A robotic arm device

Abstract

The embodiment of the application provides a kind of mechanical arm device, the mechanical arm device includes first mechanical arm, second mechanical arm and connecting piece, second mechanical arm is detachably connected with connecting piece;First mechanical arm is close to the end of connecting piece and is provided with sliding slot, stop portion and locking portion;Sliding slot is the groove being along the circumference of first mechanical arm and being arranged in the side surface of first mechanical arm, stop portion includes two first stop surfaces, and first stop surface is the end face of the two ends of sliding slot, and locking portion is arranged inside stop portion;Connecting piece is provided with sliding block, stop portion and locked portion;Sliding block can be installed with sliding slot cooperation, stop portion includes two second stop surfaces, and second stop surface is the end face of the two ends of sliding block, and locked portion can be extended stop portion and cooperate with locking portion.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a mechanical arm device. BACKGROUND

[0002] In the industry of machinery, military, medical treatment and the like, robots are applied more and more widely, and the mechanical arms of many robots are modularly designed, which can be installed or disassembled in assembly and maintenance. At present, the joints of robots mostly use bolt connection (end bolt connection or circumferential bolt connection), which is relatively troublesome in installation and disassembly, and the structure is also relatively complex. In addition, the mechanical arm needs to be operated by multiple persons simultaneously in installation and disassembly, and the installation state cannot be monitored after installation is completed. SUMMARY

[0003] One or more embodiments of the present application provide a mechanical arm device. The mechanical arm device comprises a first mechanical arm, a second mechanical arm and a connecting piece, the second mechanical arm is detachably connected with the connecting piece; one end of the first mechanical arm is provided with a sliding groove, a stop portion and a locking portion; the sliding groove is arranged on the side surface of the first mechanical arm along the circumferential direction, the stop portion is arranged at both ends of the sliding groove along the circumferential direction, and the locking portion is arranged inside the stop portion; the connecting piece is provided with a sliding block, a stop part and a locked part; the sliding block is capable of slidingly fitting with the sliding groove along the axis direction perpendicular to the connecting piece, the stop part is arranged at both ends of the sliding block along the circumferential direction, the locked part is arranged inside the stop part, and the locking portion is capable of extending out of the stop portion and fitting with the locked part.

[0004] In some embodiments, the stop portion comprises two first stop faces, which are end faces at both ends of the sliding groove, and the stop part comprises two second stop faces, which are end faces at both ends of the sliding block.

[0005] In some embodiments, the stop portion is provided with a Hall sensor, and a magnetic piece is arranged at a position corresponding to the Hall sensor on the stop part.

[0006] In some embodiments, the connecting piece is provided with an indicator lamp.

[0007] In some embodiments, the mechanical arm device further comprises a control terminal; the Hall sensor is connected with a signal emitting device, the signal emitting device is in communication connection with the control terminal, and the indicator lamp is in communication connection with the control terminal.

[0008] In some embodiments, the signal emitting device is connected with a detection element.

[0009] In some embodiments, the stop portion further comprises an installation groove which is arranged in the first stop face and extends into the stop portion along the circumferential direction of the first mechanical arm.

[0010] In some embodiments, the locking part comprises a connecting rod slidingly arranged in the mounting groove, a buckle arranged on the connecting rod close to the locked part, a spring sleeved on the connecting rod and located in the mounting groove, and a buckle pushing block arranged on the connecting rod and extending from the side of the first mechanical arm; the locked part comprises a locking groove arranged on the second stop surface, and the buckle can be clamped with the locking groove.

[0011] In some embodiments, a spring limiting piece is arranged in the mounting groove, a base is arranged on the end of the connecting rod away from the buckle, the spring is arranged between the spring limiting piece and the base, and the buckle pushing block is arranged on the outside of the spring limiting piece.

[0012] In some embodiments, the end surface of the first mechanical arm close to the connecting piece is circular, the sliding groove is a circular arc groove coaxial with the end surface, and the corresponding central angle of the circular arc groove is less than or equal to 180°.

[0013] In some embodiments, the side of the sliding groove close to the connecting piece is a first sliding surface arranged from inside to outside and close to the connecting piece, the sliding block is a circular arc convex block coaxial with the sliding groove, and the side of the sliding block away from the first mechanical arm is a second sliding surface arranged from inside to outside and close to the first mechanical arm.

[0014] In some embodiments, the second mechanical arm is provided with a sliding groove, a stop part and a locking part close to the connecting piece, and the connecting piece is provided with a sliding block, a stop part and a locked part close to the second mechanical arm. BRIEF DESCRIPTION OF DRAWINGS

[0015] The application will be further described in the form of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting, and in these embodiments, the same numbers represent the same structures, wherein:

[0016] Figure 1 is a split schematic view of a mechanical arm device according to some embodiments of the application;

[0017] Figure 2 is a connection schematic view of a mechanical arm device according to some embodiments of the application;

[0018] Figure 3 is an end surface schematic view of a first mechanical arm according to some embodiments of the application;

[0019] Figure 4 is a connection schematic view of a locking part and a locked part according to some embodiments of the application;

[0020] Figure 5 is a structure schematic view of a connecting piece according to some embodiments of the application;

[0021] Figure 6 is a structural schematic diagram of a connecting piece according to some embodiments of the present application. DETAILED DESCRIPTION

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments description. Obviously, the drawings in the following description are only some examples or embodiments of the present application, and for those skilled in the art, the present application can also be applied to other similar scenarios without creative labor on the basis of these drawings. Unless it is clear from the language context or otherwise indicated, the same reference numbers in the drawings represent the same structure or operation.

[0023] It should be understood that the "system", "device", "unit" and / or "module" used herein is a method for distinguishing different components, elements, parts, sections or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.

[0024] As shown in the present application and claims, unless the context clearly indicates otherwise, the words "one", "a", "an" and / or "the" do not refer to the singular, but can also include the plural. Generally speaking, the terms "comprise" and "include" only indicate the inclusion of the steps and elements explicitly identified, and these steps and elements do not constitute an exclusive list, and the method or device can also include other steps or elements.

[0025] Flowcharts are used in the present application to illustrate the operations performed by the system according to the embodiments of the present application. It should be understood that the preceding or subsequent operations are not necessarily performed in sequence. On the contrary, each step can be processed in reverse order or simultaneously. At the same time, other operations can be added to these processes, or one or more steps of operation can be removed from these processes.

[0026] Figure 1 、 Figure 2 is a structural schematic diagram of a mechanical arm device according to some embodiments of the present application.

[0027] The mechanical arm device comprises a first mechanical arm 1, a second mechanical arm 3 and a connecting piece 2, and the second mechanical arm 3 is detachably connected with the connecting piece 2. In some embodiments, the cross section of the first mechanical arm 1 is designed as a circle, the cross section of the corresponding connecting piece 2 is also designed as a circle, and the cross section of the second mechanical arm 3 is also designed as a circle.

[0028] The first mechanical arm 1 is provided with a sliding groove 11, a stop portion 12 and a locking portion 13 at one end, and the other end of the first mechanical arm 1 is fixed. The sliding groove 11 is arranged on the side surface of the first mechanical arm 1 along the circumference, the stop portion 12 is arranged at both ends of the sliding groove 11 along the circumference, and the locking portion 13 is arranged inside the stop portion 12.

[0029] The connecting piece 2 is provided with a sliding block 21, a stop portion 22 and a locked portion 23. The sliding block 21 is arranged on one of the end surfaces of the connecting piece 2, the stop portion 22 is arranged at both ends of the sliding block 21 along the circumference, and the locked portion 23 is arranged inside the stop portion 22.

[0030] The sliding block 21 can be slidably matched with the sliding groove 11 in a direction perpendicular to the axis of the connecting piece 2. After the sliding block 21 and the sliding groove 11 are matched, at least part of the locking portion 13 can protrude from the stop portion 12 and be matched with the locked portion 23, so that the sliding block 21 and the sliding groove 11 are relatively fixed.

[0031] The sliding block 21 is matched with the sliding groove 11, and the first mechanical arm 1 and the connecting piece 2 are connected by the matching of the locking portion 13 and the locked portion 23. In some embodiments, the locking portion 13 and the locked portion 23 can include, but are not limited to, cam locking pin structures, symmetrical lock structures, stepped symmetrical lock structures, L-shaped locking structures, lock bolt-tightening lever structures, rotary locking structures, sliding block locking structures, and bidirectional locking structures which can be disassembled or matched with each other.

[0032] When the connecting piece 2 and the first mechanical arm 1 are connected, the two side surfaces of the sliding groove 11 can hinder the movement of the sliding block 21 along the axis of the first mechanical arm 1, so that the movement of the connecting piece 2 relative to the first mechanical arm 1 along the axis can be limited by the matching of the sliding groove 11 and the sliding block 21, and the matching of the stop portion 22 and the stop portion 12 limits the rotation of the connecting piece 2 relative to the first mechanical arm 1 around the axis.

[0033] When the stop portion 22 and the stop portion 12 abut, the locking portion 13 can protrude from the stop portion 12 and enter the locked portion 23 to complete the matching. The matching of the locked portion 23 and the locking portion 13 can further limit the relative sliding of the connecting piece 2 and the first mechanical arm 1, improve the connection strength of the connecting piece 2 and the first mechanical arm 1, and avoid the loosening of the connecting piece 2.

[0034] During installation, the sliding groove 11 can also guide and limit the sliding block 21, which can improve the installation precision and efficiency of the connecting piece 2. During installation, the sliding groove 11 and the sliding block 21 only need to be aligned for installation, which has the advantages of convenient and quick installation.

[0035] In some embodiments, the stop portion 12 includes two first stop faces 121, which are end faces of two ends of the sliding groove 11 in the circumferential direction, and the stop portion 22 includes two second stop faces 221, which are end faces of two ends of the sliding block 21 in the circumferential direction. After the sliding block 21 on the connecting piece 2 is installed into the sliding groove 11, the first stop faces 121 are used to limit the second stop faces 221, so as to limit the rotation of the connecting piece 2 relative to the axis of the first robot arm 1.

[0036] In some embodiments, the stop portion 12 is provided with a Hall sensor 111, and the stop portion 22 is provided with a magnetic piece 8 for triggering the Hall sensor 111. The magnetic piece 8 can make the Hall sensor 111 generate an electric signal, and the closer the magnetic piece 8 is to the Hall sensor 111, the greater the electric signal generated in the Hall sensor 111.

[0037] By designing the positions of the Hall sensor 111 and the magnetic piece 8, after the connecting piece 2 is installed in place, the Hall sensor 111 and the magnetic piece 8 can be located on the same circumference with the axis of the first robot arm as the axis, so as to improve the relative position accuracy of the Hall sensor 111 and the magnetic piece 8, and facilitate to improve the detection accuracy.

[0038] The magnetic piece 8 can be a magnetic block or a magnetic sheet, and the magnetic piece 8 can be pasted on the second stop face 221 or inlaid in the second stop face 221.

[0039] During the installation of the connecting piece 2, the magnetic piece 8 moves towards the Hall sensor 111, and the Hall sensor 111 can detect the magnetic force of the magnetic piece 8 and the change thereof. The Hall sensor 111 can convert the detected magnetic force and the change thereof into an electric signal. In some embodiments, the Hall sensor 111 can include a triggered state and a non-triggered state, and when the electric signal generated in the Hall sensor 111 exceeds a preset threshold, the Hall sensor 111 changes from the non-triggered state to the triggered state. In some embodiments, when the Hall sensor 111 changes to the triggered state, it can be judged that the connecting piece 2 is installed in place.

[0040] In some embodiments, the Hall sensor 111 can also transmit the electric signal to a processor (for example, a processor in a main control platform associated with the robot arm device), and the processor processes the received electric signal to determine whether the connecting piece 2 is installed in place or whether the connecting piece 2 is loose.

[0041] For example, when the magnetic force detected by the Hall sensor 111 gradually increases until the generated electrical signal exceeds the preset threshold, it can be determined that the connecting member 2 is installed in place. For another example, when the magnetic force detected by the Hall sensor 111 gradually increases until it no longer changes, it can be determined that the connecting member 2 is installed in place. If the magnetic force detected by the Hall sensor 111 continuously decreases or changes, it can be determined that the connecting member 2 is loose.

[0042] In some embodiments, the Hall sensor 111 can also be arranged on the stop portion 22, and the corresponding magnetic member 8 is arranged on the stop portion 12.

[0043] In some embodiments, the connecting member 2 is provided with an indicator light 24. In some embodiments, the indicator light 24 can be connected to the processor, and the connection can be wired or wireless. The processor controls the indicator light 24 to turn on or off. In some embodiments, the indicator light 24 can also be an indicator light integrated with the Hall sensor 111. When the Hall sensor 111 is in a non-triggering state, the indicator light 24 is off, and when the Hall sensor 111 is in a triggering state, the indicator light 24 is on. The on-off change of the indicator light 24 indicates whether the connecting member 2 is installed in place.

[0044] For example, the indicator light 24 can be a green indicator light. When the connecting member 2 is installed in place, the magnetic force detected by the Hall sensor 111 reaches the maximum and no longer changes, and the processor controls the indicator light 24 to turn on and indicate that the connecting member 2 is installed in place. The indicator light 24 can also be other colors.

[0045] The indicator light 24 can also be provided with two, one of which is green and the other is red. In some embodiments, the green indicator light is off during the installation of the connecting member 2, and the red indicator light is on during the installation of the connecting member 2 and indicates that the connecting member 2 is not installed in place. When the connecting member 2 is installed in place, the processor controls the red indicator light to be off based on the signal of the Hall sensor 111, and the green indicator light is turned on. In some embodiments, after the connecting member 2 is loose with the first mechanical arm 1, the processor controls the green indicator light to be off based on the signal of the Hall sensor 111, and the red indicator light is turned on.

[0046] The on-off change of the indicator light 24 can directly show whether the connecting member 2 is installed in place or whether it is loose during use, which can avoid excessive force during installation and cause damage to the structure at the connection, and timely inform the operator when the connection is loose.

[0047] In some embodiments, there can be multiple robotic arms in the robotic arm device connected by the connecting pieces 2 of the embodiments of the present application. The control program of the robotic arm device (for example, the control program in the master control platform associated with the robotic arm device) can obtain the connection status of each connecting piece 2. In some embodiments, the indicator light 24 in each joint connected to each other by the connecting piece 2 can emit a signal to the master control platform according to the on-off change of itself. For example, the indicator light 24 can be internally provided with a wireless transmission technology, and the wireless radio signal in the frequency band of 2.405GHz-2.485GHz is interconnected with the signal of the master control platform. When the indicator light 24 is turned off, a signal is transmitted to the master control platform to indicate that the robotic arm device has a fault (i.e., loosening). The control program of the master control platform can monitor the on-off change of each indicator light 24 and count the connection status of each joint. Based on the statistical result, the control program can identify the joint position prone to failure. After the operator knows the joint position prone to failure, the operator can easily analyze the failure cause of the joint, judge whether the equipment itself may have an abnormality (such as installation connection problem: the connection angle of the sliding groove 11, the correlation between the locking force provided by the spring 133 and the loosening frequency, and the like can find a more optimal connection setting), and thus improve the design parameters of the connecting piece 2 at the joint. In some embodiments, the control program can also monitor the overall failure frequency when different operators use the robotic arm device, so as to determine whether the joint connection loosening is caused by insufficient technical ability of the operator and notify the manager of the robotic arm device to manage the operator accordingly (for example, provide technical guidance to the operator).

[0048] As shown in Figure 3 , Figure 4 In some embodiments, the stop portion 12 further includes a mounting groove 14 opened on the first stop surface 121. The mounting groove 14 is used as the space of the mounting locking portion 13, so that the locking portion 13 can be placed inside the first robotic arm 1, avoiding occupying extra space, and improving the space utilization.

[0049] The locking portion 13 includes a connecting rod 131 slidingly arranged in the mounting groove 14, a buckle 132 arranged at one end of the connecting rod 131 close to the locked portion 23, a spring 133 sleeved on the connecting rod 131 and located in the mounting groove 14, and a buckle pushing block 135 arranged on the connecting rod 131. The locked portion 23 includes a locking groove 231 opened on the second stop surface 221, and the buckle 132 can be installed in cooperation with the locking groove 231 to realize the functions of buckling or clamping.

[0050] In some embodiments, the shape of the buckle 132 can include, but is not limited to, L-shaped, arrow-shaped, hook-shaped, etc. In some embodiments, the shape of the locking groove 231 can include, but is not limited to, L-shaped, arrow-shaped, hook-shaped, etc. The buckle 132 and the locking groove 231 are buckled or clamped with each other, and limit each other to achieve the function of locking.

[0051] As shown in Figure 4 some embodiments, the mounting groove 14 is provided with a spring limiting piece 141, the end of the connecting rod 131 away from the buckle 132 is provided with a base 142, the spring 133 is arranged between the spring limiting piece 141 and the base 142, and the buckle pushing block 135 is arranged outside the spring limiting piece 141. At least one side of the base 142 protrudes outward compared to the connecting rod 131 to form a stepped surface between the base 142 and the connecting rod 131, thereby achieving the limiting effect of the spring 133.

[0052] When the connecting rod 131 is pushed to move towards the locking groove 231 until the buckle 132 and the locking groove 231 are buckled with each other, the distance between the base 142 and the spring limiting piece 141 is reduced, so that the spring 133 is in a compressed state, and the spring 133 is compressed between the spring limiting piece 141 and the base 142. The spring 133 exerts a pushing force on the connecting rod 131 by acting on the base 142, so that the connecting rod 131 has a tendency to move away from the locking groove 231. In this way, the gap between the buckle 132 and the locking groove 231 can be eliminated, and the phenomenon of loose buckle 132 can be avoided, thereby facilitating the stable installation of the connecting piece 2 after installation. And it can improve the connection strength and connection reliability of the connecting piece 2 and the first mechanical arm 1.

[0053] The spring limiting piece 141 and the base 142 can limit the two ends of the spring 133 respectively, preventing the spring 133 from failing by escaping from the space between the spring limiting piece 141 and the base 142.

[0054] The base 142 can be integrally formed with the connecting rod 131, or can be connected to the end of the connecting rod 131 by bolts.

[0055] In some embodiments, the buckle pushing block 135 protrudes on the outer side of the connecting rod 131, so as to facilitate the reciprocating movement of the connecting rod 131 by the buckle pushing block 135. A long hole can be provided on the first mechanical arm 1 to allow the buckle pushing block 135 to move, the long hole is communicated with the mounting groove 14, the long hole provides space for the movement of the buckle pushing block 135, and can guide and limit the buckle pushing block 135.

[0056] In some embodiments, the buckle pushing block 135 can protrude from the outer surface of the first mechanical arm 1, so as to facilitate the contact of the buckle pushing block 135 by the staff.

[0057] In some embodiments, a pressure sensor can be provided between the spring 133 and the base 142. The pressure sensor is communicatively connected to a processor (e.g., a processor in a main control platform associated with a robotic arm device). The pressure sensor can detect changes in the magnitude of the spring force of the spring 133 and convert the information into an electrical signal, which is then sent to the processor. The processor processes the received electrical signal and can determine the working state of the spring 133.

[0058] For example, if the pressure detected by the pressure sensor gradually increases until it stops changing within a unit of time, it can be determined that the connector 2 is installed in place and the buckle 132 and the locking groove 231 are stably engaged. If the pressure detected by the pressure sensor shows unstable changes, it can be determined that the engagement between the buckle 132 and the locking groove 231 has failed.

[0059] In some embodiments, a certain gap is left between the connecting rod 131 and the mounting groove 14 to facilitate the installation of the spring 133. The thickness of the spring 133 is smaller than the gap between the connecting rod 131 and the mounting groove 14, so that the connecting rod 131 has space to move radially back and forth along the connector 2.

[0060] By pressing the latch push block 135 radially along the connector 2, the connecting rod 131 can be controlled to move radially along the connector 2, thereby causing the locking groove 231 and the latch 132 to be misaligned in the radial direction of the connector 2. This facilitates pushing the latch 132 into the locking groove 231 or pushing the latch 132 out of the locking groove 231. In some embodiments, the connecting rod 131 is entirely arc-shaped, and the radius of curvature of the connecting rod 131 is the same as that of the outer circle of the first robotic arm 1. The length direction of the mounting groove 14 is also designed to be an arc shape with the same radius of curvature as that of the outer circle of the first robotic arm 1. This avoids interference during the movement of the connecting rod 131.

[0061] like Figure 1 , Figure 5 , Figure 6 As shown, in some embodiments, the inner sidewall of the first robotic arm 1 away from the gap between the two first stop surfaces 121 forms a first bearing surface 105, and the side of the connector 2 opposite to the slider 21 is a second bearing surface 206. After the connector 2 is installed in place, the second bearing surface 206 abuts against the first bearing surface 105, and the first bearing surface 105 supports the second bearing surface 206.

[0062] In some embodiments, the connecting piece 2 is provided with at least one bearing protrusion 207 near the end surface of the first mechanical arm 1, and the end surface of the first mechanical arm 1 is provided with a bearing groove matched with the bearing protrusion 207. The bearing groove and the bearing protrusion 207 are matched to bear the torque, which can further limit the relative rotation of the connecting piece 2 and the first mechanical arm 1, reduce the torque borne by the stop portion 22, and provide the service life of the connecting piece 2.

[0063] In some embodiments, the sliding groove 11 is a circular arc segment groove coaxial with the end surface of the first mechanical arm 1, and the corresponding central angle of the sliding groove 11 is less than or equal to 180°. Since the sliding groove 11 is arranged on the side surface of the first mechanical arm 1, the corresponding central angle of the sliding groove 11 is less than or equal to 180°, which can make the sliding block 21 smoothly enter the sliding groove 11. Designing the corresponding central angle of the sliding groove 11 as 180° can maximize the contact area of the sliding groove 11 and the sliding block 21 to ensure the maximum connection strength.

[0064] In some embodiments, during installation, the axis of the first mechanical arm 1 near one end of the connecting piece 2 is not parallel to the direction of gravity, and the sliding groove 11 is arranged above the axis of the first mechanical arm 1. After installation, the sliding groove 11 and the sliding block 21 are matched and installed, and the sliding groove 11 can block the downward movement trend of the sliding block 21, avoiding the sliding block 21 from sliding out of the sliding groove 11 under the action of gravity or external force. In this way, even if the locking portion 13 and the locked portion 23 are loosened, the connecting piece 2 will not immediately separate from the first mechanical arm 1, improving the safety performance.

[0065] The side of the sliding groove 11 near the end surface 15 is a first sliding surface 112 arranged from inside to outside and inclined towards the end surface 15. The first sliding surface 112 is a wedge surface that gradually increases the opening of the sliding groove 11 from inside to outside. The first stop surface 121 at both ends of the sliding groove 11 is also correspondingly arranged upwards, so that the first stop surface 121 can bear the gravity of the connecting piece 2 and limit the rotation of the connecting piece 2 relative to the axis of the first mechanical arm 1.

[0066] During the installation of the connecting piece 2, the first sliding surface 112 can be used as a guide, thereby quickly guiding the sliding block 21 into the sliding groove 11, which is beneficial to improve the installation efficiency.

[0067] In some embodiments, the corresponding sliding block 21 is a circular arc segment protrusion coaxial with the sliding groove 11, and a slot structure 213 is formed between the sliding block 21 and the connecting piece 2. The side of the sliding block 21 close to the connecting piece 2 is provided with a second sliding surface 212 inclined from inside to outside and away from the connecting piece 2. The second sliding surface 212 is a wedge surface that gradually increases the opening of the slot structure 213 from inside to outside. The slot structure 213 formed between the sliding block 21 and the connecting piece 2 can be installed in cooperation with the structure between the sliding groove 11 and the end surface 15. The second sliding surface 212 can be in contact with the first sliding surface 112. The inclination angle of the second sliding surface 212 relative to the axis of the connecting piece 2 is the same as the inclination angle of the first sliding surface 112 relative to the axis of the first robot arm 1. In this way, after the connecting piece 2 is installed, the risk of the connecting piece 2 being loose due to the gap between the first robot arm 1 and the connecting piece 2 can be avoided.

[0068] For example, the shape of the sliding groove 11 is designed such that the shape of the sliding groove 11 cut by a plane passing through the axis of the first robot arm 1 is a right trapezoid, and the first sliding surface 112 corresponds to the hypotenuse of the right trapezoid. Correspondingly, the shape of the sliding block 21 cut by a plane passing through the axis of the connecting piece 2 is a right trapezoid, and the corresponding right trapezoid of the sliding block 21 is the same size and shape as the corresponding right trapezoid of the sliding groove 11.

[0069] In some embodiments, the second robot arm 3 and the connecting piece 2 can be detachably connected by a buckle and a spring, or can be detachably connected by a bolt.

[0070] In some embodiments, the second robot arm 3 can also be detachably connected to the connecting piece 2 through a structure similar to the first robot arm 1. In some embodiments, the second robot arm 3 is provided with a sliding groove 11, a stop 12 and a locking portion 13 close to one end of the connecting piece 2, and the connecting piece 2 is provided with a sliding block 21, a stop 22 and a locked portion 23 close to one end of the second robot arm 3. The connection structure between the second robot arm 3 and the connecting piece 2 is the same as the connection structure between the first robot arm 1 and the connecting piece 2. In this way, the second robot arm 3 and the connecting piece 2 can be quickly connected.

[0071] The second robot arm 3 is provided with a motor module 9 on the inner side, and the output end of the motor module 9 is connected to the connecting piece 2. The output end of the motor module 9 is fixed, and the motor module 9 itself (i.e. the motor body) can drive the second robot arm 3 to rotate relative to the axis of the connecting piece 2.

[0072] Having now described the basic concept of the application, and having demonstrated by the detailed description and examples only the preferred embodiments thereof, it will be apparent to those of ordinary skill in the art that various modifications and improvements and equivalents can be made thereto without departing from the spirit and scope of the application. Accordingly, the application is not to be limited as by that which has been particularly shown and described, except insofar as it may be limited by the appended claims.

[0073] In addition, the use of "one embodiment", "an embodiment", or "some embodiments" throughout the specification are not necessarily intended to refer to the same embodiment or the same embodiments. Furthermore, the use of the term "in one embodiment" or "in some embodiments" or "in one alternate embodiment" or "in some alternate embodiments" throughout this specification is not necessarily intended to refer to the same embodiment or the same embodiments.

[0074] In addition, the order of presentation of the processing elements and sequences, unless specifically stated by the claim language, is not intended to be construed as a limitation but is presented for purposes of clarity and ease of understanding. Although the present application has been described in language specific to structural features, methodological acts, or computer structural elements, it is to be understood that the application defined in the appended claims is not necessarily limited to the specific features, acts, or elements described. Rather, the specific aspects and features described herein are disclosed as example implementations.

[0075] Similarly, it is to be understood that the above description is intended to be illustrative only of the principles of the application and that numerous modifications of the application can be devised without departing from the spirit of the principles of the present application and the scope of the appended claims. The scope of the application is thus indicated by the appended claims.

[0076] In some embodiments, numbers that describe amounts, dimensions, and so forth, are used in the description of the embodiments. It should be understood that such numbers are used only to illustrate examples and that the embodiments can be practiced with other numbers, including numbers outside the range of values stated in the specification. In some embodiments, the numbers are modified by the modifier "about" to indicate that the value of the quantity is acceptable within some margin of error. Unless otherwise stated, the modifier "about" should be interpreted, in some embodiments, to have a meaning consistent with its normal usage by those skilled in the art. Accordingly, in some embodiments, the numerical parameters are approximations. Although the numerical parameters are approximations, the numerical values set forth in the specific examples are reported as precisely as practicable. The numerical values in some embodiments, therefore, can vary depending upon the desired properties sought to be obtained by the present embodiments. At the very least, therefore, numerical parameters are approximations and can vary depending upon the desired properties sought to be obtained by the present embodiments.

[0077] Each patent, patent application, publication, document, article, book, instruction manual, and / or other material cited in this application is hereby incorporated by reference in its entirety, except to the extent that the incorporated material's disclosure is inconsistent with the disclosure of this application, which disclosure art shall control. To the extent that any meaning or definition of a term in this application conflicts with the meaning or definition of the same term in a document incorporated by reference, the meaning or definition assigned to that term in this application shall control.

[0078] Finally, it should be understood that the embodiments described herein are merely illustrative of the principles of the present embodiments. Numerous modifications and adaptations will be readily apparent to those skilled in the art. Accordingly, the embodiments described herein are not to be limited by the particular examples presented but rather are to be accorded the broadest scope permissible under the subject disclosure. Accordingly, the embodiments described herein are to be considered as illustrative only and are not restrictive, as the scope of these embodiments is only limited insofar as it is limited by the patent claims presented below.

Claims

1. A robotic arm device, comprising: A first robotic arm (1), a second robotic arm (3), and a connector (2) are provided. The second robotic arm (3) is detachably connected to the connector (2). One end of the first robotic arm (1) is provided with a slide groove (11), a stop (12), and a locking part (13). The slide groove (11) is provided on the side of the first robotic arm (1) along the circumferential direction. The stop (12) is provided at both ends of the slide groove (11) along the circumferential direction. The locking part (13) is provided inside the stop (12). The connector (2) is provided with a slider (21), a stop (22), and a locked part (23). The slider (21) can slide and cooperate with the slide groove (11) along the direction perpendicular to the axis of the connector (2). The stop (22) is provided at both ends of the slider (21) along the circumferential direction. The locked part (23) is provided inside the stop (22). The locking part (13) can extend out of the stop (12) and cooperate with the locked part (23). The stop part (12) includes two first stop surfaces (121), which are the end faces of both ends of the slide groove (11). The stop part (22) includes two second stop surfaces (221), which are the end faces of both ends of the slider (21). The stop part (12) also includes a mounting groove (14) formed in the first stop surface (121) and extending into the stop part (12) along the circumference of the first robotic arm (1). The locking part (13) includes a connecting rod (131) slidably disposed in the mounting groove (14), a buckle (132) disposed on the connecting rod (131) near the locked part (23), and a spring (133) fitted on the connecting rod (131) and located in the mounting groove (14). A buckle push block (135) is provided on the connecting rod (131), and at least a portion of the buckle push block (135) extends from the periphery of the first robotic arm (1). The locked part (23) includes a locking groove (231) formed on the second stop surface (221), and the buckle (132) can engage with the locking groove (231).

2. The robotic arm device according to claim 1, characterized in that: A Hall sensor (111) is provided on the stop part (12), and a magnetic element (8) is provided on the stop part (22) at a position corresponding to the Hall sensor (111).

3. The robotic arm device according to claim 2, characterized in that: The connector (2) is provided with an indicator light (24) for at least indicating the connection status between the connector (2) and the first robotic arm (1).

4. The robotic arm device according to claim 1, characterized in that: A spring limiting member (141) is provided in the mounting groove (14), and a base (142) is provided at the end of the connecting rod (131) away from the buckle (132). The spring (133) is provided between the spring limiting member (141) and the base (142), and the buckle push block (135) is provided on the outside of the spring limiting member (141).

5. A robotic arm device according to claim 1, characterized in that: The end face (15) of the first robotic arm (1) with the groove (11) is circular, and the groove (11) is a circular arc groove coaxial with the end face (15). The central angle of the groove (11) is less than or equal to 180°.

6. A robotic arm device according to claim 5, characterized in that: The side of the slide groove (11) near the end face (15) is a first sliding surface (112) that is inclined from the inside out and towards the end face (15), and the side of the slider (21) near the connector (2) is a second sliding surface (212) that is inclined from the inside out and away from the connector (2).

7. The robotic arm device according to claim 1, characterized in that: The second robotic arm (3) is provided with a slide groove (11), a stop (12) and a locking part (13) at one end connected to the connector (2), and a slider (21), a stop (22) and a locked part (23) at one end of the connector (2) near the second robotic arm (3).

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