gap is left between the outer side wall of the transmission shaft 1121 and the first and

third hole segments

11311 and 11313, on the basis of the abutting engagement of the outer side wall of the first abutting member 115 and the inner side wall of the shaft hole 1131.

As shown in fig. 4 and 5, in some embodiments, the driving device 110 further includes a second pressing member 117, where the first shaft portion 11211 is partially disposed in the third hole section 11313, the second pressing member 117 is sleeved on the first shaft portion 11211 and is located in the third hole section 11313, one axial end of the second pressing member 117 abuts against a second step end surface 118 formed at the junction between the first hole section 11311 and the third hole section 11313, and the other end of the second pressing member 117 abuts against one axial end of the second shaft portion 11212, so as to separate the second shaft portion 11212 from the second step end surface 118, and reduce wear between the second shaft portion 11212 and the second step end surface 118. The second pressing member 117 is illustratively a gasket.

As shown in fig. 4 and 5, in order to improve the transmission stability of the first transmission member 112 and the second transmission member 113, the outer side wall of the second pressing member 117 is also in contact with the inner side wall of the third hole section 11313 in addition to the contact and engagement between the outer side wall of the first pressing member 115 and the inner side wall of the second hole section 11312.

As shown in fig. 4 and 5, in some embodiments, the adjusting member 114 includes an adjusting member 1141 and an elastic member 1142, two axial ends of the elastic member 1142 respectively abut against the first abutment 115 and the adjusting member 1141, and the elastic member 1142 is configured to provide an elastic force for the first abutment 115 to abut against the second transmission member 113, so that the elastic member 1142 can push the first abutment 115 to abut against the first step end surface 116. The adjusting member 1141 is movably connected to the driving shaft 1121 for adjusting the amount of the elastic force of the elastic member 1142 acting on the first pressing member 115. For example, for simple structure, the elastic member 1142 is a spring, the adjusting member 1141 is a knob, the spring is disposed around the portion of the first shaft 11211, and two axial ends of the spring are respectively abutted against the first abutment 115 and the knob. The compression degree of the spring can be adjusted by rotating the knob, so that the elastic force of the spring applied to the first pressing piece 115 is adjusted, and the pressure between the first pressing piece 115 and the first step end face 116 is adjusted.

As shown in fig. 4 and fig. 5, in some embodiments, the adjusting member 1141 is provided with at least two protruding portions 1143 circumferentially spaced apart, each protruding portion 1143 is provided with a through hole, and the elastic member 1142 abuts against one end of the adjusting member 1141 to sequentially penetrate through the connecting through holes, so as to improve the connection stability between the elastic member 1142 and the adjusting member 1141.

As shown in fig. 2, 3 and 6, in some embodiments, the first transmission member 112 and the second transmission member 113 are sequentially connected along the same axis to improve the stability of the synchronous rotation of the first transmission member 112 and the second transmission member 113. The power assembly 111 includes a driving member 1111 and a mounting plate body 1112 mounted at an end of the robot arm body, the driving member 1111 is configured to provide a driving force, the driving member 1111 may be a motor, such as a rotating motor, and the driving member 1111 is mounted on the mounting plate body 1112 and is drivingly connected to one of the first transmission member 112 and the second transmission member 113. Illustratively, the portion of the second shaft portion 11212 extending beyond the third bore section 11313 defines a mounting portion 11213 for connection to the output end of the driver 1111 and a mounting aperture 11214 is provided in the mounting portion 11213 for coupling to the output shaft of the driver 1111 for receiving the power output by the driver 1111.

As shown in fig. 2, as an embodiment, the mechanical arm body includes at least two swing arms (not labeled) connected in sequence, such as two, three, etc., without limiting the number of swing arms specifically, the mounting plate body 1112 is provided with a connection hole 1113 spaced apart from the power assembly 111 side by side, and the end-most swing arm is connected to the connection hole 1113.

As shown in fig. 1 and 2, the present embodiment further provides a robot 200, including: the mechanical arm 100 is mounted on the moving base, so as to move on a supporting surface (such as the ground) under the driving of the moving base, and the actuator 210 is mounted on the driving device 110, so as to perform the operation task under the driving of the driving device 110.

As can be appreciated, by using the driving device 110, the robot 200 provided in this embodiment can improve the connection stability of the first transmission member 112 and the second transmission member 113 in the driving device 110, ensure the synchronous rotation of the first transmission member 112 and the second transmission member 113, adjust the torque between the first transmission member 112 and the second transmission member 113, and achieve the effect of enabling the driving device 110 to output different torques to the actuator 210, thereby improving the accuracy of controlling the movement of the actuator 210 and improving the control accuracy of the actuator 210.

As shown in fig. 1, as an embodiment, the actuator 210 includes a rotary disk 211, a rotary shaft 212, a rotary sleeve 213, and a clamping portion 214 having a clamping and unclamping movement tendency, which are sequentially connected along the same axis, and an outer wall of the second transmission member 113 extends radially outwardly to form an annular protrusion 11315, and one surface of the rotary disk 211 is fixedly connected to the annular protrusion 11315 so as to rotate along with the second transmission member 113. The rotation shaft 212 is connected to the other surface of the rotation plate 211 to rotate following the rotation plate 211, and the clamping portion 214 is connected to the rotation shaft 212 through the rotation sleeve 213 to rotate following the rotation shaft 212, so that the workpiece is clamped or unclamped when the clamping portion 214 rotates following the rotation shaft 212, thereby clamping the workpiece.

The foregoing description is only of the preferred embodiments of the present utility model and is not intended to limit the scope of the utility model, and all equivalent structural changes made by the description of the present utility model and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the utility model.

Claims

1. The mechanical arm is characterized by comprising a mechanical arm body and a driving device which is arranged at the tail end of the mechanical arm body and used for driving an executing mechanism to rotate;

2. The mechanical arm of claim 1, wherein the outer sidewall of the first pressing member is in abutting engagement with the inner sidewall of the shaft hole to achieve a driving connection of the first driving member and the second driving member.

3. The mechanical arm according to claim 1, wherein the shaft hole comprises a first hole section and a second hole section, the first hole section and the second hole section are sequentially communicated along the same axis, and the aperture of the second hole section is larger than that of the first hole section;

4. The mechanical arm of claim 3, wherein the shaft bore further comprises a third bore section, the first bore section and the second bore section are in sequential communication along the same axis, and the bore diameter of the third bore section is greater than the bore diameter of the first bore section.

5. The mechanical arm of claim 4, wherein the drive shaft comprises a first shaft portion at least partially disposed through the first bore section and the second bore section and a second shaft portion at least partially disposed through the third bore section;

6. The mechanical arm according to claim 5, wherein the driving device further comprises a second pressing member, the first shaft portion is partially disposed in the third hole section in a penetrating manner, the second pressing member is sleeved on the first shaft portion and is located in the third hole section, one axial end of the second pressing member abuts against a second step end face formed at a junction of the first hole section and the third hole section, and the other end of the second pressing member abuts against one axial end of the second shaft portion.

7. The mechanical arm according to any one of claims 1 to 6, wherein the adjusting component comprises an adjusting member and an elastic member, two axial ends of the elastic member respectively abut against the first abutting member and the adjusting member, and the elastic member is used for providing elastic acting force for the first abutting member to abut against the second transmission member; the adjusting piece is movably connected to the transmission shaft and used for adjusting the elastic force of the elastic piece acting on the first pressing piece.

8. The mechanical arm according to claim 7, wherein the adjusting member is provided with at least two protruding portions at intervals along the circumferential direction, each protruding portion is provided with a through hole, and the elastic member abuts against one end of the adjusting member and sequentially penetrates through and connects the through holes.

9. The mechanical arm according to any one of claims 1-6, wherein the first transmission member and the second transmission member are sequentially connected along the same axis; and/or the number of the groups of groups,

10. A robot, comprising: a mobile base, an actuator for performing an operational task, and a robot arm according to any one of claims 1-9, the robot arm body being mounted to the mobile base, the actuator being mounted to the drive means.