A modular, compact, ultra-small robotic arm

Abstract

The present invention discloses a modular, compact, ultra-small robotic arm, which relates to the field of robotics. This solution includes a first joint arm and a second joint arm. The first joint arm includes a first shell, a driving mechanism, a transmission member and a connecting ring. The outer shell of the driving mechanism is fixedly arranged in the first shell. The driving mechanism drives the transmission member to rotate. An annular groove is formed between the transmission member and one end of the first shell. The connecting ring is pivotally connected in the annular groove. The second joint arm includes a second shell and a fixed ring. The fixed ring is fixedly arranged inside the second shell. The fixed ring and the connecting ring are screwed together, and the transmission member is connected to the fixed ring in a transmission manner. The structure of the present invention is novel, the construction is simple, the installation process is simpler, and the processing and manufacturing cost is lower.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a modular, compact, ultra-small robotic arm. Background Art

[0002] The robotic arm of a robot is generally composed of multiple modular joint components. It has a high degree of freedom and is suitable for work on almost any trajectory or angle. It can be freely programmed to complete fully automated work and is suitable for mechanical automation operations in many industrial fields. When assembling the joints of traditional robotic arms, the parts of two adjacent robotic arms are generally assembled one by one with screws. When a robotic arm has multiple movable joints that need to be assembled, the method of assembling parts one by one with screws will make the process very cumbersome. Against this background, the applicant is committed to developing a robotic arm to make the installation process simpler. Summary of the Invention

[0003] The purpose of the present invention is to make the installation process simpler.

[0004] In order to achieve the above object, the technical solutions adopted by the present invention are as follows:

[0005] A modular, compact, ultra-small robotic arm includes a first articulated arm and a second articulated arm. The first articulated arm includes a first housing, a drive mechanism, a transmission member, and a connecting ring. The housing of the drive mechanism is fixedly disposed within the first housing. The drive mechanism drives the transmission member to rotate. An annular slot is formed between the transmission member and one end of the first housing. The connecting ring is pivotally connected to the annular slot.

[0006] The second articulated arm includes a second shell and a fixing ring. The fixing ring is fixedly arranged inside the second shell. The fixing ring and the connecting ring are screwed together. The transmission member is in transmission connection with the fixing ring.

[0007] Furthermore, the second articulated arm further comprises a kit, which is fixedly arranged on the fixing ring. A transmission hole is opened on the kit, and the transmission member is passed through the transmission hole.

[0008] Furthermore, the cross section of the transmission hole is hexagonal.

[0009] Furthermore, the driving mechanism includes a motor and a reducer, the motor drives the reducer to work, and the reducer drives the transmission member to rotate.

[0010] Furthermore, the reducer is a harmonic reducer.

[0011] Furthermore, a first threading hole is provided through the middle of the driving mechanism, a second threading hole is provided through the middle of the transmission member, and the first threading hole and the second threading hole are communicated with each other.

[0012] Furthermore, a first thread is provided on the outer side of the connecting ring, and a second thread is provided on the inner side of the fixing ring, and the first thread and the second thread are screwed together.

[0013] Furthermore, a first clamping groove is provided on the outer surface of the fixing ring, and a first clamping ring is integrally formed on the inner wall of the second shell, and the first clamping ring is fixedly clamped in the first clamping groove.

[0014] The beneficial effects of the present invention are as follows: when assembling the first articulated arm and the second articulated arm, it is only necessary to insert the head end of the transmission part into the fixing ring to form a transmission connection between the transmission part and the fixing ring; since the connecting ring is pivotally connected in the annular groove, the fixing ring is fixedly arranged inside the second shell, and the connecting ring is directly screwed onto the fixing ring to complete the connection and assembly of the first articulated arm and the second articulated arm. Compared with the traditional technology that requires assembling parts one by one with screws, the installation process of the present invention is simpler. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0016] Figure 2 It is a cross-sectional view of the overall structure of the present invention;

[0017] Figure 3 yes Figure 2 A magnified view of point A in the figure;

[0018] Figure 4 It is a structural schematic diagram of the first articulated arm and the second articulated arm of the present invention;

[0019] Figure 5 is a cross-sectional view of a first articulated arm of the present invention;

[0020] Figure 6 is a schematic diagram of the connecting ring of the present invention being separated from the annular groove;

[0021] The accompanying drawings are:

[0022] First articulated arm 1, first housing 11, annular slot 110, driving mechanism 12, first threading hole 121, transmission member 13, second threading hole 131, connecting ring 14,

[0023] Second articulated arm 2 , second housing 21 , fixing ring 22 , and sleeve 23 . DETAILED DESCRIPTION

[0024] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below with reference to the accompanying drawings; many specific details are set forth in the following description to facilitate a full understanding of the present invention; however, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below, and the present invention is further described below with reference to the accompanying drawings.

[0025] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0026] like Figures 1 to 6 A modular, compact, ultra-small robotic arm is shown, comprising a first articulated arm 1 and a second articulated arm 2 .

[0027] The first articulated arm 1 includes a first shell 11, a driving mechanism 12, a transmission member 13 and a connecting ring 14. The outer shell of the driving mechanism 12 is fixedly arranged in the first shell 11. The driving mechanism 12 drives the transmission member 13 to rotate. An annular groove 110 is formed between the transmission member 13 and one end of the first shell 11. The connecting ring 14 is pivotally connected in the annular groove 110.

[0028] The driving mechanism 12 includes a motor and a reducer. The motor drives the reducer to work, and the reducer drives the transmission member 13 to rotate. The reducer is a harmonic reducer.

[0029] A first wire threading hole 121 is provided through the middle of the driving mechanism 12, and a second wire threading hole 131 is provided through the middle of the transmission member 13. The first wire threading hole 121 and the second wire threading hole 131 are connected to each other. The design of the first wire threading hole 121 and the second wire threading hole 131 is conducive to the routing of wires and also reduces the overall weight of the equipment.

[0030] The second articulated arm 2 includes a second shell 21, a fixing ring 22, and a kit 23. The fixing ring 22 and the connecting ring 14 are screwed together. The specific structure is: a first thread is provided on the outer side of the connecting ring 14, and a second thread is provided on the inner side of the fixing ring 22. The first thread and the second thread are screwed together. In this embodiment, the first thread and the second thread are both anti-loosening thread designs.

[0031] The fixing ring 22 is fixedly arranged inside the second shell 21. The specific structure is: a first clamping groove is opened on the outer surface of the fixing ring 22, and a first clamping ring is integrally formed on the inner wall of the second shell 21. The first clamping ring is fixed in the first clamping groove, so that the fixing ring 22 is fixedly connected to the second shell 21.

[0032] The kit 23 is fixedly set on the fixing ring 22, and a transmission hole is opened on the kit 23. The transmission member 13 is passed through the transmission hole, so that a transmission connection is formed between the transmission member 13 and the kit 23. The cross-section of the transmission hole is hexagonal, and the shape of the head end of the transmission member 13 matches the transmission hole. The driving mechanism 12 drives the transmission member 13 to rotate. When the transmission member 13 rotates, it drives the kit 23 to rotate. The kit 23 correspondingly drives the fixing ring 22, the second shell 21, and the connecting ring 14 to rotate. Since the connecting ring 14 is pivotally connected in the annular groove 110, when the connecting ring 14 rotates with the second articulated arm 2, the first articulated arm 1 is in a stationary state, thereby realizing relative rotation between the first articulated arm 1 and the second articulated arm 2.

[0033] The working principle of the present invention is: when assembling the first articulated arm 1 and the second articulated arm 2, it is only necessary to insert the head end of the transmission member 13 into the transmission hole on the fixing ring 22 to form a transmission connection between the transmission member 13 and the fixing ring 22; since the connecting ring 14 is pivoted in the annular groove 110, the fixing ring 22 is fixedly arranged inside the second shell 21, and the connecting ring 14 is directly screwed onto the fixing ring 22, the connection and assembly of the first articulated arm 1 and the second articulated arm 2 are completed, the motor drives the reducer to work, the reducer drives the transmission member 13 to rotate, and when the transmission member 13 rotates, it drives the kit 23 to rotate, and the kit 23 correspondingly drives the fixing ring 22, the second shell 21, and the connecting ring 14 to rotate, thereby realizing the relative rotation between the first articulated arm 1 and the second articulated arm 2.

[0034] The above disclosure is only a preferred embodiment of the present invention and cannot be used to limit the scope of protection of the present invention. Therefore, equivalent changes made within the scope of the patent application of the present invention are still within the scope covered by the present invention. The above does not impose any limitation on the technical scope of the present invention. Any modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A modular, compact, ultra-small robotic arm, characterized by: The invention comprises a first articulated arm and a second articulated arm, wherein the first articulated arm comprises a first housing, a driving mechanism, a transmission member and a connecting ring, wherein the housing of the driving mechanism is fixedly disposed in the first housing, the driving mechanism drives the transmission member to rotate, an annular groove is formed between the transmission member and one end of the first housing, and the connecting ring is pivotally connected in the annular groove. The second articulated arm includes a second shell and a fixing ring. The fixing ring is fixedly arranged inside the second shell. The fixing ring and the connecting ring are screwed together. The transmission member is in transmission connection with the fixing ring.

2. The modular, compact, ultra-small robotic arm according to claim 1, characterized in that: The second articulated arm further comprises a sleeve, which is fixedly arranged on the fixing ring. A transmission hole is opened on the sleeve, and the transmission member is passed through the transmission hole.

3. The modular, compact, ultra-small robotic arm according to claim 2, characterized in that: The cross section of the transmission hole is hexagonal.

4. The modular, compact, ultra-small robotic arm according to claim 1, characterized in that: The driving mechanism includes a motor and a reducer. The motor drives the reducer to work, and the reducer drives the transmission member to rotate.

5. The modular, compact, ultra-small robotic arm according to claim 4, characterized in that: The reducer is a harmonic reducer.

6. The modular, compact, ultra-small robotic arm according to claim 1, characterized in that: A first threading hole is provided through the middle of the driving mechanism, a second threading hole is provided through the middle of the transmission member, and the first threading hole and the second threading hole are communicated with each other.

7. The modular, compact, ultra-small robotic arm according to claim 1, characterized in that: The outer side of the connecting ring is provided with a first thread, the inner side of the fixing ring is provided with a second thread, and the first thread and the second thread are screwed together.

8. A modular, compact, ultra-small robotic arm according to any one of claims 1 to 7, characterized in that: A first clamping groove is provided on the outer surface of the fixing ring, and a first clamping ring is integrally formed on the inner wall of the second shell. The first clamping ring is fixedly clamped in the first clamping groove.

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