WO2021179141A1

WO2021179141A1 - Mechanical arm, movable machine and assembly method for mechanical arm

Info

Publication number: WO2021179141A1
Application number: PCT/CN2020/078474
Authority: WO
Inventors: 李亮; 王振旭; 刘晓宇
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-03-09
Filing date: 2020-03-09
Publication date: 2021-09-16
Also published as: CN112154050A

Abstract

A mechanical arm (10), a movable machine (1000) and an assembly method for the mechanical arm (10). The mechanical arm (10) comprises a mechanical arm body (100) and a hand-pinching prevention structure (200), wherein at least part of the mechanical arm body (100) may be switched between an unfolding position and a folding position; the hand-pinching prevention structure (200) is arranged on the mechanical arm body (100); the hand-pinching prevention structure (200) is used for preventing the mechanical arm body (100) in the unfolded position and/or the folded position from clamping a person or an object.

Description

Assembling method of mechanical arm, movable machine and mechanical arm

Technical field

This application relates to the field of robotics, and in particular to a method for assembling a robot arm, a movable machine, and a robot arm.

Background technique

With the increasing development of robotics technology, robotic arms can perform many detailed and complex operations, and the accuracy of robotic arms imitating human hands is getting higher and higher. It is widely used in industries and other fields to reduce the intensity of manual operations and improve production. efficient. Existing robotic arms usually have parts made of materials with greater hardness. In the process of assembly or use of the robotic arm, sometimes it is easy to cause accidental pinch injury, thereby causing unnecessary damage to personnel and property, and the safety and reliability are not ideal.

Summary of the invention

Based on this, this application provides a robotic arm, a movable machine, and a method for assembling the robotic arm, which aims to prevent the robotic arm from pinching operators or objects during assembly or use of the robotic arm, and improve the safety and reliability of personnel and property .

According to the first aspect of the present application, the present application provides a robotic arm, the robotic arm including:

The main body of the mechanical arm, at least part of the main body of the mechanical arm can be switched between a deployed position and a retracted position;

The anti-pinch structure is arranged on the main body of the mechanical arm;

Wherein, the anti-pinch hand structure is used to prevent the manipulator main body in the deployed position and/or the retracted position from clamping persons or objects.

According to the second aspect of this application, this application provides a movable machine, including:

Removable body; and

The above-mentioned mechanical arm is provided on the movable body.

According to the third aspect of this application, this application provides a method for assembling a robotic arm, including:

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

Connect the drive assembly with the connecting rod connector to obtain a drive middle piece;

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

According to the fourth aspect of this application, this application provides a method for assembling a robotic arm, including:

Pass the manual operating part through the first arm, the connecting rod connecting part, and the steering wheel, and lock it to the driving part.

The embodiment of the application provides a method for assembling a robot arm, a movable machine, and a robot arm. The anti-pinch structure can prevent the robot arm from pinching operators or objects during assembly or use of the robot arm, thereby eliminating assembly or The potential safety hazards when using the robotic arm improve the safety and reliability of personnel and property.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the application.

Description of the drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following will briefly introduce the drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. Ordinary technicians can obtain other drawings based on these drawings without creative work.

FIG. 1 is a schematic structural diagram of a movable machine provided by an embodiment of the present application;

FIG. 2 is a schematic diagram of a partial structure of a mechanical arm provided by an embodiment of the present application at an angle;

FIG. 3 is a schematic diagram of a partial structure of a mechanical arm provided by an embodiment of the present application at another angle;

FIG. 4 is a schematic diagram of a partial structure of a mechanical arm provided by an embodiment of the present application at another angle;

Fig. 5 is an exploded schematic diagram of a mechanical arm provided by an embodiment of the present application;

Figure 6 is a partial cross-sectional view of a robotic arm provided by an embodiment of the present application;

Fig. 7 is a partial enlarged schematic diagram of Fig. 6 at A;

Fig. 8 is a partial enlarged schematic diagram of Fig. 6 at B;

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

FIG. 10 is an exploded schematic diagram of a transmission kit provided by an embodiment of the present application;

FIG. 11 is a cross-sectional view of a mechanical arm provided by an embodiment of the present application, in which the carrying portion is not shown;

FIG. 12 is a schematic structural diagram of a connecting rod connecting piece provided by an embodiment of the present application;

FIG. 13 is a cross-sectional view of a mechanical arm provided by an embodiment of the present application, in which the carrying portion is not shown;

14 is a schematic structural diagram of a connecting rod connector provided by an embodiment of the present application;

Fig. 15 is a partial enlarged schematic diagram of Fig. 3 at C;

Fig. 16 is a partial enlarged schematic diagram of Fig. 4 at D;

Fig. 17 is a partial enlarged schematic diagram of Fig. 4 at E;

Fig. 18 is a partial enlarged schematic diagram of Fig. 3 at F;

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

20 is a schematic diagram of a partial structure of a robotic arm provided by an embodiment of the present application;

FIG. 21 is a schematic structural diagram of a manual operating member provided by an embodiment of the present application;

FIG. 22 is a schematic flowchart of a method for assembling a robotic arm provided by an embodiment of the present application;

FIG. 23 is a schematic flowchart of a method for assembling a robotic arm provided by an embodiment of the present application.

Description of reference signs:

1000. Movable machines;

10. Robotic arm; 20. Movable body; 30. Revolver; 40. Shooting equipment;

100. The main body of the robotic arm;

101. The main body of the robotic arm;

110. Mounting seat; 111. Groove-shaped space; 112. Mounting parts; 1121. Mounting opening; 113. Fitting parts; 114. Base; 1101. First shielding portion; 1102. Second shielding portion; 1103. First opening Mouth; 1104, the second open opening;

120. Transmission arm mechanism; 121. Connecting seat; 122. Transmission arm assembly; 1221, first arm; 12211, perforation hole; 1222, second arm; 12221, inclined surface; 123, connecting rod structure;

130. First connecting rod assembly; 131, first connecting rod; 1311, first mating surface; 1312, first movable surface; 1313, second mating surface; 132, connecting rod connecting piece; 1321, connecting rod connecting portion ; 1322, restriction structure;

140. The second connecting rod assembly; 141. The connecting rod connector; 1411. The connecting rod transmission body; 1412. The limiting structure; 1413. The insertion part; 142. The second connecting rod; 1421. The first matching surface; 1422 , The second movable surface; 1423, the second adapter surface; 150, the third connecting rod assembly; 151, the third connecting rod; 152, the hinge; 160, the locking member;

171. Restricting body; 172. Restricting portion; 1721, matching groove; 1722, first stopping surface; 1723, second stopping surface; 181, limiting portion; 1811, adapting groove; 1812, first resisting surface; 1813. The second resisting surface; 182. The connecting rod joint;

102, driving mechanism; 103, driving component; 1031, driving part; 1032, rudder disc; 104, power component; 1041, power part; 1042, transmission kit; 1043, transmission part; 10431, first transmission component; 10432, The second transmission component; 1044. Buffer;

105, support seat; 1051, support slot; 106, manual operating member; 1061, operating part; 1062, coupling part;

200. Anti-pinching structure; 210. The first avoiding structure; 211. The first notch part; 212. The second notch part;

220. The second avoiding structure; 221. The first avoiding structure; 2211, the first slotted portion; 2212, the first slot-shaped portion; 222, the second avoiding structure; 2221, the second slotted portion; 2222, the second slot形部;

230. Third avoidance structure; 231. Depressed part; 232. First avoidance gap; 240. Fourth avoidance structure; 241. Wedge-shaped part; 242. Second avoidance gap;

300. Carrying part; 400, fasteners; 500, shooting frame; 510, bearing plate.

Detailed ways

The technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of them. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

The flowchart shown in the drawings is only an example, and does not necessarily include all contents and operations/steps, nor does it have to be executed in the described order. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to actual conditions.

The inventor of this application found that in the process of assembling the robotic arm, the operator usually uses body parts, especially hands, to grasp or support a certain part of the robotic arm to facilitate the installation of a part of the robotic arm. At the preset position. The operator is a little careless and fails to retrieve the body parts, especially the hands, that grasp or support a certain part of the robotic arm in time. The safety and reliability cannot be guaranteed due to the danger of accidental pinching.

To this end, the inventor of the present application provides a robotic arm to prevent accidental pinching of personnel and property during assembly or use of the robotic arm, and to improve the safety and reliability of the robotic arm.

Hereinafter, some embodiments of the present application will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

Please refer to FIG. 1, an embodiment of the present application provides a movable machine 1000, which includes a robot arm 10 and a movable body 20. The mechanical arm 10 is provided on the movable body 20. The movable body 20 of the movable machine 1000 can realize movement, rotation, flipping, etc., and the movable body 20 can drive the mechanical arm 10 to move to different positions or different angles to collect target items. At the same time, the mechanical arm 10 can also move relative to the movable body 20. The movable machine 1000 can be a movable vehicle, a drone, an unmanned ship, an unmanned vehicle, etc.; or the movable machine 1000 can be a movable vehicle, a drone, an unmanned ship, or an unmanned vehicle in one form One of the other types, in another form, is other types of movable vehicles, unmanned aerial vehicles, unmanned ships, and unmanned vehicles. The movable machine 1000 may also be various forms of robots, robotic animals, robotic toys, and the like.

The following description will be given by taking the mobile machine 1000 as an unmanned vehicle as an example. It can be understood that the specific form of the movable machine 1000 is not limited to driving a car, and is not limited here. The movable machine 1000 may include a rotating wheel 30, and the rotating wheel 30 can drive the movable body 20 to move, and further drive the mechanical arm 10 to move.

Please refer to FIG. 2, in some embodiments, the robot arm 10 includes a robot arm body 100 and an anti-pinch structure 200. At least part of the robot arm body 100 can be switched between the deployed position and the stowed position. The anti-pinch hand structure 200 is provided on the main body 100 of the robot arm. Among them, the anti-pinch hand structure 200 is used to prevent the manipulator main body 100 in the deployed position and/or the retracted position from clamping persons or objects, especially the hands of the installer.

In the robotic arm 10 of the embodiment of the present application, the anti-pinch hand structure 200 can prevent the robotic arm 10 from pinching operators or objects during assembly or use of the robotic arm 10, thereby eliminating potential safety hazards when assembling or using the robotic arm 10, and improving The safety and reliability of personnel and property.

Please refer to FIG. 2, in some embodiments, the robotic arm body 100 includes a robotic arm body 101 and a driving mechanism 102. The anti-pinch hand structure 200 is provided on the robot arm body 101. The driving mechanism 102 is in transmission connection with the manipulator body 101. Specifically, the robotic arm body 101 includes a mounting base 110 and a transmission arm mechanism 120. The driving mechanism 102 is installed on the mounting base 110. The anti-pinch hand structure 200 is provided on the mounting base 110 and/or the transmission arm mechanism 120 to prevent the mounting base 110 and/or the transmission arm mechanism 120 from clamping when the transmission arm mechanism 120 is in the unfolded position and/or the retracted position Person's hand or object.

Wherein, the driving mechanism 102 is in transmission connection with the transmission arm mechanism 120, and is used to drive the transmission arm mechanism 120 to move, so that the transmission arm mechanism 120 can switch between the deployed position and the retracted position. Specifically, the driving mechanism 102 can drive the transmission arm mechanism 120 to switch between the deployed position and the stowed position, so that the transmission arm mechanism 120 can receive or place the target item when in the deployed position; when in the stowed position, it is convenient to move the body 20 drives the mechanical arm 10 to move to different positions or different angles. Understandably, there may be one or more deployment positions, and the transmission arm mechanism 120 can be placed in a suitable deployment position to collect or place the target item according to actual needs. In addition, the unfolding position can also generally refer to any position of the transmission arm mechanism 120 except the retracted position, that is, the transmission arm mechanism 120 can be the retrieval position where the target item is collected or placed, or the transmission arm mechanism 120. Any intermediate position in the process of switching from the stowed position to the retrieval position.

Referring to FIGS. 2 to 5, in some embodiments, the driving mechanism 102 includes a driving component 103 and a power component 104. The driving assembly 103 is in transmission connection with the mechanical arm body 101, and the driving assembly 103 is installed on the mounting base 110. The power assembly 104 is drivingly connected with the manipulator body 101. The power assembly 104 is installed on the mounting base 110. The drive assembly 103 and the power assembly 104 are both drivingly connected to the transmission arm mechanism 120, that is, the drive assembly 103 and the power assembly 104 drive the transmission arm mechanism 120 to switch between the deployed position and the retracted position.

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

Referring to FIGS. 2 to 5, in some embodiments, the transmission arm mechanism 120 includes a connecting seat 121, a transmission arm assembly 122 and a connecting rod structure 123. Both the driving mechanism 102 and the connecting seat 121 are connected with the transmission arm assembly 122. The driving mechanism 102 is drivingly connected to 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 part 300 for carrying a target item. The mounting part 300 is connected to the robot arm body 101. Specifically, the mounting portion 300 is connected to the connection base 121. When the transmission arm mechanism 120 is in a suitable deployment position, the carrying part 300 can pick up the target item or place the target item in a preset placement position. The target article can be mounted on the mounting portion 300 and can move with the movement of the robot arm 10.

Specifically, the driving assembly 103 is drivingly connected with the connecting rod structure 123. The power assembly 104 is in transmission connection with the transmission 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 can work at the same time, or one of them can work to drive the transmission arm mechanism 120 to move, thereby driving the carrying part 300 connected to the transmission arm mechanism 120 to move. That is, the driving assembly 103 can drive the linkage structure 123 to move; and/or the power assembly 104 can drive the transmission arm assembly 122 to move, thereby driving the carrying portion 300 connected to the connecting seat 121 to move to a suitable position.

Please refer to FIG. 5, FIG. 6 and FIG. 7, in some embodiments, the driving assembly 103 includes a driving member 1031 and a steering wheel 1032. The driving member 1031 is installed on the mounting base 110. It is understandable that the driver 1031 can be installed on the mounting base 110 in any suitable manner according to actual needs, for example, the driver 1031 is mounted on the mounting base 110 by studs and screws. The driving member 1031 is drivingly connected to the connecting rod structure 123 through a steering wheel 1032. The driving member 1031 may be any suitable driving device, such as a motor or a steering gear.

Referring to FIGS. 5, 6 and 8, in some embodiments, the power assembly 104 includes a power part 1041 and a transmission kit 1042. The transmission kit 1042 is connected to the power part 1041 and the transmission arm mechanism 120. The power component 1041 can be installed on the mounting base 110 in any suitable manner according to actual needs, for example, the power component 1041 is installed on the mounting base 110 by screws. The power part 1041 may be any suitable power equipment, such as a motor or a steering gear.

The transmission kit 1042 can be designed as any suitable transmission structure. For example, the transmission kit 1042 is a steering wheel. For another example, referring to FIG. 8, FIG. 9 and FIG. 10, the transmission kit 1042 includes a transmission member 1043 and a buffer member 1044. The power part 1041 is drivingly connected to the transmission arm assembly 122 through the transmission part 1043. Specifically, the power part 1041 is drivingly connected to the first arm 1221 through the transmission part 1043. The buffer member 1044 is arranged on the transmission member 1043. When the mechanical arm 10 is impacted, the buffer member 1044 can absorb the impact force generated on the driving mechanism 102, especially the power member 1041 when the mechanical arm 10 is impacted, so as to avoid damage to the driving mechanism 102, especially the power member 1041, and effectively reduce the impact of the impact on the drive. The impact of the mechanism 102, especially the power part 1041, greatly improves the stability and reliability of the driving mechanism 102 or the power part 1041, and prolongs its service life.

Please refer to FIG. 10, in conjunction with FIG. 9, in some embodiments, the transmission component 1043 includes a first transmission sub-component 10431 and a second transmission sub-component 10432. The first transmission component 10431 is connected to the power component 1041. The second transmission sub-component 10432 is connected with the transmission arm assembly 122. Specifically, the second transmission sub-component 10432 is connected with the first arm 1221. The buffer 1044 is arranged between the first transmission sub-component 10431 and the second transmission sub-component 10432. Both the first transmission sub-component 10431 and the second transmission sub-component 10432 are tightly fitted with the buffer 1044, so that the buffer 1044 can absorb the impact force caused by the mechanical arm 10 being impacted by an external force, and reduce the impact of the impact on the power component 1041 .

The buffer member 1044 can be made of any suitable material, for example, a material with a buffer function such as silica gel, foam or soft rubber. When the mechanical arm 10 is impacted, the buffer member 1044 can deform by itself to effectively absorb the impact force, thereby providing a guarantee for the stability and reliability of the driving mechanism 102 or the power member 1041 and prolonging its service life. The buffer 1044, the first transmission sub-component 10431, and the second transmission sub-component 10432 can be designed in any suitable shape or structure according to actual requirements, and they are not limited to the structure or shape in FIG. 10.

Please refer to FIGS. 2 to 6 again. In some embodiments, the transmission arm assembly 122 includes a first arm 1221 and a second arm 1222. The first arm 1221 is in transmission connection with the driving 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.

Please refer to FIGS. 6 and 8 again. In some embodiments, the robot arm body 100 further includes a fastener 400. The fastener 400 penetrates the transmission arm assembly 122 and the transmission sleeve 1042 to connect with the power component 1041 to lock and fix the transmission sleeve 1042 and the power component 1041. Specifically, the fastener 400 passes through the first arm 1221, the second transmission sub-component 10432, the buffer component 1044, and the first transmission sub-component 10431 to be locked to the power component 1041. The fastener 400 may be any suitable fastening structure, such as a screw or the like.

Please refer to FIG. 8 again, in conjunction with FIG. 2, more specifically, a through hole 12211 is provided on the first arm 1221. During installation, the first arm 1221 is connected to the first arm 1221 by any suitable connecting structure such as screws. The fastener 400 reaches the second side of the first arm 1221 from the first side of the first arm 1221 through the through hole 12211. The first side of the first arm 1221 and the second side of the first arm 1221 are disposed oppositely, 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 passes through the second transmission component 10432, the buffer component 1044, the first transmission component 10431, and the output shaft of the power component 1041 in sequence, thereby locking The second transmission component 10432, the buffer component 1044, the first transmission component 10431 and the power component 1041 are tightly fixed.

Please refer to FIGS. 2 to 5 again. It can be understood that the connecting rod structure 123 includes a first connecting rod assembly 130, a second connecting rod assembly 140 and a third connecting rod assembly 150. The first link assembly 130 is connected to the mounting base 110. The driving assembly 103 is drivingly connected with the second arm 1222 through the second link assembly 140. The second arm 1222 and the first link assembly 130 are both drivingly connected with the third link assembly 150.

Referring to FIGS. 2 to 5, in some embodiments, the connecting rod 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. Understandably, the first arm 1221 is movably connected to the second arm 1222 through the locking member 160. Exemplarily, the locking member 160 may include a locking rod body and a locking screw. After the third link assembly 150, the first arm 1221 and the second arm 1222 are inserted into the locking rod body, the locking screw is locked to one end of the locking rod body, thereby realizing the third link assembly 150, the first arm 1221 and the second arm 1222. Assembly and connection of the two arms 1222. 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 can be movably connected, and the third link assembly 150 and the first link assembly 130 can be movably connected.

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

Please refer to FIG. 11, in conjunction with FIG. 5, in some embodiments, the first connecting rod assembly 130 includes a first connecting rod 131 and a connecting rod connecting member 132. One end of the first connecting rod 131 is connected to the mounting base 110, and the other end of the first connecting rod 131 is connected to the third connecting rod assembly 150. The first connecting rod 131 is connected to the mounting base 110 through a connecting rod connecting piece 132. The first connecting rod 131 and the connecting rod connecting member 132 may be integrally formed and connected, or may be provided separately. When the first connecting rod 131 and the connecting rod connecting member 132 are arranged separately, 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.

Understandably, in other embodiments, the connecting rod connecting member 132 may also be omitted, and the first connecting rod 131 is directly connected to the mounting base 110.

Please refer to FIG. 12, in some embodiments, the connecting rod connecting member 132 has a connecting rod connecting portion 1321 and a restricting structure 1322. The connecting rod connecting portion 1321 is movably connected with the first connecting rod 131. The restricting structure 1322 is connected to the connecting rod connecting portion 1321 and is used for restricting the movement of the first connecting rod 131 so that the first arm 1221 moves in a preset first movable angle range relative to a preset plane. The preset plane can be selected according to actual needs, for example, the horizontal plane when an unmanned vehicle is driving on the ground.

Please refer to FIG. 12, in conjunction with FIG. 11, in some embodiments, the restricting structure 1322 includes a restricting body 171 and a restricting portion 172. The restricting body 171 is connected to the link connecting portion 1321. The restricting portion 172 is provided on the restricting body 171. Specifically, the connecting rod connecting portion 1321 and the restricting portion 172 cooperate to form an activity space to avoid the first connecting rod 131 so that the first arm 1221 moves in the first movable angle range relative to the preset plane. The movable space is in communication with the matching groove 1721. The first movable surface 1312 can rotate in the matching groove 1721.

Please refer to FIG. 12, in some embodiments, the restricting portion 172 includes a matching groove 1721, a first stop surface 1722 and a second stop surface 1723. At least part of the first connecting rod 131 is disposed on the matching groove 1721. The first stop surface 1722 is provided at one end of the groove wall of the mating groove 1721. The second stop surface 1723 is provided at the other end of the groove wall of the mating groove 1721. The second stop surface 1723 cooperates with the first stop surface 1722 to restrict the movement of the first connecting rod 131, thereby restricting the movement of the first arm 1221 relative to the preset plane within the first movement angle range.

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. The first mating surface 1311 cooperates with the first stopping surface 1722. The first movable surface 1312 is matched with the matching groove 1721. The second mating surface 1313 cooperates with the second stopping surface 1723. When the first connecting rod 131 rotates relative to the restricting portion 172 toward the first stopping surface 1722 until the first mating surface 1311 abuts the first stopping surface 1722, the first stopping surface 1722 can prevent the first connecting rod 131 from continuing to face The first stop surface 1722 rotates. When the first connecting rod 131 rotates toward the second stop surface 1723 relative to the restricting portion 172 until the second mating surface 1313 abuts against the second stop surface 1723, the second stop surface 1723 can prevent the first connecting rod 131 from continuing to face The second stop surface 1723 rotates. Therefore, the restricting portion 172 can restrict the movement of the first connecting rod 131 between the two extreme positions and the two extreme positions, so as to limit the position of the first connecting rod 131. Since the first link 131 and the first arm 1221 are parallelogram-shaped opposite sides, when the first link 131 touches the first stop surface 1722 and the second stop surface 1723 of the restricting portion 172, a movement is formed. It is stuck, thereby restricting the movement of the first arm 1221 relative to the preset plane within the first movement angle range.

The first stop surface 1722, the bottom wall of the mating groove 1721, and the second stop surface 1723 may be surfaces of any suitable shape. Illustratively, the bottom wall of the fitting groove 1721 is an arc-shaped surface. Both the first stop surface 1722 and the second stop surface 1723 are inclined surfaces. The first stop surface 1722 and the second stop surface 1723 are both inclined in the direction of the matching groove 1721 from the side facing away from the matching groove 1721 toward the side close to the matching groove 1721. The first stop surface 1722 and the second stop surface 1723 are arranged at an included angle. The included angle between the first stop surface 1722 and the second stop surface 1723 is 30°-150°, that is, between 30°, 50°, 80°, 100°, 120°, 150°, and 30°-150° Any angle between.

It can be understood that the connecting rod connecting member 132 and the connecting rod connecting member 141 are not limited to the structure in the above embodiment, and may also be any other suitable structure.

Please refer 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 connector 141 is drivingly connected with the driving assembly 103. One end of the second link 142 is drivingly connected to the other end of the link connecting member 141, and the other end of the second link 142 is drivingly connected to the second arm 1222. The second connecting rod 142 may be integrally formed with the connecting rod connector 141, or may be provided separately. When the second connecting rod 142 and the connecting rod connecting member 141 are separately provided, the second connecting rod 142 may be connected to the second connecting rod 142 by a connecting member such as a screw. The connecting rod connecting piece 141 is fixed to the steering gear of the driving assembly 103 by other connecting pieces such as screws.

Please refer to FIG. 14, in conjunction with FIG. 13, in some embodiments, the connecting rod connector 141 has a connecting rod transmission body 1411 and a limiting structure 1412. The connecting rod transmission body 1411 is in transmission connection with the driving assembly 103. The limiting structure 1412 is connected to the connecting rod transmission body 1411 and the second connecting rod 142, and is used to limit the movement of the second connecting rod 142, so that the second arm 1222 moves relative to the second connecting rod 142 within a preset second movable angle range .

Please refer to FIG. 14. In some embodiments, the limiting structure 1412 includes a limiting portion 181. The limiting portion 181 cooperates with the second connecting rod 142 to restrict the movement of the second connecting rod 142. The limiting portion 181 is connected to one end of the connecting rod transmission body 1411. The limiting structure 1412 further includes a connecting rod joint 182. The connecting rod coupling portion 182 is provided on the limiting portion 181. The connecting rod joint 182 and the second connecting rod 142 can be movably connected.

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

Please refer 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 part of the second connecting rod 142 is provided on the fitting groove 1811. The first resisting surface 1812 is provided at one end of the groove wall of the fitting groove 1811. The second resisting surface 1813 is provided on the other end of the groove wall of the adapting groove 1811. Since the connecting rod connecting piece 141 and the second connecting rod 142 are connected in series, the limiting portion 181 can realize the angular position between the connecting rod connecting piece 141 and the second connecting rod 142. Based on the parallelogram principle, when the second connecting rod 142 touches the first resisting surface 1812 and the second resisting surface 1813 of the limiting portion 181, a motion jam is formed, thereby restricting the second arm 1222 relative to the second connecting rod 142. The preset second movement angle range movement.

Please refer to FIG. 13, in some embodiments, the second connecting rod 142 includes a first matching surface 1421, a second movable surface 1422 and a second matching surface 1423. The first matching surface 1421 and the second matching surface 1423 are connected to opposite sides of the second movable surface 1422. The first matching surface 1421 is matched with the first resisting surface 1812. The second movable surface 1422 is matched with the adapting groove 1811. The second matching surface 1423 is matched with the second resisting surface 1813. When the second connecting rod 142 rotates relative to the limiting portion 181 toward the first resisting surface 1812 until the first matching surface 1421 abuts against the first resisting surface 1812, the first resisting surface 1812 can prevent the second connecting rod 142 from continuing to face the first resisting surface 1812. A resisting surface 1812 rotates. When the second connecting rod 142 rotates relative to the limiting portion 181 toward the second resisting surface 1813 until the second mating surface 1423 abuts against the second resisting surface 1813, the second resisting surface 1813 can prevent the second connecting rod 142 from continuing to face the second resisting surface 1813. The second resisting surface 1813 rotates. Therefore, the first resisting surface 1812 and the second resisting surface 1813 can restrict the movement of the second connecting rod 142 between the two extreme positions, thereby restricting the movement of the second arm 1222 relative to the second connecting rod 142 in the second movable angle range.

The first resisting surface 1812, the bottom wall of the adapting groove 1811, and the second resisting surface 1813 may be surfaces of any suitable shape. Exemplarily, the bottom wall of the adapting groove 1811 is an arc-shaped surface. Both the first resisting surface 1812 and the second resisting surface 1813 are inclined surfaces. The first resisting surface 1812 and the second resisting surface 1813 are inclined in the direction of the mating groove 1721 from the side away from the mating groove 1721 toward the side close to the mating groove 1721. The first resisting surface 1812 and the second resisting surface 1813 are arranged at an included angle. The included angle between the first resisting surface 1812 and the second resisting surface 1813 is 30°-150°, that is, between 30°, 50°, 80°, 100°, 120°, 150°, and 30°-150° Any angle.

Referring to FIGS. 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 connecting seat 121. One end of the third link 151 is connected to the connecting seat 121. The first arm 1221 is movably connected to the second arm 1222 through the locking member 160. The first connecting rod 131 is drivingly connected to the third connecting rod 151 through a hinge 152. The locking member 160 penetrates through the hinge 152, the first arm 1221, and the second arm 1222, so that the first arm 1221 and the second arm 1222 are hingedly connected. Specifically, the hinge 152 has a first part, a second part, and a third part. The first part is connected with the first connecting rod 131. The locking member 160 penetrates the second part, 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 part is connected with the third link 151.

Please refer to Figures 15 and 16, in conjunction with Figures 3 and 4, in some embodiments, the anti-pinch hand structure 200 includes a first avoidance structure 210 for preventing the first arm 1221 and/or the second arm 1222 from accidentally pinching Injury people or property, thereby improving the safety and reliability of the robotic arm 10. The first avoiding structure 210 is formed by the cooperation of the first arm 1221 and the second arm 1222. Specifically, the first avoiding structure 210 includes a first notch 211. The first notch 211 is provided on the first arm 1221. Specifically, the first notch portion 211 is provided at an end of the first arm 1221 facing away from the mounting seat 110. Compared with not providing the first notch 211, the first avoiding structure 210 of 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 211 can avoid people or property. Therefore, the risk of accidental pinching of personnel and property by the first arm 1221 and the second arm 1222 is avoided or reduced, and the use safety of the mechanical arm 10 is improved.

Please refer to Figures 15 and 16, in conjunction with Figures 3 and 4, in some embodiments, the first avoiding structure 210 further includes a second notch 212, the second notch 212 is provided on the second arm 1222, the first notch The part 211 cooperates with the second notch part 212 to avoid. Specifically, when a person or property erroneously enters between the first arm 1221 and the second arm 1222 due to improper operation, that is, it is sandwiched between the first arm 1221 and the second arm 1222, the first notch 211 and the second arm 1222 The notch 212 can increase the gap between the first arm 1221 and the second arm 1222, and the first notch 211 and/or the second notch 212 can avoid people or property, thereby avoiding or reducing the loss of people and property by the first arm 1221 And/or the risk of accidental pinching of the second arm 1222, further improving the safety of the robot arm 10 in use.

In order to prevent personal and property from being injured by contacting the first notch 211 and/or the second notch 212, the wall of the first notch 211 and/or the wall of the second notch 212 is a smooth transition surface.

The number of the first notch 211 and the second notch 212 can be designed according to actual requirements. Exemplarily, the number of the first notch 211 and the number of the second notch 212 are both two, and the two first notches 211 are oppositely disposed on both sides of the end of the first arm 1221. The two second notches 212 are arranged on opposite sides of the second arm 1222 opposite to each other, so that the operator can hold or support the second arm 1222, and can prevent personnel and property from being pinched by the second arm 1222. One of the first notches 211 and one of the second notches 212 cooperate to form a first avoiding structure 210. The other first notch portion 211 and the other second notch portion 212 cooperate to form another first escape structure 210.

Please refer to FIG. 16, in combination with FIG. 15 and FIG. 4, in some embodiments, the anti-pinch structure 200 further includes a second avoidance structure 220 for preventing the third link assembly 150, the second link assembly 140, and the first At least one of the link assembly 130 and the second arm 1222 accidentally pinches a person and property, thereby further improving the safety and reliability of the mechanical arm 10. The second avoidance structure 220 is formed by the cooperation of the third link assembly 150, the second link assembly 140, the first link assembly 130 and the second arm 1222.

Please refer to FIG. 16, in conjunction with FIG. 15 and FIG. 4, in some embodiments, the second avoidance structure 220 includes a first avoidance structure 221 and a second avoidance structure 222. The first avoiding structure 221 is formed by the cooperation of the second link assembly 140 and the second arm 1222. Specifically, the second link 142 and the second arm 1222 cooperate to form the first avoiding structure 221, thereby preventing people or property from accidentally entering between the second link 142 and the second arm 1222 and being caught by the second link 142 and/or The second arm 1222 is pinched.

Please refer to FIG. 16, in conjunction with FIG. 4, in some embodiments, the first avoiding structure 221 includes a first slotted portion 2211 and a first slotted portion 2212. The first groove-shaped portion 2212 cooperates with the first slotted portion 2211 to avoid. The first slot 2211 is provided on the second arm 1222. The first groove-shaped portion 2212 is provided on the second connecting rod assembly 140. Specifically, the first groove-shaped portion 2212 is provided on the second connecting rod 142. When a person or property erroneously enters between the second link 142 and the second arm 1222 due to improper operation, that is, it is sandwiched between the second link 142 and the second arm 1222, the first slot 2211 and/or The first groove-shaped portion 2212 can increase the gap between the second link 142 and the second arm 1222 to avoid people or property, thereby reducing the accidental pinching of people and property by the second link 142 and/or the second arm 1222 The risk of the robot arm 10 is further improved. In other embodiments, only one of the first slotted portion 2211 and the first groove-shaped portion 2212 may also be provided, which is not limited herein.

Referring to FIG. 16, in conjunction with FIG. 4, for example, the first groove-shaped portion 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 slot portion 2211 and the second notch portion 212 are spaced apart along the length extension direction of the second arm 1222. The second notch portion 212 is provided between the connecting seat 121 and the first slot portion 2211.

Please refer to FIG. 16, in conjunction with FIG. 4, the second avoidance structure 222 and the first avoidance structure 221 are arranged opposite to each other. The second avoidance structure 222 is formed by the cooperation of the first link assembly 130 and the third link assembly 150. Specifically, the first link 131 and the hinge 152 cooperate to form a second avoidance structure 222, so as to prevent people or property from accidentally entering between the first link 131 and the hinge 152 and be caught by the first link 131 and/or the hinge 152. 152 pinch injury.

Please refer to FIG. 15 and FIG. 16, in conjunction with FIG. 4, in some embodiments, the second avoiding structure 222 includes a second slotted portion 2221 and a second grooved portion 2222. The second groove-shaped portion 2222 cooperates with the second slotted portion 2221 to avoid. The second slotted portion 2221 is provided on the third link assembly 150. The second groove-shaped portion 2222 is provided on the first connecting rod assembly 130. Specifically, the second slotted portion 2221 is provided on the hinge 152. The second groove portion 2222 is provided on the first connecting rod 131. When a person or property enters between the first connecting rod 131 and the hinge 152 due to improper operation, that is, it is sandwiched between the first connecting rod 131 and the hinge 152, the second slot 2221 and/or the second The groove portion 2222 can increase the gap between the first connecting rod 131 and the hinge 152 to avoid people or property. Therefore, the risk of accidental pinching of personnel and property by the first connecting rod 131 and/or the hinge 152 is reduced.

Referring to FIGS. 15 and 16, in conjunction with FIG. 4, for example, the second groove-shaped portion 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 damage to people and property due to contact with the second slotted portion 2221 and/or the second slotted portion 2222, the wall surface of the second slotted portion 2221 and/or the wall surface of the second slotted portion 2222 is a smooth transition surface.

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

Please refer to FIG. 17, in conjunction with FIG. 4, in some embodiments, the third avoiding structure 230 includes a recess 231 and a first avoiding notch 232. The recessed portion 231 is provided on the second connecting rod assembly 140. The first avoidance notch 232 is provided on the mounting seat 110, and the first avoidance notch 232 cooperates with the recessed portion 231 to avoid. Specifically, the recessed portion 231 is provided on the connecting rod connector 141. In the process of assembling the mechanical arm 10, the arrangement of the recessed portion 231 and the first avoiding notch 232 can prevent the connecting rod connector 141 and/or the mounting seat 110 from injuring personnel or property.

Please refer 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 mounting base body is used to install the driving mechanism 102 and can be connected to the movable body 20. The first shielding portion 1101 cooperates with the mounting base body to form a first avoidance gap 232. During the assembly or use of the robot arm 10, when switching between the deployed position and the stowed position of the robot arm 10, the first shielding portion 1101 can shield most of the connecting rod connectors 141 to prevent the operator or property from entering the installation by mistake The gap between the seat 110 and the connecting rod connector 141 is pinched, thereby further improving the safety and reliability of the robot arm 10.

Referring to FIG. 18, in conjunction with FIG. 3, in some embodiments, the anti-pinching structure 200 further includes a fourth avoiding structure 240 for preventing people or property from being accidentally pinched by the mounting seat 110 and the first connecting rod assembly 130, thereby The safety and reliability of the mechanical arm 10 are further improved. The fourth avoiding structure 240 is formed by the cooperation of the mounting seat 110 and the first connecting rod assembly 130. The fourth avoidance structure 240 includes a wedge portion 241 and a second avoidance gap 242. The wedge portion 241 is provided on the first connecting rod assembly 130. The second avoiding notch 242 is provided on the mounting seat 110, and the second avoiding notch 242 cooperates with the wedge portion 241 to avoid. Specifically, the wedge portion 241 is provided on the first connecting rod 131. In the process of assembling the mechanical arm 10, the arrangement of the second avoiding notch 242 and the wedge portion 241 can prevent the first connecting rod 131 and/or the mounting seat 110 from injuring people or property.

Please refer 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 cooperates with the mounting base body to form a second avoiding gap 242. During the assembly or use of the robotic arm 10, when switching between the deployed position and the retracted position of the robotic arm 10, the second shielding portion 1102 can shield part of the first connecting rod 131 to prevent the operator or property from entering the mounting seat 110 by mistake The gap between the connecting rod connector 141 and the connecting rod connector 141 is pinched, thereby further improving the safety and reliability of the robot arm 10.

The first movement angle range and the second movement angle range can be designed according to actual needs. In order to further ensure that the manipulator 10 pinches people or property, the first movable angle range is 22°-92° (including 22° and 92°). The second movement angle range is 45°-135° (including 45° and 135°). Within the angle range of the first movable angle range and the second movable angle range, at least one of the first avoiding structure 210, the second avoiding structure 220, the third avoiding structure 230, and the fourth avoiding structure 240 can have sufficient clearance. In order to meet the free movement of the operator’s hands, so that during the process of assembling or using the robot arm 10, even if the operator’s hand accidentally enters the gap, the mounting seat 110 and/or the transmission arm mechanism 120 will not clamp Injury the operator and ensure the safety and reliability of the robotic arm 10.

In the manipulator 10 of the above embodiment, when the manipulator 10 moves to the extreme position, due to the anti-pinch structure 200 and/or the angle limit, it is ensured that the manipulator 10 can meet the requirements of the operator's hand at each extreme position. Free movement, avoid the risk of pinching people or property, and improve the safety and reliability of the robot arm 10.

Please refer to FIG. 19, in conjunction with FIG. 2, in some embodiments, the mounting base 110 has a groove-shaped space 111, and at least a part of the transmission arm assembly 122 and at least a part of the connecting rod structure 123 are located in the groove-shaped space 111. Specifically, the connecting rod connecting piece 132, at least part of the connecting rod connecting piece 141, and at least part of the first arm 1221 are located in the groove-shaped space 111. The power part 1041 and the driving part 1031 are installed outside the groove-shaped space 111.

Please refer to FIG. 19, in conjunction with FIG. 4 and FIG. 13, in some embodiments, the mounting base 110 includes a mounting member 112. The driving assembly 103 is installed on the mounting member 112, and the transmission arm mechanism 120 and at least part of the driving assembly 103 are arranged on both sides of the mounting member 112. Specifically, the first arm 1221 and at least a part of the driving 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 part of the driving assembly 103 penetrates the mounting opening 1121 to be connected to the transmission arm mechanism 120. Both the rudder wheel 1032 and the first arm 1221 are connected to the connecting rod connector 141. In some embodiments, the rudder wheel 1032 and the connecting rod connector 141 can be inserted into the slot-shaped space 111 from the installation opening 1121 to be connected to the first arm 1221.

Wherein, the driving part 1031 is installed on the mounting part 112. Specifically, the steering wheel 1032 is fixed on the driving member 1031, the steering wheel 1032 is connected with the connecting rod connecting member 141, and the driving member 1031 is fixedly installed on the mounting member 112. Exemplarily, at least part of the rudder wheel 1032 and at least part of the driving member 1031 are respectively provided on both sides of the mounting member 112.

Please refer to FIG. 19, in conjunction with FIG. 3 and FIG. 11, in some embodiments, the mounting base 110 includes a fitting 113. The power assembly 104 is installed on the assembly 113. Specifically, the power part 1041 is installed on the assembly 113. The power part 1041 is in transmission connection with the first arm 1221 through the transmission kit 1042.

Referring to FIGS. 6 and 8, in some embodiments, at least a part of the transmission kit 1042 and at least a part of the power component 1041 are respectively provided on both sides of the assembly 113.

Please refer to FIGS. 6 and 8. In some embodiments, the transmission arm mechanism 120 and at least a part of the power assembly 104 are provided on both sides of the assembly 113. Specifically, the first arm 1221 and at least a part of the power part 1041 are provided on both sides of the assembly 113. Specifically, the second transmission component 10432, the buffer component 1044, at least the first transmission component 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 component 1041 is located outside the slot-shaped space 111.

Please refer to FIG. 19. In some embodiments, the mounting base 110 further includes a base 114. Both the mounting part 112 and the mounting part 113 are connected to the base 114. The base 114 can also be installed on the movable body 20. The mounting member 112, the mounting member 113 and the base 114 cooperate to form a groove-shaped space 111.

Please refer to FIG. 19, in some embodiments, the mounting member 112 and the mounting member 113 are relatively disposed on the base 114. The mounting member 112 and the mounting member 113 are arranged on opposite sides of the base 114 at intervals. The mounting member 112 and the mounting member 113 cooperate to form a groove-shaped space 111, a first opening 1103 and two second openings 1104. The first opening 1103 Both the second open opening 1104 and the groove-shaped space 111 communicate with each other. The first opening 1103 is provided on a side of the mounting member 112 away from the base 114. The two second open openings 1104 are disposed opposite to the other two sides of the base 114.

On the one hand, the first open 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 the designed trajectory range, and on the other hand, it can allow the operator's hand or Other auxiliary tools enter the slot-shaped space 111 from the first open opening 1103 to assemble and connect at least one of the first arm 1221, the first connecting assembly, and the second connecting rod assembly 140, which is convenient for assembly and improves the installation. The friendliness of the system increases the user’s installation experience.

The second open opening 1104 can allow the operator’s hand or other auxiliary tools to enter the slot-shaped space 111 from the second open opening 1104 to assemble and connect the first arm 1221, the first link assembly, and the second link assembly 140. The assembly connection of at least one of them facilitates assembly, improves the friendliness of installation, and increases the installation experience of the user.

2-7, the robot arm body 100 further includes a support base 105 for supporting at least part of the transmission arm assembly 122 and at least part of the link structure 123, so as to achieve double-end support for the power part 1041 and the driving part 1031, so that The force distribution of the power part 1041 and the driving part 1031 is even, the stability of the power part 1041 and the driving part 1031 is improved, and the service life of the power part 1041 and the driving part 1031 is prolonged. The supporting base 105 is provided on the mounting base 110.

Referring to FIGS. 6 and 7, at least part of the connecting rod structure 123 and at least part of the connecting rod structure 123 are directly or indirectly connected to the support base 105. Specifically, the connecting rod connector 141 and the first arm 1221 are both directly or indirectly connected to the support base 105. The direct or indirect connection method can be selected according to actual needs. For example, the connecting rod connector 141 passes through the first arm 1221 and is placed on the support base 105. When the connecting rod connector 141 is fixed to the driving assembly 103 and supported on the support base 105, the connecting rod connector 141 can also support the first arm 1221, so that the power part 1041 and the driving part 1031 are evenly distributed in force . The mechanical arm 10 in the embodiment of the present application has uniform force distribution, simple structure, improved installation friendliness, convenient assembly, and increased user installation experience. Of course, in other embodiments, auxiliary connectors such as screws pass through the support base 105 to relatively fix the first arm 1221 and the link connector 141, thereby supporting the first arm 1221 and the link connector 141.

Specifically, the power assembly 104 is fixedly connected to one end of the first arm 1221, and the other end of the first arm 1221 is supported by the connecting rod connector 141, so as to realize the double-end support of the power part 1041, so that the power part 1041 is distributed in force. Even, the stability of the power part 1041 is improved, and the service life of the power part 1041 is prolonged. The connecting rod connector 141 is connected to the driving part 1031 through the rudder wheel 1032, which is equivalent to fixing one end, and the other end is supported by the support base 105, so that the driving part 1031 is evenly distributed in force, thereby realizing the double The end support improves the stability of the driving member 1031 and prolongs the service life of the driving member 1031.

Please refer to FIG. 6, in some embodiments, the mounting member 112, the supporting base 105 and the mounting member 113 are sequentially arranged on the base 114 at intervals. The mounting member 112 and the support base 105 are spaced apart, so as to provide installation space for the first arm 1221, the connecting rod connecting member 141 and the rudder wheel 1032.

Referring to Figures 5 to 7, in some embodiments, the support base 105 is provided with a support slot 1051, and the connecting rod connector 141 penetrates the first arm 1221 and is partially inserted into the support slot 1051, thereby aligning The arm 1221 and the connecting rod connector 141 support. When assembling the first arm 1221, the connecting rod connecting piece 141 and the support base 105, as long as the connecting rod connecting piece 141 is inserted through the first arm 1221 and inserted into the support slot 1051, the assembly between the three can be completed. Easy to assemble.

Please refer to FIG. 7 and FIG. 14. In some embodiments, the connecting rod connector 141 further includes an insertion portion 1413. The insertion portion 1413 is disposed on a side of the connecting rod transmission body 1411 away from the driving assembly 103, and the insertion portion 1413 penetrates the first arm 1221 and is inserted into the support slot 1051. The support slot 1051 cooperates with the insertion portion 1413 to support the first arm 1221 and the connecting rod transmission body 1411. The shapes of the insertion portion 1413 and the support slot 1051 can be designed according to actual requirements, for example, the insertion portion 1413 is cylindrical, and the support slot 1051 is a circular slot.

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

In some embodiments, the support base 105 and the base 114 are arranged separately, and the two can be connected and fixed by connecting pieces such as screws. When the robotic arm 10 is not needed, the parts of the robotic arm 10 can be detached to facilitate storage. Reduce storage space. Of course, in other embodiments, the support base 105 and the base 114 may also be integrally formed.

Referring to FIGS. 2 to 5, in some embodiments, the robotic arm 10 further includes a shooting frame 500. The photographing stand 500 is installed on the second arm 1222 and is used to carry the photographing equipment 40. The photographing device 40 may be a device having an image or video acquisition function, such as a camera. The photographing device 40 is detachably connected to the photographing frame 500 to facilitate disassembly or replacement of the photographing device 40. The detachable connection method can be a snap connection, a screw connection, and the like.

The photographing frame 500 can be designed as any suitable carrying structure, as long as it can carry the photographing device 40. Please refer to FIG. 5. Illustratively, the shooting frame 500 includes a carrying plate 510. The supporting board 510 is provided on the second arm 1222 and is used for supporting the photographing device 40. The photographing frame 500 does not obstruct the photographing field of view of the photographing device 40, and has a simple structure, and the assembly of the carrying plate 510 and the photographing device 40 is convenient.

Understandably, the shooting frame 500 can be integrally formed with the second arm 1222 to reduce the parts of the robot arm 10 and improve the assembly efficiency of the robot arm 10. Of course, in other embodiments, the shooting frame 500 can also be provided separately from the second arm 1222, which is not limited here.

In some embodiments, the robotic arm 10 has a fetching state and a stowed state. When the robotic arm 10 is in the fetching state, the shooting device 40 has the first shooting posture; when the robotic arm 10 is in the stowed state, the shooting device 40 Has a second shooting attitude. The first shooting direction in the first shooting posture and the second shooting direction in the second shooting posture are set at an angle.

When the robot arm 10 is in the stowed position, the robot arm 10 is in the stowed state. At this time, the movable body 20 can drive the robot arm 10 to move. When the robotic arm 10 is in the unfolded position, at this time, the robotic arm 10 can be controlled to pick up or place the target item, so that the robotic arm 10 is in a fetching state.

The robotic arm 10 can drive the shooting device 40 to move between the first shooting posture and the second shooting posture, so that the shooting device 40 can obtain different shooting directions or shooting 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, so as to provide a good working field of view of the manipulator 10, so that the user can observe the carrying part 300 connected to the connecting base 121 The working state is convenient for the user to operate the carrying unit 300 to collect or place the target item. When the shooting device 40 is in the second shooting posture, the second shooting direction of the shooting device 40 faces the ground in front of the movable machine 1000 to provide a good driving field of view of the movable body 20.

Specifically, the carrying plate 510 is installed on an end of the second arm 1222 away from the connecting seat 121. When the shooting device 40 switches between the first shooting posture and the second shooting posture, the robotic arm 10 does not block the shooting device 40, so that the shooting device 40 has a good shooting field of view.

Referring to FIGS. 2, 4 and 5, in some embodiments, the second arm 1222 has an inclined surface 12221, and the carrying plate 510 and the inclined surface 12221 are arranged at a preset angle, so that the photographing device 40 can take as few pictures as possible. The second arm 1222 part prevents useless structures from occupying the field of view space. At the same time, it can ensure that during the working process of the robot arm 10 or the movable body 20 during the driving process, the shooting device 40 has a good shooting field of view, so that the user can observe the mounting part 300 The working state or the environment on the ground in front of the movable platform is convenient for the user to operate the robotic arm 10 or the movable platform. The angle between the carrying plate 510 and the inclined plane can be any suitable angle, such as 15°-45°, that is, 15°, 20°, 30°, 45°, and any other suitable angle between 15°-45° .

When the robotic arm 10 is used in the palletizing field, due to the limited trough space 111 of the mounting seat 110, when the assembly of the first arm 1221, the power assembly 104 and the mounting seat 110 is completed, there is not enough trough space 111 The operating space is for screwdrivers and other tools to assemble the drive assembly 103, the first arm 1221 and the link connector 141. The first arm 1221 will interfere with the assembly of the drive assembly 103, the first arm 1221 and the link connector 141, which is inconvenient. Poor assembly friendliness.

In order to solve this problem, please refer to FIG. 6, FIG. 7 and FIG. 14, in combination with FIG. On the upper side, the connecting rod connecting piece 141 is locked and fixed with the steering gear of the driving assembly 103, which is convenient to assemble, improves the friendliness of the assembling process, and has a simple structure.

Please refer to FIG. 20 and FIG. 21. In other embodiments, the robot arm body 100 further includes a manual operating member 106. The driving assembly 103 is connected to the manipulator body 101 through the manual operating member 106 to facilitate the assembly of the manipulator 10. The manual operating member 106 is operated so that the manual operating member 106 penetrates a part of the robot arm body 101 and is connected to the driving assembly 103. Specifically, the manual operating member 106 penetrates through one end of the first arm 1221, the link connecting member 141 and the steering wheel 1032 to be fastened to the driving member 1031.

Please refer to FIG. 21. In some embodiments, the manual operating member 106 has an operating portion 1061 and a connecting portion 1062. The connecting portion 1062 is connected to the operating portion 1061, and the connecting portion 1062 passes through a part of the robot arm main body 100 to be connected to the driving assembly 103. Specifically, the coupling portion 1062 penetrates through one end of the first arm 1221, the link connecting member 141 and the steering wheel 1032 to be fastened to the output shaft of the driving member 1031.

When assembling the first arm 1221, the connecting rod connecting piece 141 and the driving assembly 103, the driving piece 1031, the steering wheel 1032 and the connecting rod connecting piece 141 are assembled and fixed. The operator's hand enters the slot-shaped space 111 to operate the operating portion 1061, so that the operating portion 1061 sequentially penetrates the first arm 1221, the link connecting member 141, and the steering wheel 1032, and is locked into the output shaft of the driving member 1031. Since the manual operating member 106 can be directly operated by the operator's hand, no auxiliary screwdriver or other tools are required, the friendliness of the assembly process is improved, the assembly is convenient, and the structure is simple.

Referring to FIG. 22, an embodiment of the present application also provides a method for assembling a robotic arm, which can improve the assembling friendliness of the robotic arm, thereby improving the user experience. The robotic arm is the robotic arm in any of the foregoing embodiments, and will not be repeated here.

Please refer to FIG. 22. The assembling method includes steps S101 to S103.

Step S101: Assemble the first arm, the first link assembly, the power assembly and the mounting seat.

Step S102: Connect the driving assembly to the connecting rod connector to obtain a driving middle part.

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

In some embodiments, the assembling the first arm, the first link assembly, the power assembly and the mounting seat includes: installing the power part on the mounting seat; assembling and connecting the transmission kit with the first arm; Connect the assembled transmission kit and the first arm to the power part installed on the mounting seat.

Specifically, the power part is installed on the mounting seat. Then connect the assembled transmission part and the first arm to the power part.

In some embodiments, the driving assembly includes a rudder disc and a driving part; connecting the driving assembly to a connecting rod connector to obtain a driving middle part includes: connecting the rudder disc to the driving part; The connecting rod connecting piece is tightly connected with the rudder wheel to obtain the driving middle piece.

In some embodiments, after the connecting rod connecting member of the driving middle part is passed through the mounting seat, the method further includes: a driving part that locks the mounting seat and the driving middle part.

In some embodiments, before at least part of the connecting rod connector is inserted through the first arm to be inserted on the support base, the method further includes: mounting the support base on the mounting base for supporting the first arm. Arm and connecting rod connecting piece.

In some embodiments, after inserting at least part of the link connecting member through the first arm to be inserted on the support base, the method further includes: connecting the second arm to the first arm. Specifically, the second arm may be connected to the first arm through a locking member. More specifically, the locking member includes a screw and a first rod body. The first rod body penetrates the first arm and the second arm, and the screw and other connecting parts are locked to one end of the first rod body.

In some embodiments, before connecting the second arm to the first arm, the method further includes: installing a photographing device on the photographing frame of the second arm. Specifically, connecting pieces such as screws can be passed through the shooting frame and locked to the shooting device, so as to realize the connection and fixing of the shooting device and the shooting frame.

In some embodiments, after connecting the second arm to the first arm, the method further includes: connecting the second link to the link connecting member and the second arm. Specifically, the second connecting rod may be connected to the connecting rod connecting piece by a connecting piece such as a screw. More specifically, a connecting member such as a screw passes through the connecting rod connecting member and is 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 body. More specifically, the second rod body passes through the second arm, and the screw passes through the second connecting rod to be locked on the second rod body.

In some embodiments, after connecting the second connecting rod to the connecting rod connector and the second arm, the method further includes: fixing the first connecting rod assembly to the mounting seat. Before fixing the first connecting rod assembly on the mounting seat, the method further includes: connecting the first connecting rod and the connecting rod connecting member to form the first connecting rod assembly.

Specifically, the connecting member such as a screw passes through the first connecting rod and is locked to the connecting rod connecting member. After the first connecting rod and the connecting rod connecting member are connected and assembled, another connecting member, such as a screw, is used to penetrate the fitting and the connecting rod connecting member, so that the first connecting rod assembly is fixed on the mounting seat.

In some embodiments, after fixing the first connecting rod assembly on the mounting seat, the method further includes: connecting a hinge to the first connecting rod of the first connecting rod assembly. Specifically, a connecting member such as a screw passes through the hinge member and is locked to the first connecting rod, so as to realize the connection between the first connecting rod and the hinge member. After the hinge is connected to the first connecting rod of the first connecting rod assembly, the method further includes: inserting the hinge through another connecting piece, such as a screw, to lock the other end of the first rod body, thereby realizing the first arm, The assembly of the second arm and the hinged part.

In some embodiments, after connecting the hinge member to the first connecting rod of the first connecting rod assembly, the method further includes: connecting the third connecting rod to the hinge member and the connecting seat. Before connecting the third link to the hinge and the connecting seat, the method further includes: connecting the connecting seat to the second arm. After connecting the third link to the hinge and the connecting seat, the method further includes: connecting the carrying portion with the connecting seat.

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

Install the four studs on the assembly parts. The four screw threading power parts are correspondingly installed on the four screws, so that the power parts are installed on the assembly parts. Then, two screws are inserted through the first arm and locked on the transmission kit. After assembling the transmission kit and the first arm, align the transmission kit with the power part, and use a long screw to pass through the first arm and the transmission kit and lock it to the output shaft of the power part. After the transmission kit and the power part are locked, two screws pass through the base from the bottom of the base and are locked to the bottom of the support base. After fixing the support base to the mounting base, use a screw to install the rudder disc to the driving part. Then, four screws are inserted through the connecting rod connecting piece and locked on the rudder wheel, thereby obtaining the driving middle piece.

Pass the connecting rod connecting piece of the driving middle piece through the installation opening from the first side of the mounting piece to the second side of the mounting piece, and make the inserting part of the connecting rod connecting piece pass through the first arm and insert it to the support base The support slotted inside. The second side of the mounting part is the side where the groove-shaped space is located. Install the driving part of the driving middle part to the mounting part with four screws. Then, install the shooting device on the shooting frame of the second arm with two screws. The first rod body is inserted through the second arm of the first arm equipped with the photographing equipment, and a screw of the locking member is used to lock one end of the first rod body of the locking member. Then, the second rod body is inserted through the second arm, and is fixed to one end of the second rod body by a screw. A screw is inserted through the second connecting rod and locked to the other end of the second rod body, thereby realizing the connection between the second connecting rod and the second arm. The first connecting rod and the connecting rod connecting member are connected by a screw to form a first connecting rod assembly.

A screw is used to penetrate the mounting fitting and fasten it on the connecting rod connecting piece, so as to realize the connection between the first connecting rod assembly and the mounting seat. After assembling the first connecting rod assembly and the mounting seat, a screw is used to pass through the hinge and be locked on the first connecting rod. After assembling the first link and the hinge, another screw of the locking member is used to pass through the hinge member and locked to the other end of the first rod body of the locking member, thereby realizing the first arm, the second arm and the hinge member The assembly of the three. Then, two screws are used to fix the connecting base to the end of the second arm away from the shooting device. Then, one screw is used to connect one end of the third connecting rod to the hinge, and another screw is used to connect the other end of the third connecting rod to the connecting seat. Then install the carrying part on the connecting seat with four screws.

The assembling method of the robot arm in the embodiment of the present application can reduce or avoid the assembly interference of the first arm of the assembly parts of the robot arm, thereby making the assembly of the robot arm convenient, improving the assembling friendliness of the robot arm, and thereby improving User experience.

Referring to FIG. 23, an embodiment of the present application also provides a method for assembling a robot arm, which can improve the assembling friendliness of the robot arm, thereby improving the user experience. The robotic arm is the robotic arm in any suitable embodiment described above, and will not be repeated here.

Please refer to FIG. 23. The assembling method includes steps S201 to S202.

Step S201: Assemble the first arm, the first link assembly, the power assembly and the mounting seat.

Step S202, thread the manual operating member through the first arm, the connecting rod connecting member, and the steering wheel, and lock it to the driving member.

In some embodiments, the assembling the first arm, the first connecting rod assembly, the power assembly and the mounting seat includes: installing the power part on the mounting seat; connecting the connecting rod connecting part to the mounting seat; The first arm is connected with the rudder transmission kit; the connected first arm and the transmission kit are installed on the power part of the mounting seat.

In some embodiments, before the manual operation member is inserted through the first arm, the connecting rod connecting member, and the steering wheel, and locked to the driving member, the method further includes: fastening the connecting rod connecting member with the steering wheel. .

In some embodiments, after the manual operating member is threaded through the first arm, the connecting rod connecting member, and the steering wheel, and locked to the driving member, the method further includes: installing the driving member on the mounting seat.

In some embodiments, after the manual operating member is inserted through the first arm, the connecting rod connecting member, and the steering wheel, and locked to the driving member, the method further includes: connecting the second arm to the first arm superior.

In some embodiments, before connecting the second arm to the first arm, the method further includes: installing a photographing device on the photographing frame of the second arm.

In some embodiments, after connecting the second arm to the first arm, the method further includes: connecting the second link to the link connecting member and the second arm.

In some embodiments, after connecting the connecting rod connecting member with the mounting base, the method further includes: connecting the first connecting rod with the connecting rod connecting member.

In some embodiments, after connecting the first connecting rod with the connecting rod connecting member, the method further includes: connecting the hinge member with the first connecting rod.

In some embodiments, after connecting the hinge member with the first connecting rod, the method further includes: connecting the third connecting rod to the hinge member and the connecting seat.

Install the four studs on the assembly parts. The four screw threading power parts are correspondingly installed on the four screws, so that the power parts are installed on the assembly parts. Then, two screws are used to connect the connecting rod connecting piece with the mounting base. Connect the first arm to the transmission kit with two screws. Then place the connected first arm and the transmission kit to a suitable position, and fasten the first arm and the power part with a screw. Fasten the rudder disc with the connecting rod connector through four screws. Install the driver on the mounting base with four screws. Insert the connecting rod connecting piece connected with the rudder disc into the driving part along the axial direction of the driving part. The manual operating member is inserted through the first arm, the connecting rod connecting member, and the steering wheel, and the manual operating member is operated to lock the manual operating member to the output shaft of the driving member. The assembling method of other parts of the robotic arm can refer to the assembling method of the robotic arm in the foregoing embodiment, and will not be repeated here.

The above are only specific implementations of this application, but the protection scope of this application is not limited to this. Any person skilled in the art can easily think of various equivalents within the technical scope disclosed in this application. Modifications or replacements, these modifications or replacements shall be covered within the protection scope of this application. Therefore, the protection scope of this application shall be subject to the protection scope of the claims.

Claims

A mechanical arm, characterized in that, the mechanical arm includes:

The main body of the mechanical arm, at least part of the main body of the mechanical arm can be switched between a deployed position and a retracted position;

The anti-pinch structure is arranged on the main body of the mechanical arm;

Wherein, the anti-pinch hand structure is used to prevent the manipulator main body in the deployed position and/or the retracted position from clamping persons or objects.
The mechanical arm according to claim 1, wherein the main body of the mechanical arm comprises:

The main body of the mechanical arm, the anti-pinch structure is provided on the main body of the mechanical arm;

The driving mechanism is in driving connection with the mechanical arm body.
The robotic arm according to claim 2, wherein the robotic arm body comprises:

Mounting base, the drive mechanism is mounted on the mounting base;

A transmission arm mechanism, the driving mechanism is in transmission connection with the transmission arm mechanism, and is used to drive the transmission arm mechanism to move.
The mechanical arm according to claim 3, wherein the driving mechanism comprises:

The driving assembly is connected to the mechanical arm body in transmission and is installed on the mounting seat.
The mechanical arm according to claim 4, wherein the transmission arm mechanism comprises:

Connecting seat;

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

A connecting rod structure, and the driving mechanism is drivingly connected to the connecting seat through the connecting rod structure and the transmission arm assembly.
The mechanical arm according to claim 5, wherein the mounting seat has a slot-shaped space, and at least part of the transmission arm assembly and at least part of the connecting rod structure are located in the slot-shaped space.
The mechanical arm according to claim 5, wherein the transmission 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 to the first arm.
The mechanical arm according to claim 7, wherein the anti-pinch structure comprises:

The first avoidance structure is formed by the cooperation of the first arm and the second arm.
The mechanical arm according to claim 8, wherein the first avoidance structure comprises:

The first notch is provided on the first arm.
The mechanical arm according to claim 9, wherein the first avoidance structure further comprises:

The second notch part is arranged on the second arm, and the first notch part cooperates with the second notch part to avoid.
The mechanical arm according to claim 7, wherein the linkage structure comprises:

The first connecting rod assembly is connected with the mounting seat;

A second link assembly, the drive assembly is drivingly connected to the second arm through the second link assembly;

The third link assembly, the second arm and the first link assembly are both drivingly connected with the third link assembly.
The mechanical arm according to claim 11, wherein the linkage structure further comprises:

A locking member, the locking member penetrates the third link assembly, the first arm and the second arm to fix the third link assembly, the first arm and the second arm .
The mechanical arm according to claim 11, wherein the anti-pinch structure further comprises:

The second avoidance structure is formed by the cooperation of the third link assembly, the second link assembly, the first link assembly and the second arm.
The mechanical arm according to claim 13, wherein the second avoidance structure comprises:

The first avoidance structure is formed by the cooperation of the second link assembly and the second arm;

The second avoidance structure is arranged opposite to the first avoidance structure and is formed by the cooperation of the first connecting rod assembly and the third connecting rod assembly.
The mechanical arm according to claim 14, wherein the first avoidance structure comprises:

The first slotted portion is provided on the second arm;

The first groove-shaped portion is provided on the second connecting rod assembly, and the first groove-shaped portion cooperates with the first slotted portion to avoid.
The mechanical arm according to claim 14, wherein the second avoidance structure comprises:

The second slotted portion is provided on the third connecting rod assembly;

The second groove-shaped portion is provided on the first connecting rod assembly, and the second groove-shaped portion cooperates with the second slotted portion to avoid.
The mechanical arm according to claim 11, wherein the anti-pinch structure further comprises:

The third avoidance structure is formed by the cooperation of the mounting seat and the second connecting rod assembly.
The mechanical arm according to claim 17, wherein the third avoidance structure comprises:

The recessed part is provided on the second connecting rod assembly;

The first avoidance gap is provided on the mounting seat, and the first avoidance gap cooperates with the recessed portion to avoid.
The mechanical arm according to claim 11, wherein the anti-pinch structure further comprises:

The fourth avoidance structure is formed by the cooperation of the mounting seat and the first connecting rod assembly.
The mechanical arm according to claim 19, wherein the fourth avoidance structure comprises:

The wedge-shaped part is provided on the first connecting rod assembly;

The second avoidance gap is provided on the mounting seat, and the second avoidance gap cooperates with the wedge-shaped part to avoid.
The mechanical arm according to 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 is connected with the third connecting rod assembly.
The mechanical arm according to claim 21, wherein the first link assembly further comprises:

A connecting rod connecting piece, and the first connecting rod is connected with the mounting seat through the connecting rod connecting piece.
The mechanical arm according to claim 22, wherein the connecting rod connecting member has:

A connecting rod connecting portion movably connected with the first connecting rod;

The restricting structure is connected to the connecting rod connecting portion and is used for restricting 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.
The mechanical arm according to claim 23, wherein the restriction structure comprises:

The limiting body is connected with the connecting rod connecting part;

The restricting part is arranged on the restricting body.
The mechanical arm according to claim 24, wherein the restricting portion comprises:

A matching groove, at least part of the first connecting rod is provided on the matching groove;

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

The second stop surface is provided at the other end of the groove wall of the matching groove, and the second stop surface cooperates with the first stop surface to restrict the movement of the first connecting rod, thereby restricting the first connecting rod. An arm moves within the first movement angle range relative to the preset plane.
The mechanical arm according to claim 12, wherein the second link assembly comprises:

A connecting rod connector, one end of which is drivingly connected with the drive assembly;

One end of the second connecting rod is drivingly connected with the other end of the connecting rod connector, and the other end is drivingly connected with the second arm.
The mechanical arm according to claim 26, wherein the connecting rod connector has:

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

The limiting structure, connected to the connecting rod transmission body and the second connecting rod, is used to restrict the movement of the second connecting rod, so that the second arm is at a preset first position relative to the second connecting rod. 2. Activity angle range activities.
The mechanical arm according to claim 27, wherein the limiting structure comprises a limiting portion, which cooperates with the second link group to limit the movement of the second link.
The mechanical arm according to claim 28, wherein the limiting portion comprises:

An adapter groove, at least part of the second connecting rod is provided on the adapter groove;

The first resisting surface is provided at one end of the groove wall of the adapting groove;

The second resisting surface is arranged at the other end of the groove wall of the adapting groove, and the second resisting surface cooperates with the first resisting surface to restrict the movement of the second connecting rod.
The mechanical arm according to claim 28, wherein the limiting structure further comprises:

The connecting rod joint part is arranged on the limiting part; and is movably connected with the second connecting rod.
The mechanical arm according to claim 20, wherein the third link assembly comprises:

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

Hinge, the first arm is movably connected to the second arm through the locking member; the first link is drivingly connected to the third link through the hinge.
The mechanical arm according to claim 6, wherein the mounting seat comprises:

Mounting part, the drive assembly is mounted on the mounting part, and the transmission arm mechanism and at least part of the drive assembly are arranged on both sides of the mounting part.
The mechanical arm according to claim 32, wherein the mounting member is provided with a mounting opening, and at least a part of the drive assembly penetrates the mounting opening to be connected to the transmission arm mechanism.
The mechanical arm according to claim 32, wherein the driving assembly comprises:

The driving part is installed on the mounting part;

The rudder plate, the driving member is connected to the connecting rod structure in transmission through the rudder plate.
The mechanical arm according to claim 34, wherein at least part of the rudder wheel and at least part of the driving member are respectively provided on both sides of the mounting member.
The mechanical arm according to claim 32, wherein the driving mechanism further comprises:

The power assembly is in transmission connection with the transmission arm assembly, and is installed on the mounting seat.
The mechanical arm according to claim 36, wherein the mounting base comprises:

The assembly part, the power assembly is installed on the assembly part, and the transmission arm mechanism and at least part of the power assembly are arranged on both sides of the assembly part.
The robotic arm according to claim 37, wherein the mounting base further comprises:

The base, the mounting member, the assembling part and the base cooperate to form the groove-shaped space.
The mechanical arm according to claim 38, wherein the mounting member and the assembling member are oppositely disposed on the base.
The robotic arm according to claim 37, wherein the power assembly comprises:

Power parts, installed on the assembly parts;

The transmission kit is connected to the power part and the transmission arm mechanism.
The mechanical arm according to claim 40, wherein at least a part of the transmission kit and at least a part of the power part are respectively provided on both sides of the assembly part.
The mechanical arm according to claim 40, wherein the main body of the mechanical arm further comprises:

A fastener, which is connected with the power part through the transmission arm assembly and the transmission kit.
The mechanical arm according to claim 40, wherein the transmission kit comprises:

A transmission member, the power member is in transmission connection with the transmission arm assembly through the transmission member;

The buffer member is arranged on the transmission member.
The mechanical arm according to claim 43, wherein the transmission member comprises:

The first transmission component is connected with the power component;

The second transmission sub-component is connected with the transmission arm assembly, and the buffer component is arranged between the first transmission sub-component and the second transmission sub-component.
The mechanical arm according to claim 40, wherein the main body of the mechanical arm further comprises:

The supporting seat is arranged on the mounting seat and is used to support the at least part of the transmission arm assembly and the at least part of the connecting rod structure.
The mechanical arm according to claim 45, wherein the mounting base comprises a base, a mounting part, and an assembly part, and the mounting part, the support base and the assembly part are sequentially spaced apart on the base .
The mechanical arm according to claim 45, wherein the transmission arm mechanism comprises a first arm and a connecting rod connecting member in transmission connection with the driving assembly, a support slot is provided on the support seat, and the The connecting rod connector penetrates the first arm and is partially inserted into the supporting slot.
The mechanical arm according to claim 47, wherein the link connecting member comprises:

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

The inserting part is arranged on a side of the connecting rod transmission body away from the driving assembly, and the inserting part penetrates the first arm and is inserted into the supporting slot.
The mechanical arm according to claim 7, wherein the mechanical arm further comprises:

The shooting frame is arranged on the second arm and is used to carry the shooting equipment.
The mechanical arm according to claim 49, wherein the photographing device is detachably connected to the photographing frame.
The robotic arm according to claim 49, wherein the photographing frame comprises:

The carrying plate is arranged on the second arm and is used to carry the photographing device.
The mechanical arm according to claim 51, wherein the second arm has an inclined surface, and the carrying plate and the inclined surface are arranged at a preset angle.
The mechanical arm according to claim 52, wherein the angle between the carrying plate and the inclined surface can be any suitable angle, such as 15°-45°.
The robotic arm according to claim 51, wherein the robotic arm has a fetching state and a stowed state, and when the robotic arm is in the fetching state, the shooting device has a first shooting posture; When the mechanical arm is in the stowed state, the photographing device has a second photographing posture; the first photographing direction of the first photographing posture and the second photographing direction of the second photographing posture are set at an angle.
The mechanical arm according to claim 4, wherein the main body of the mechanical arm further comprises:

A manual operating member, the drive assembly is connected to the mechanical arm body through the manual operating member; the manual operating member is operated so that the manual operating member penetrates a part of the mechanical arm body and is connected to the drive assembly connect.
The mechanical arm according to claim 55, wherein the manual operating member has:

Operation department

The connecting part is connected with the operating part, and the connecting part penetrates a part of the mechanical arm main body to connect with the driving assembly.
A movable machine, characterized in that it comprises:

Removable body; and

The mechanical arm according to any one of claims 1-56, which is provided on the movable body.
The movable machine according to claim 57, wherein the movable machine comprises at least one of a movable vehicle, an unmanned aerial vehicle, an unmanned ship, an unmanned vehicle, and a robot.
A method for assembling a mechanical arm, which is characterized in that it comprises:

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

Connect the drive assembly with the connecting rod connector to obtain a drive middle piece;

The connecting rod connecting piece of the driving middle part is inserted through the mounting seat, and at least part of the connecting rod connecting piece is inserted through the first arm to be inserted on the supporting seat, and the supporting seat is arranged on the installing seat.
The assembling method of the mechanical arm according to claim 59, wherein the assembling the first arm, the first link assembly, the power assembly and the mounting seat comprises:

Install the power part on the mounting seat;

Assemble and connect the transmission kit with the first arm;

Connect the assembled transmission kit and the first arm to the power part installed on the mounting seat.
The assembling method of the mechanical arm according to claim 59, wherein the driving assembly includes a rudder disc and a driving part; and the connecting the driving assembly and the connecting rod connector to obtain a driving middle part includes:

Connect the rudder disc with the drive member;

The connecting rod connecting piece is tightly connected with the rudder wheel to obtain the driving middle piece.
The assembling method of the mechanical arm according to claim 59, characterized in that, after the connecting rod connector of the driving middle part is inserted into the mounting seat, the method further comprises:

Lock the mounting seat and the driving part of the driving middle part.
The assembling method of the mechanical arm according to claim 59, characterized in that, before at least part of the link connecting member is inserted through the first arm to be inserted on the support base, the method further comprises:

Install the support base on the mounting base.
The assembling method of the mechanical arm according to claim 59, wherein after the at least part of the link connecting member is inserted through the first arm to be inserted on the support base, the method further comprises:

Connect the second arm to the first arm.
The assembling method of the mechanical arm according to claim 64, wherein before the connecting the second arm to the first arm, the method further comprises:

The shooting device is installed on the shooting frame of the second arm.
The assembling method of the mechanical arm according to claim 64, wherein after the connecting the second arm to the first arm, the method further comprises:

The second connecting rod is connected to the connecting rod connecting piece and the second arm.
The assembling method of the mechanical arm according to claim 66, wherein after connecting the second link to the link connecting member and the second arm, the method further comprises:

The first connecting rod assembly is fixed on the mounting seat.
The assembling method of the mechanical arm according to claim 67, wherein before the fixing the first link assembly on the mounting seat, the method further comprises:

The first connecting rod and the connecting rod connecting member are connected to form the first connecting rod assembly.
The assembling method of the mechanical arm according to claim 68, wherein after the fixing the first link assembly on the mounting seat, the method further comprises:

The hinge is connected to the first connecting rod of the first connecting rod assembly.
The assembling method of the mechanical arm according to claim 69, wherein after the connecting the hinge to the first connecting rod of the first connecting rod assembly, the method further comprises:

The third connecting rod is connected to the hinge and the connecting seat.
A method for assembling a mechanical arm, which is characterized in that it comprises:

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

Pass the manual operating part through the first arm, the connecting rod connecting part, and the steering wheel, and lock it to the driving part.
The assembling method of the mechanical arm according to claim 71, wherein the assembling the first arm, the first link assembly, the power assembly and the mounting seat comprises:

Install the power parts on the mounting base;

Connect the connecting rod connecting piece with the mounting base;

Connect the first arm to the transmission kit;

A power part for installing the connected first arm and the transmission kit on the mounting seat.
The assembling method of the mechanical arm according to claim 72, characterized in that, after the connecting rod connecting member is connected to the mounting base, the method further comprises:

The first connecting rod is connected with the connecting rod connecting piece.
The assembling method of the mechanical arm according to claim 73, wherein after the connecting the first link and the connecting member, the method further comprises:

Connect the hinge piece with the first connecting rod.
The assembling method of the mechanical arm according to claim 74, characterized in that, after the connecting the hinge member with the first connecting rod, the method further comprises:

The third connecting rod is connected to the hinge and the connecting seat.
The assembling method of the mechanical arm according to claim 71, characterized in that, before the manual operating member is inserted through the first arm, the connecting rod connecting member, and the steering wheel, and locked to the driving member, the method further comprises:

Fasten the connecting rod connector and the steering wheel.
The assembling method of a mechanical arm according to claim 71, wherein after the manual operating member is inserted through the first arm, the connecting rod connecting member, and the steering wheel, and locked to the driving member, the method further comprises:

Install the driver on the mounting base.
The assembling method of a mechanical arm according to claim 71, wherein after the manual operating member is inserted through the first arm, the connecting rod connecting member, and the steering wheel, and locked to the driving member, the method further comprises:

Connect the second arm to the first arm.
The assembling method of the mechanical arm according to claim 78, wherein before the connecting the second arm to the first arm, the method further comprises:

The shooting device is installed on the shooting frame of the second arm.
The assembling method of the mechanical arm according to claim 79, wherein after the connecting the second arm to the first arm, the method further comprises:

The second connecting rod is connected to the connecting rod connecting piece and the second arm.
The assembling method of the mechanical arm according to claim 71, wherein after the connecting rod connecting member is connected to the mounting base, the method further comprises:

The first connecting rod is connected with the connecting rod connecting piece.
The assembling method of the mechanical arm according to claim 81, wherein after the connecting the first connecting rod with the connecting rod, the method further comprises:

Connect the hinge piece with the first connecting rod.
The assembling method of the mechanical arm according to claim 82, characterized in that, after the connecting the hinge member with the first connecting rod, the method further comprises:

The third connecting rod is connected to the hinge and the connecting seat.