A multifunctional modular industrial robot

Abstract

The multifunctional modular industrial robot comprises a mechanical arm base, a mechanical arm assembly and a modular mechanical clamp which are assembled by inserting a male connector and a female connector, a harmonic motor and an electrical slip ring are arranged in the male connector, signal lines and fluid lines pass through the inside of the industrial robot, the mechanical and electrical integration of the industrial robot is realized, and line crossing and winding can be avoided, the mechanical arm and the mechanical clamp of the industrial robot are modularly arranged, can be freely assembled and spliced to adapt to diversified application scenes, are convenient to disassemble and have high degrees of freedom, and the multi-stage interconnection of the industrial robot is arranged, a control network is established by terminal equipment to complete cooperative control of the multi-stage industrial robot, and the accuracy and effectiveness of task execution are significantly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to an industrial robot, more particularly to a multifunctional modular industrial robot. BACKGROUND

[0002] With the continuous acceleration of modernization, automation technology is widely used in various fields, among which industrial robots can replace humans to complete dangerous, heavy and monotonous tasks and are highly concerned. However, the existing industrial robots often adopt an integrated design, and when the mechanical arm fails, the entire mechanical arm and mechanical clamp need to be replaced, which is high in cost and low in efficiency. In the invention patent with the application number 202080053383.2, a modular robot arm is mentioned, which has a complex internal structure and a chaotic circuit arrangement. The robot arm works independently and cannot perform work with high degree of freedom. The use scene is single and it is difficult to meet the actual demand of high automation in industry. In order to solve the above problems, the present application provides a multifunctional modular industrial robot. SUMMARY

[0003] The present application provides a modular mechanical clamp.

[0004]

About the modular mechanical arm

[0005] The present application includes a high degree of freedom built-in mechatronic modular mechanical arm, which is an L-shaped modular mechanical arm. The L-shaped modular mechanical arm structure includes: a mechanical arm shell 1 distributed at right angles, an end head 4, a plug-in male head 2 and a plug-in female head 3. The plug-in male head 2 includes an electrical slip ring 7 and a harmonic motor 8. The slip ring stator 72 of the electrical slip ring 7 is fixed on the mechanical arm shell 1 and the first support plate 5 which is integrally formed with the shell. The slip ring rotor 71 of the electrical slip ring 7 is fixed on the male head connecting block 9. The motor shaft 84 of the harmonic motor 8 penetrates through the male head connecting block 9 and is fixed therewith, so that the harmonic motor 8 can independently control the rotation of the male head connecting block 9 and the slip ring rotor 71. The male head plug-in block 10 is fixed on the male head connecting block 9. The plug-in female head 3 is arranged in cooperation with the plug-in male head 2, including a second support plate 6 arranged integrally with the mechanical arm shell 1, an annular compression block 15 abutting against the second support plate 6, the annular compression block 15 and the female head connecting block 16 being in contact, the female head connecting block 16 and the second support plate 6 being movably connected by a third bearing 14, the female head connecting block 16 and the mechanical arm shell 1 being movably connected by a second bearing 17, and the female head plug-in block 19 being fixed on the annular compression block 15 and arranged in cooperation with the male head plug-in block 10. Fluid lines and signal lines are freely rotatable without winding through the plug-in male head 2 and the plug-in female head 3. The fluid lines are used to pass through gas or liquid, and the signal lines are used to transmit electricity and / or signal instructions.

[0006] Further, the plug male head 2 part includes a mechanical arm shell 1 made of metal, aluminum, steel, titanium aluminum alloy, high-strength aluminum alloy, AW7075, fiber-reinforced plastic, glass fiber-reinforced plastic (GfK), carbon fiber-reinforced plastic (CfK); the mechanical arm shell 1 is integrally formed with a first support plate 5 inside the mechanical arm cavity, and the first support plate 5 cooperates with the mechanical arm shell 1 to fix the slip ring stator 72 of the electrical slip ring 7 and the harmonic motor 8; the harmonic motor shaft 84 is a cylindrical cut edge shape away from the motor body side, used to position the slip ring rotor 71 and the slip ring stator 72, enter the step limiting hole 96 on the male head connecting block 9 and be fixed with the male head connecting block 9, so that the male head connecting block 9 can rotate under the drive of the harmonic motor 8; the male head connecting block 9 is fixedly connected with the male plug block 10; the male head connecting block 9 is fixedly connected with the slip ring rotor 71 of the electrical slip ring 7, so that the slip ring rotor 71 rotates under the drive of the harmonic motor 8, and the slip ring stator 72 remains fixed; a plurality of fluid inlets 75 are uniformly distributed on the slip ring rotor 71, and a plurality of fluid outlets 76 are symmetrically distributed on the slip ring stator 72; gas enters the fluid inlet 75 through the male plug block 10 on the male plug block 10 through the flow pipe hole 93, the signal line 73 enters the slip ring rotor 71 through the signal hole 92, and the signal line 73 is introduced into the harmonic motor 8 through the slip ring stator 72; the side of the slip ring stator 72 away from the slip ring slot 52 is surrounded and fastened by the stepped pressure block 13 to ensure that the electrical slip ring 7 does not shake as a whole; the stepped pressure block 13 and the male head connecting block 9 are provided with a first bearing 11 at the corresponding step part, the stator side of the first bearing 11 is in contact with the male head connecting block 9, and the rotor side of the first bearing 11 is in contact with the stepped pressure block 13, in order to prevent the vertical displacement of the first bearing 11, a first circlip 12 is arranged between the other side of the first bearing 11 and the stepped pressure block 13.

[0007] Further, the mechanical arm shell 1 and the stepped pressure block 13 are combined by a first connecting screw 1a, and the end cover 4 is combined by a second connecting screw 1b; the first support plate 5 is provided with a fluid passage 51, a slip ring slot 52, and a slip ring fixing tooth 53; the slip ring slot 52 is used to clamp the electrical slip ring 7 inside the slip ring slot 52 to limit the movement of the slip ring stator 72 in the vertical direction; the slip ring fixing tooth 53 is provided with a second slip ring fixing hole 74c, and a slip ring fixing screw 74a passes through a first slip ring fixing hole 74b on the mechanical arm shell 1 and the second slip ring fixing hole 74c to be fastened to a third slip ring fixing hole 74d on the slip ring stator to limit the movement of the slip ring stator 72 in the horizontal direction.

[0008] Further, the first support plate 5 is provided with a sunken threaded via hole 82b, and a fastening screw 82a passes through the sunken threaded via hole 82b and enters a fastening thread 82c on the motor stator, so that the motor stator can be fixed to the back side of the first support plate, and the motor is fixed to the shell; in addition, a fastening screw 83a passes through a rotating shaft threaded hole 83b provided on the motor flange plate 81 and enters a fastening thread 83c on the motor rotor, so that the motor rotating shaft 84 is connected to the motor rotor, and the motor rotating shaft 84 can rotate freely; the cylindrical cut edge side of the motor rotating shaft 84 is fixed to the male connector block 9 by a rotating shaft limiting screw 94a and a rotating shaft limiting screw hole 94b, and the cylindrical cut edge back side of the motor rotating shaft 84 is fixed to the male connector block 9 by a rotating shaft fastening screw 97a and a rotating shaft fastening screw hole 97b, so that the motor rotating shaft 84 is fixed to the male connector block 9, and the male connector block 9 can rotate under the drive of the harmonic motor 8.

[0009] Further, the male connector block 9 is provided with a first positioning pin 91a matched with a first positioning hole 91b on the male plug-in block 10, and a fluid pipeline is arranged between the male connector block 9 and the male plug-in block 10; the male connector block 9 is further provided with a signal hole 92 for signal lines, a flow pipe hole 93 for fluid lines, and a male butt joint thread 95.

[0010] Further, the female connector 3 part includes a flared mechanical arm housing 1, a second support plate 6 integrally arranged with the mechanical arm housing 1, a fluid passage 61 on the second support plate 6 for fluid lines to pass through, and a signal passage 62 on the second support plate 6 for signal lines to pass through; the flared mechanical arm housing 1 is in active contact with the female connector block 16 on the platform perpendicular to the flared extension direction; a second bearing 17 is arranged between the inside of the flared mechanical arm housing 1 and the outside of the female connector block 16, the second bearing 17 is in contact with the outside of the female connector block 16 on the rotor side, and the second bearing 17 is in contact with the inside of the mechanical arm housing 1 on the stator side; in order to stabilize the second bearing 17, a second circlip 18 is added on one side of the second bearing 17; the second support plate 6 has a two-step shape on the side away from the male connector 2, the low step is in abutment with the distal end of the female connector block 16 through a third bearing 14, the side of the female connector block 16 contacting the third bearing 14 is the rotor side, and the side of the low step of the second support plate 6 contacting the third bearing 14 is the stator side; the high step of the second support plate 6 is a non-circular structure, a signal passage 62 is arranged in the high step, the high step passes through a signal passage 151 on the annular compression block 15 and limits the rotation of the annular compression block 15, and the signal line is connected with the female connector counter-plug needle 191 on the female connector counter-plug block 19 after passing through the signal passage 151; the annular compression block 15 is sealingly provided with a fluid passage 152 for fluid lines to pass through, and the fluid passage 152 is sealingly connected with a female connector counter-plug flow channel 192 on the female connector counter-plug block 19; the annular compression block 15 further includes a second positioning insertion hole 153b capable of being fixedly matched with a second positioning insertion pin 153a on the female connector counter-plug block 19.

[0011] Further, the female connector counter-plug block 19 is provided with a female connector counter-plug positioning 193, when the female connector counter-plug positioning 193 is positioned with the male connector counter-plug positioning 103 on the upper modular mechanical arm, the female connector counter-plug needle 191 and the female connector counter-plug flow channel 192 are tightly connected with the male connector counter-plug needle 101 and the male connector counter-plug flow channel 102, and the fluid lines and the signal lines of the two-level modular mechanical arm are connected, when the male connector counter-plug block 10 of the upper modular mechanical arm is rotated under the driving of the harmonic motor 8, the female connector counter-plug block 19 of the lower modular mechanical arm will drive all the lower modular mechanical arms to rotate.

[0012] According to the high-degree-of-freedom built-in electromechanical integrated modular mechanical arm, the I-shaped modular mechanical arm omits the end 4 and the second connecting screw 1b of the L-shaped modular mechanical arm, and the second support plate 6 is arranged in parallel with the first support plate 5.

[0013]

About the assembly of the modular mechanical arm

[0014] According to the application, a high degree of freedom built-in electromechanical integrated modular mechanical arm assembly comprises m L-shaped modular mechanical arms and n I-shaped modular mechanical arms, which are spliced together, and a plurality of modular mechanical arm assembly structures are formed by the cooperation of the male joint of the upper modular mechanical arm and the female joint of the lower modular mechanical arm, and the two ends of the assembly structure can be connected with a mechanical arm base and a mechanical clamp, respectively.

[0015] Further, m+n≥1, wherein m is an integer greater than or equal to 0, and n is an integer greater than or equal to 0.

[0016]

About modular mechanical clamp

[0017] The application also provides a modular mechanical clamp used in cooperation with the modular mechanical arm and its assembly, wherein the modular mechanical clamp structure comprises a male joint 2, a mechanical clamp shell 20, an end connecting piece 21, and an end tool 22. The male joint 2 is consistent with the structure of the male joint 2 of the modular mechanical arm structure, and the male joint 2 comprises an electrical slip ring 7 and a harmonic motor 8. The slip ring stator 72 of the electrical slip ring 7 is fixed on the mechanical clamp shell 20 and a first support plate 5 which is integrally formed with the mechanical clamp shell 20, the slip ring rotor 71 of the electrical slip ring 7 is fixed on a male connecting block 9, the motor rotating shaft 84 of the harmonic motor 8 penetrates through the male connecting block 9 and is fixed therewith, so that the harmonic motor 8 can independently control the rotation of the male connecting block 9 and the slip ring rotor 71, and a male joint block 10 is fixed on the male connecting block 9. The end connecting piece 21 is connected with the mechanical clamp shell 20, the end tool 22 is fixed on the end connecting piece 21, a fluid line and a signal line penetrate through the male joint 2 and the end connecting piece 21 and enter the end tool 22, and the fluid line and the signal line can rotate freely without winding, the fluid line is used for passing through gas or liquid, and the signal line is used for transmitting electricity and / or signal instructions.

[0018] Further, the plug male head 2 part comprises a mechanical clamp shell 20 made of metal, aluminum, steel, titanium-aluminum alloy, high-strength aluminum alloy, AW7075, fiber-reinforced plastic, glass fiber-reinforced plastic (GfK), carbon fiber-reinforced plastic (CfK); the mechanical clamp shell 20 is integrally formed with a first support plate 5 inside the mechanical clamp cavity, and the cooperation of the first support plate 5 and the mechanical clamp shell 20 can fix the slip ring stator 72 of the electrical slip ring 7 and the harmonic motor 8; the shaft 84 of the harmonic motor 8 is a cylindrical cut edge shape away from the motor side, used to position the slip ring rotor 71 and the slip ring stator 72, enter the stepped limiting hole 96 on the male head connecting block 9 and be fixed with the male head connecting block 9, so that the male head connecting block 9 can rotate under the drive of the harmonic motor 8; the male head connecting block 9 is fixedly connected with the male plug block 10; the male head connecting block 9 is fixedly connected with the slip ring rotor 71 of the electrical slip ring 7, so that the slip ring rotor 71 rotates under the drive of the harmonic motor 8, and the slip ring stator 72 remains fixed; a plurality of fluid inlets 75 are uniformly distributed on the slip ring rotor 71, and a plurality of fluid outlets 76 are symmetrically distributed on the slip ring stator 72; fluid enters the fluid inlet 75 through the flow pipe hole 93 step by step from the male plug block 10 through the male plug flow channel 102, the signal line 73 enters the slip ring rotor 71 through the signal hole 92 from the male plug pin 101, and is led out from the slip ring stator 72 and enters the harmonic motor 8; the side of the slip ring stator 72 away from the slip ring clamping groove 52 is surrounded and fastened by the stepped pressure block 13 to ensure that the electrical slip ring 7 does not shake as a whole; the stepped pressure block 13 and the male head connecting block 9 are provided with a first bearing 11 at the corresponding stepped parts, the stator side of the first bearing 11 is in contact with the male head connecting block 9, and the rotor side of the first bearing 11 is in contact with the stepped pressure block 13, in order to prevent the vertical displacement of the first bearing 11, a first circlip 12 is arranged between the other side of the first bearing 11 and the stepped pressure block 13.

[0019] Further, the mechanical clamp shell 20 and the stepped pressure block 13 are combined through a third connecting screw 20a, and the end connecting piece 21 is combined through a fourth connecting screw 20b; the first support plate 5 is provided with a fluid passage 51, a slip ring clamping groove 52, and a slip ring fixing tooth 53; the slip ring clamping groove 52 is used to clamp the electrical slip ring 7 inside the slip ring clamping groove 52 to limit the movement of the slip ring stator 72 in the vertical direction; the slip ring fixing tooth 53 is provided with a second slip ring fixing hole 74c, and a slip ring fixing screw 74a passes through a first slip ring fixing hole 74b on the mechanical clamp shell 20 and the second slip ring fixing hole 74c to be fastened to a third slip ring fixing hole 74d on the slip ring stator, so as to limit the movement of the slip ring stator 72 in the horizontal direction.

[0020] Further, the first support plate 5 is provided with a sunken threaded via hole 82b, and a fastening screw 82a passes through the sunken threaded via hole 82b and enters a fastening thread 82c on the motor stator, so that the motor stator side can be fixed to the back side of the first support plate, and the motor is fixed to the shell; in addition, a fastening screw 83a passes through a rotating shaft threaded hole 83b provided on the motor flange plate 81 and enters a fastening thread 83c on the motor rotor, so that the motor rotating shaft 84 is connected to the motor rotor side, and the motor rotating shaft 84 can rotate freely; the cylindrical cut edge side of the motor rotating shaft 84 is fixed to the male connector block 9 by a rotating shaft limiting screw 94a and a rotating shaft limiting threaded hole 94b, and the cylindrical cut edge back side of the motor rotating shaft 84 is fixed to the male connector block 9 by a rotating shaft fastening screw 97a and a rotating shaft fastening threaded hole 97b, so as to fix the motor rotating shaft 84 to the male connector block 9, and the male connector block 9 can rotate under the drive of the harmonic motor 8.

[0021] Further, the male connector block 9 is provided with a first positioning pin 91a matched with a first positioning hole 91b on the male plug-in block 10, and there is a fluid pipeline between the male connector block 9 and the male plug-in block 10; the male connector block 9 is also provided with a signal hole 92 for signal lines, a flow pipe hole 93 for fluid lines, and a male butt joint thread 95.

[0022] Further, the end tool 22 and the end connector 21 are fixedly connected by a fifth connecting screw 225, and a gas-liquid chamber 221 is connected between the end tool 22 and the end connector 21, and a piston (not shown) is arranged in the gas-liquid chamber 221, and the piston is provided with positive pressure or negative pressure by fluid to complete the clamping or releasing action of the end tool 22, the end tool 22 is an anti-skid structure, and modular mechanical clamps with different shapes of clamping jaws 222 can be used according to different purposes, for example, two-jaw type for grabbing or three-jaw type for twisting.

[0023] Further, the end tool 22 is provided with a universal interface, that is, a reserved fluid interface 223 and a reserved signal interface 224 are arranged on the inner side of the end connector 21, and the two are selectively connected with the fluid outlet 76 and the signal line 73 respectively. In addition, the modular mechanical clamp is detachably connected with the plug female head 3 of the upper level modular mechanical arm through the plug male head 2, and through the driving of the harmonic motor inside the modular mechanical clamp, the rotation action of the end tool 22 itself is completed, through the driving of the harmonic motor inside the modular mechanical arm, the free directional motion of the end tool 22 in space is completed, and according to the actual use scene, the modular mechanical clamp can be detached or replaced, and the fluid type and the interface type can be adaptively selected. For example, for small load objects, gas pressure driving can be used, for large load objects, liquid hydraulic driving can be used, and for precise action, signal driving can be used. For another example, the modular mechanical clamp can directly spray gas or liquid in the state of omitting the end tool 22, to complete the gas or liquid feeding operation, and the exemplary application scene includes spraying, sampling and the like.

[0024]

[0025] The industrial robot disclosed by the application is spliced by a mechanical arm base C, a mechanical arm assembly D and a modular mechanical clamp E; the mechanical arm base C comprises a plug female head 3, a base shell 24 and a fixed base 23. The plug female head 3 of the mechanical arm base is consistent with the structure and use mode of the plug female head 3 of the modular mechanical arm, the base shell 24 and the fixed base 23 are connected by a base fixing screw 231 and stabilized on an operation table, the fluid inlet 25 and the signal inlet 26 are arranged on the side edge of the base shell 24, the fluid line and the signal line are connected with the fluid inlet 25 and the signal inlet 26, and pass through all levels of plug male heads 2 and plug female heads 3 of the entire industrial robot and enter the reserved fluid interface 223 and the reserved signal interface 224.

[0026] The mechanical arm assembly D and the modular mechanical clamp E are provided with sensors and indicator lights which are in communication connection with a control mainboard, execute tasks under the server and control actions by the control mainboard. The industrial robot is multi-level interconnected, the server is in communication connection with terminal equipment, and a control network is established by the terminal equipment to complete the cooperative control of the multi-level industrial robot.

[0027] The application has the following beneficial effects:

[0028] ​The multifunctional modular industrial robot comprises a mechanical arm base, a mechanical arm assembly and a modular mechanical clamp which are connected through a male plug and a female plug.

[0029] The mechanical arm and the mechanical clamp of the industrial robot are modularized, can be freely assembled and spliced to adapt to diversified application scenarios, are convenient to disassemble, assemble and replace, and can be assembled with the modular mechanical arm according to different scenes or requirements.

[0030] The industrial robot adopts a multi-stage interconnection mode, a control network is established by terminal equipment to complete cooperative control of the multi-stage industrial robot, and the accuracy and effectiveness of task execution can be significantly improved. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 It is a schematic view of the male plug of the L-shaped modular mechanical arm of the embodiment 1 of the present application.

[0032] Figure 2 It is a schematic view of the female plug of the L-shaped modular mechanical arm of the embodiment 1 of the present application.

[0033] Figure 3 It is a schematic view of the sectional structure of the L-shaped modular mechanical arm of the embodiment 1 of the present application.

[0034] Figure 4 It is a schematic view of the internal structure of the L-shaped modular mechanical arm of the embodiment 1 of the present application.

[0035] Figure 5 It is a schematic view of the internal structure of the male plug of the L-shaped modular mechanical arm of the embodiment 1 of the present application.

[0036] Figure 6 It is a schematic view of the harmonic motor mounting structure of the L-shaped modular mechanical arm of the embodiment 1 of the present application.

[0037] Figure 7 It is a schematic view of the internal structure of the female plug of the L-shaped modular mechanical arm of the embodiment 1 of the present application.

[0038] Figure 8Sectional structure diagram of I-shaped modular mechanical arm of embodiment 2 of the present application;

[0039] Figure 9 Sectional structure diagram of I-shaped modular mechanical arm of embodiment 2 of the present application;

[0040] Figure 10 Sectional structure diagram of I-shaped modular mechanical arm of embodiment 2 of the present application;

[0041] Figure 11 Assembling diagram of L-shaped modular mechanical arm and I-shaped modular mechanical arm of embodiment 3 of the present application;

[0042] Figure 12 Two-jaw type modular mechanical clamp of embodiment 4 of the present application;

[0043] Figure 13 Two-jaw type modular mechanical clamp of embodiment 4 of the present application;

[0044] Figure 14 Two-jaw type modular mechanical clamp of embodiment 4 of the present application;

[0045] Figure 15 Two-jaw type modular mechanical clamp of embodiment 4 of the present application;

[0046] Figure 16 Three-jaw type modular mechanical clamp of embodiment 5 of the present application;

[0047] Figure 17 Mechanical arm base of industrial robot of embodiment 6 of the present application;

[0048] Figure 18 Mechanical arm base of industrial robot of embodiment 6 of the present application;

[0049] Figure 19 Industrial robot of embodiment 6 of the present application.

[0050] In the figure, 1 - mechanical arm shell, 1a - first connecting screw, 1b - second connecting screw, 2 - male plug, 3 - female plug, 4 - end head, 5 - first support plate, 51 - fluid channel, 52 - slip ring clamping groove, 53 - slip ring fixing tooth, 6 - second support plate, 61 - fluid channel, 62 - signal channel, 7 - electrical slip ring, 71 - slip ring mover, 72 - slip ring stator, 73 - signal line, 74a - slip ring fixing screw, 74b - first slip ring fixing hole, 74c - second slip ring fixing hole, 74d - third slip ring fixing hole, 75 - fluid inlet, 76 - fluid outlet, 77a - slip ring connecting nut, 77b - slip ring connecting via, 77c - slip ring connecting hole, 8 - harmonic motor, 81 - motor flange, 82a - fastening screw, 82b - sunken threaded via, 82c fastening thread, 83a - fastening screw, 83b - rotating shaft threaded hole, 83c - fastening thread, 84 - motor rotating shaft, 9 - male connecting block, 91a - first positioning plug, 91b - first positioning hole, 92 - signal hole, 93 - flow pipe hole, 94 - rotating shaft limiting piece, 94a - rotating shaft limiting screw, 94b - rotating shaft limiting screw hole, 95 - male butt joint thread, 96 - step limiting hole, 97 - rotating shaft fastener, 97a - rotating shaft fastening screw, 97b - rotating shaft fastening screw hole, 10 - male plug connecting block, 101 - male counter plug, 102 - male counter plug flow channel, 103 - male counter plug positioning, 11 - first bearing, 12 - first clamping spring, 13 - stepped pressing block, 14 - second bearing, 15 - annular pressing block, 151 - signal channel, 152 - fluid channel, 153a - second positioning plug, 153b - second positioning hole, 16 - female connecting block, 161 - female butt joint thread, 17 - third bearing, 18 - second clamping spring, 19 - female plug connecting block, 191 - female counter plug, 192 - female counter plug flow channel, 193 - female counter plug positioning, 20 - mechanical clamp shell, 20a - third connecting screw, 20b - fourth connecting screw, 21 - end connecting piece, 22 - end tool, 221 - gas-liquid chamber, 222 - clamping jaw, 223 - reserved fluid interface, 224 - reserved signal interface, 225 - fifth connecting screw, 23 - fixed base, 231 - base fixing screw, 24 - base shell, 25 - fluid input port, 26 - signal input port, A - L-shaped modular mechanical arm, B - I-shaped modular mechanical arm, C - mechanical arm base, D - mechanical arm assembly, E - modular mechanical clamp. DETAILED DESCRIPTION

[0051] It should be noted that the following detailed description is exemplary in nature and is intended to provide further description of the application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0052] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, devices, components and / or combinations thereof, but do not preclude the presence or addition of one or more other features, steps, operations, devices, components, and / or combinations thereof.

[0053] For the convenience of description, if the terms of "upper", "lower", "left" and "right" are used in the present application, they only mean the same direction as the upper, lower, left and right directions of the drawings themselves, and do not limit the structure, but only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so it cannot be understood as a limitation on the present application.

[0054] Embodiment 1

[0055] Embodiment 1 of the present application provides an L-shaped modular mechanical arm, which combines Figure 1 and Figure 2 The L-shaped modular mechanical arm includes a mechanical arm shell 1 distributed at right angles, a plug male head 2 and a plug female head 3.

[0056] Combining Figures 3-5 Observing the plug male head 2 of the L-shaped modular mechanical arm, the L-shaped modular mechanical arm includes the mechanical arm shell 1 at the plug male head 2 part, the mechanical arm shell 1 is combined with the stepped pressing block 13 through the first connecting screw 1a, and is combined with the end cover 4 through the second connecting screw 1b, the mechanical arm shell 1 is integrally formed with the first support plate 5 inside the mechanical arm cavity, the first support plate 5 is provided with a fluid passage 51, a slip ring clamping groove 52 and a slip ring fixing tooth 53, the slip ring clamping groove 52 is used for clamping the electrical slip ring 7 inside the slip ring clamping groove 52 to limit the movement of the slip ring stator 72 in the vertical direction, and the slip ring fixing tooth 53 is provided with a second slip ring fixing hole 74c, and the slip ring fixing screw 74a passes through the first slip ring fixing hole 74b and the second slip ring fixing hole 74c on the mechanical arm shell 1 and is fastened to the third slip ring fixing hole 74d on the slip ring stator to limit the movement of the slip ring stator 72 in the horizontal direction.

[0057] Further, combining Figure 6The connection mode of the harmonic motor 8 is observed. The first support plate 5 is provided with a sunken threaded via hole 82b. The fastening screw 82a passes through the sunken threaded via hole 82b and enters the fastening thread 82c on the motor stator. The above setting can fix the motor stator side to the back side of the first support plate, and then realize the motor fixed on the shell. In addition, the fastening screw 83a passes through the rotating shaft threaded hole 83b provided on the motor flange plate 81 and enters the fastening thread 83c on the motor rotor. The above setting connects the motor rotating shaft 84 to the motor rotor side, so that the motor rotating shaft 84 can rotate freely.

[0058] Back to Figures 3-5 , the motor rotating shaft 84 away from the motor side is a cylindrical trimmed edge shape, which is used to position the slip ring rotor 71 and the slip ring stator 72. The motor rotating shaft 84 passes through the slip ring rotor 71 and the slip ring stator 72 of the electrical slip ring 7 and enters the step limiting hole 96 provided on the male connector block 9. The cylindrical trimmed edge side of the motor rotating shaft 84 is fixed on the male connector block 9 by the rotating shaft limiting screw 94a and the rotating shaft limiting screw hole 94b. The cylindrical trimmed edge back side of the motor rotating shaft 84 is fixed on the male connector block 9 by the rotating shaft fastening screw 97a and the rotating shaft fastening screw hole 97b, so as to realize the fixation of the motor rotating shaft 84 and the male connector block 9, so that the male connector block 9 can rotate under the drive of the harmonic motor 8.

[0059] Further, the male connector block 9 is provided with the first positioning pin 91a matched with the first positioning hole 91b on the male plug-in block 10. The fluid pipeline is connected between the male connector block 9 and the male plug-in block 10.

[0060] Further, the male connector block 9 is further provided with the signal hole 92 for the signal line to pass through, the flow pipe hole 93 for the fluid line to pass through and the male butt joint thread 95. In addition, it also includes the slip ring connection via hole 77b. Through the cooperation of the slip ring connection nut 77a, the slip ring connection via hole 77b and the slip ring connection hole 77c, the slip ring rotor 71 of the electrical slip ring 7 can be fixed with the male connector block 9. Thus, the slip ring rotor 71 can rotate under the drive of the harmonic motor 8, while the slip ring stator 72 remains fixed.

[0061] Further, the slip ring rotor 71 is uniformly distributed with a plurality of fluid inlets 75, and the slip ring stator 72 is symmetrically distributed with a plurality of fluid outlets 76. The fluid passes through the flow pipe hole 93 and is sequentially sealed into the fluid inlet 75 through the male butt plug flow channel 102 on the male plug-in block 10. The signal line 73 is connected to the slip ring rotor 71 through the signal hole 92 by the male butt plug needle 101, and is led out from the slip ring stator 72 and enters the harmonic motor 8. Through the above setting, when the harmonic motor 8 drives the slip ring rotor 71 to rotate, the slip ring stator 72 remains fixed, while the signal line and the fluid line in the mechanical arm cavity can be prevented from crossing and winding abnormally.

[0062] Further, the side of the slip ring stator 72 away from the slip ring slot 52 is surrounded and fastened by the stepped pressing block 13 to ensure that the overall electrical slip ring 7 does not shake, the end of the stepped pressing block 13 away from the slip ring stator 72 is fixed on the side of the mechanical arm shell 1 by the first connecting screw la, and the other side of the end is in active contact with the male connecting block 9, and the two can slide relative to each other on the contact surface. In addition, the stepped pressing block 13 and the male connecting block 9 are provided with the first bearing 11 at the corresponding stepped parts, the mover side of the first bearing 11 is in contact with the male connecting block 9, and the stator side of the first bearing 11 is in contact with the stepped pressing block 13. In order to prevent the vertical displacement of the first bearing 11, the first clamping spring 12 is arranged between the first bearing 11 and the other side of the stepped pressing block 13.

[0063] The above setting can realize the stable and free rotation of the male plug-in block 10, the male connecting block 9 and the slip ring mover 71 under the driving of the harmonic motor 8, and the rotation mode is completely controlled by the harmonic motor 8, without the need for additional speed reduction device, and at the same time, it can ensure that the signal line and the fluid line in the mechanical arm cavity do not appear abnormal conditions such as crossing and winding.

[0064] Now, combined with Figures 3-4 , 7, the female plug-in head 3 of the L-shaped modular mechanical arm is observed, the L-shaped modular mechanical arm includes a flared mechanical arm shell 1 at the female plug-in head 3 part, a second support plate 6 integrally arranged with the mechanical arm shell 1, the second support plate 6 is provided with a fluid passage 61 for the fluid line to pass through and a signal passage 62 for the signal line to pass through.

[0065] Further, the flared mechanical arm shell 1 is in active contact with the female connecting block 16 at the flared end in the direction perpendicular to the extension direction of the flared end, so that the relative rotation between the two at the flared end can be carried out, in order to make the relative rotation between the two stable, the second bearing 17 is arranged between the inside of the flared end of the mechanical arm shell 1 and the outside of the female connecting block 16, the mover side of the second bearing 17 is in contact with the outside of the female connecting block 16, and the stator side of the second bearing 17 is in contact with the inside of the mechanical arm shell 1, in order to stabilize the second bearing 17, the second clamping spring 18 is additionally arranged on one side of the second bearing 17. The second support plate 6 has a two-step shape on the side away from the male plug-in head 2, the low step is in abutment with the distal end of the female connecting block 16 by the third bearing 14, the side of the female connecting block 16 contacted by the third bearing 14 is the mover side, and the side of the low step of the second support plate 6 contacted by the third bearing 14 is the stator side.

[0066] Further, the high-level step of the second support plate 6 is a non-circular structure, and a signal passage 62 is arranged in the high-level step. The high-level step passes through the signal passage 151 of the annular pressing block 15 and limits the rotation of the annular pressing block 15. After the signal line passes through the signal passage 151, the signal line is connected with the female-to-male pin 191 of the female connector 19. The annular pressing block 15 is sealed and arranged with a fluid passage 152 for the fluid line to pass through. The fluid passage 152 is sealed and connected with the female-to-male flow passage 192 of the female connector 19. The annular pressing block 15 further comprises a second positioning hole 153b capable of being fixedly matched with the second positioning pin 153a of the female connector 19. The above arrangement can realize that when the female-to-male screw thread 161 of the female connector 19 is screwed with the male-to-male screw thread 95 of the male connector 9 of another mechanical arm, the female connector 19 pulls the annular pressing block 15 and the female connector 19 under the action of tension, so as to avoid the shaking between the components and further improve the air tightness of the flow pipe connection port. It is worth noting that although the female connector 19 can rotate, the annular pressing block 15 and the female connector 19 cannot be driven by the female connector 19 due to the locking of the high-level step of the second support plate 6 and the cooperation of the second bearing 15 and the third bearing 17.

[0067] Further, the female connector 19 is arranged with a female-to-male positioning 193. When the female-to-male positioning 193 is positioned with the male-to-male positioning 103 of the male connector 10 of the upper modular mechanical arm, the female-to-male pin 191 and the female-to-male flow passage 192 are tightly connected with the male-to-male pin 101 and the male-to-male flow passage 102, so as to complete the connection of the fluid line and the signal line of the two-level modular mechanical arm. When the male connector 10 of the upper modular mechanical arm is driven to rotate by the harmonic motor 8, the female connector 19 of the lower modular mechanical arm drives all the lower modular mechanical arms to rotate.

[0068] The above arrangement can make the disassembly, assembly and replacement of the modular mechanical arm in the application very convenient, realize that each level of the modular mechanical arm can drive the lower modular mechanical arm to freely rotate while completing the rotation by using the harmonic motor, more accurately, can drive each level of the modular mechanical arm behind to freely rotate, and greatly improve the degree of freedom of the mechanical arm.

[0069] Embodiment 2

[0070] Embodiment 2 of the application provides an I-shaped modular mechanical arm, which combines Figures 8-10 The difference between the I-shaped modular mechanical arm and the L-shaped modular mechanical arm in embodiment 1 is that the I-shaped modular mechanical arm is arranged in a straight line, the end 4 and the second connecting screw 1b of the L-shaped modular mechanical arm are omitted, and the second support plate 6 is arranged in parallel with the first support plate 5.

[0071] Embodiment 3

[0072] Embodiment 3 of the present application provides an assembled mechanical arm, in combination with Figure 11 , comprising 4 L-shaped modular mechanical arms and 1 I-shaped modular mechanical arm, through the cooperation of the male joint of the upper modular mechanical arm and the female joint of the lower modular mechanical arm, a multi-section modular mechanical arm assembly structure is formed, and the two ends of the assembly structure can be connected with a mechanical arm base and a modular mechanical clamp respectively (not shown in the figure). The number and assembly method of the L-shaped modular mechanical arm and the I-shaped modular mechanical arm given in this embodiment are only examples, and the number and assembly method of the L-shaped modular mechanical arm and the I-shaped modular mechanical arm can be adjusted according to the actual needs.

[0073] Embodiment 4

[0074] Embodiment 4 of the present application provides a modular mechanical clamp used in cooperation with a modular mechanical arm and its assembly, in combination with Figures 12-15 , which is a two-jaw modular mechanical clamp, the modular mechanical clamp structure comprises a male joint 2, a mechanical clamp housing 20, an end connecting piece 21, and an end tool 22. The male joint 2 is consistent with the structure of the modular mechanical arm, and the male joint 2 includes an electrical slip ring 7 and a harmonic motor 8 inside. The slip ring stator 72 of the electrical slip ring 7 is fixed on the mechanical clamp housing 20 and a first support plate 5 which is integrally formed with the mechanical clamp housing 20, and the slip ring rotor 71 of the electrical slip ring 7 is fixed on the male connecting block 9. The motor shaft 84 of the harmonic motor 8 penetrates through the male connecting block 9 and is fixed therewith, so that the harmonic motor 8 can independently control the rotation of the male connecting block 9 and the slip ring stator 72. The male joint block 10 is fixed on the male connecting block 9. The end connecting piece 21 is connected with the mechanical clamp housing 20, and the end tool 22 is fixed on the end connecting piece 21. Fluid lines and signal lines pass through the male joint 2 and the end connecting piece 21 into the end tool 22, and rotate freely without winding. The fluid lines are used for passing through gas and / or liquid, and the signal lines are used for transmitting electricity and / or signal instructions.

[0075] Further, the plug male head 2 part comprises a mechanical clamp shell 20 made of metal, aluminum, steel, titanium-aluminum alloy, high-strength aluminum alloy, AW7075, fiber-reinforced plastic, glass fiber-reinforced plastic (GfK), carbon fiber-reinforced plastic (CfK); the mechanical clamp shell 20 is integrally formed with a first support plate 5 inside the mechanical clamp cavity, and the cooperation of the first support plate 5 and the mechanical clamp shell 20 can fix the slip ring stator 72 of the electrical slip ring 7 and the harmonic motor 8; the harmonic motor shaft 84 is a cylindrical cut edge shape away from the motor side, used to position the slip ring rotor 71 and the slip ring stator 72, enter the step limiting hole 96 on the male head connecting block 9 and be fixed with the male head connecting block 9, so that the male head connecting block 9 can rotate under the drive of the harmonic motor 8; the male head connecting block 9 is fixedly connected with the male plug block 10; the male head connecting block 9 is fixedly connected with the slip ring rotor 71 of the electrical slip ring 7, so that the slip ring rotor 71 rotates under the drive of the harmonic motor 8, and the slip ring stator 72 remains fixed; a plurality of fluid inlets 75 are uniformly distributed on the slip ring rotor 71, and a plurality of fluid outlets 76 are symmetrically distributed on the slip ring stator 72; fluid enters the fluid inlet 75 through the flow pipe hole 93 step by step from the male plug block 10 through the male plug flow channel 102, the signal line 73 enters the slip ring rotor 71 through the signal hole 92 from the male plug pin 101, and is led out from the slip ring stator 72 and enters the harmonic motor 8; the side of the slip ring stator 72 away from the slip ring clamping groove 52 is surrounded and fastened by the stepped pressure block 13 to ensure that the electrical slip ring 7 does not shake as a whole; the stepped pressure block 13 and the male head connecting block 9 are provided with a first bearing 11 at the corresponding step part, the stator side of the first bearing 11 is in contact with the male head connecting block 9, and the rotor side of the first bearing 11 is in contact with the stepped pressure block 13, in order to prevent the vertical displacement of the first bearing 11, a first circlip 12 is arranged between the other side of the first bearing 11 and the stepped pressure block 13.

[0076] Further, the mechanical clamp shell 20 and the stepped pressure block 13 are combined through a third connecting screw 20a, and the end connecting piece 21 is combined through a fourth connecting screw 20b; the first support plate 5 is provided with a fluid passage 51, a slip ring clamping groove 52, and a slip ring fixing tooth 53; the slip ring clamping groove 52 is used to clamp the electrical slip ring 7 inside the slip ring clamping groove 52 to limit the movement of the slip ring stator 72 in the vertical direction; the slip ring fixing tooth 53 is provided with a second slip ring fixing hole 74c, and a slip ring fixing screw 74a passes through a first slip ring fixing hole 74b on the mechanical clamp shell 20 and the second slip ring fixing hole 74c to be fastened to a third slip ring fixing hole 74d on the slip ring stator, so as to limit the movement of the slip ring stator 72 in the horizontal direction.

[0077] Further, in combination Figure 15The connection mode of the harmonic motor 8 is observed. The first support plate 5 is provided with a sunken threaded via hole 82b. A fastening screw 82a passes through the sunken threaded via hole 82b and enters a fastening thread 82c on the motor stator. The above setting can fix the motor stator side to the back side of the first support plate, thereby realizing the fixation of the motor on the shell. In addition, a fastening screw 83a passes through a rotating shaft threaded hole 83b provided on the motor flange plate 81 and enters a fastening thread 83c on the motor rotor, thereby connecting the motor rotating shaft 84 to the motor rotor side, so that the motor rotating shaft 84 can rotate freely. The cylindrical cut edge side of the motor rotating shaft 84 is fixed on the male connector block 9 by a rotating shaft limiting screw 94a and a rotating shaft limiting screw hole 94b. The cylindrical cut edge back side of the motor rotating shaft 84 is fixed on the male connector block 9 by a rotating shaft fastening screw 97a and a rotating shaft fastening screw hole 97b, so as to realize the fixation of the motor rotating shaft 84 and the male connector block 9, so that the male connector block 9 can rotate under the drive of the harmonic motor 8.

[0078] Further, the male connector block 9 is provided with a first positioning pin 91a matched with a first positioning insertion hole 91b on the male plug-in block 10. There is a fluid pipeline between the male connector block 9 and the male plug-in block 10. The male connector block 9 is further provided with a signal hole 92 for the signal line to pass through, a flow pipe hole 93 for the fluid line to pass through, and a male butt joint thread 95.

[0079] Still further, the end tool 22 and the end connector 21 are fixedly connected by a fifth connecting screw 225. The end tool 22 and the end connector 21 are further connected with a gas-liquid chamber 221. The gas-liquid chamber 221 is provided with a piston (not shown). The piston is provided with positive pressure or negative pressure by fluid to complete the clamping or releasing action of the end tool 22. The end tool 22 is an anti-skid structure. According to different purposes, a modular mechanical clamp with different shapes of clamping jaws 222 can be used. For example, the two-jaw type is used for grabbing in this embodiment.

[0080] Still further, the end tool 22 is provided with a universal interface, i.e. a reserved fluid interface 223 and a reserved signal interface 224 are provided on the inner side of the end connector 21. The two are selectively connected with the fluid outlet nozzle 76 and the signal line 73 respectively. In addition, the modular mechanical clamp is detachably plugged with the plug-in female head 3 of the upper-level modular mechanical arm through the plug-in male head 2. Through the drive of the internal harmonic motor of the modular mechanical clamp, the rotating action of the end tool 22 itself is completed. Through the drive of the internal harmonic motor of the modular mechanical arm, the free directional motion of the end tool 22 in space is completed. In addition, the modular mechanical clamp can be detached or replaced according to the actual use scene, and the fluid type and the interface type can be adaptively selected.

[0081] Embodiment 5

[0082] Embodiment 5 of the present application provides a three-jaw modular mechanical clamp, the internal structure of which is consistent with that of Embodiment 4, and which can be used to complete the action of rotating and twisting.

[0083] Embodiment 6

[0084] Embodiment 6 of the present application provides an industrial robot, which combines Figures 17-19 As can be seen, the industrial robot is assembled by a mechanical arm base C, a mechanical arm assembly D and a modular mechanical clamp E; the mechanical arm base C comprises a plug female head 3, a base shell 24 and a fixed base 23. The plug female head 3 of the mechanical arm base is consistent with the structure and use mode of the plug female head 3 of the modular mechanical arm, the base shell 24 and the fixed base 23 are connected by a base fixing screw 231 and stabilized on an operation table, a fluid input port 25 and a signal input port 26 are arranged on the side of the base shell 24, fluid lines and signal lines are connected to the fluid input port 25 and the signal input port 26, and the fluid lines and the signal lines pass through all plug male heads 2 and plug female heads 3 of all levels of the industrial robot and enter a reserved fluid interface 223 and a reserved signal interface 224.

[0085] The mechanical arm assembly D and the modular mechanical clamp E are provided with sensors and indicator lights in communication connection with a control mainboard, execute tasks under the server and control actions by the control mainboard. The industrial robot is multi-level interconnected, the server is in communication connection with terminal equipment, and a control network is established by the terminal equipment to complete the cooperative control of the multi-level industrial robot.

[0086] In summary, the signal lines and the fluid lines of the multifunctional modular industrial robot of the present application pass through the inside of the industrial robot, can stably and freely rotate under the drive of the harmonic motor, the rotating mode is completely controlled by the harmonic motor, no additional speed reducer is needed, the lines are arranged in the modular mechanical clamp, which is beautiful and simple and can ensure that the signal lines and the fluid lines in the cavity of the mechanical clamp do not appear abnormal conditions such as crossing and winding; the modular mechanical clamp can be freely assembled and spliced to adapt to diversified application scenarios, and is very convenient to disassemble, assemble and replace, can be assembled with the modular mechanical arm according to different scenes or needs, has no concentrated stress area, the dispersed stress setting can meet the operation under a larger load; the industrial robot of the present application is multi-level interconnected, a control network is established by the terminal equipment to complete the cooperative control of the multi-level industrial robot, and the accuracy and effectiveness of task execution can be significantly improved.

[0087] It is to be noted that, in the present text, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0088] The above description is merely preferred embodiments of the present application, and it should be pointed out that, for those skilled in the art, some improvements and refinements can be made without departing from the technical principles of the present application, and these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A multi-functional modular industrial robot, characterized by, The mechanical arm base (C), the mechanical arm assembly (D) and the modular mechanical clamp (E) are spliced; the mechanical arm assembly (D) comprises m L-shaped modular mechanical arms (A) and n I-shaped modular mechanical arms (B), and m+n≥1, wherein m is an integer greater than or equal to 0, and n is an integer greater than or equal to 0; the mechanical arm base (C) comprises a female connector (3), a base shell (24) and a fixed base (23); the L-shaped modular mechanical arm (A) or the I-shaped modular mechanical arm (B) comprises a mechanical arm shell (1) distributed in a right angle or a straight line, a male connector (2) and the female connector (3); the modular mechanical clamp (E) comprises the male connector (2), a mechanical clamp shell (20), a terminal connecting piece (21) and a terminal tool (22); the female connector (3) and the male connector (2) are matched to complete the splicing of the mechanical arm base (C), the mechanical arm assembly (D) and the modular mechanical clamp (E); the male connector (2) comprises an electrical slip ring (7) and a harmonic motor (8), a slip ring stator (72) of the electrical slip ring (7) is fixed on the mechanical arm shell (1) and a first support plate (5) which is integrally formed with the mechanical arm shell (1), a slip ring rotor (71) of the electrical slip ring (7) is fixed on a male connector connecting block (9), a motor rotating shaft (84) of the harmonic motor (8) penetrates through the male connector connecting block (9) and is fixed therewith, so that the harmonic motor (8) can independently control the rotation of the male connector connecting block (9) and the slip ring rotor (71), and a male connector plug-in block (10) is fixed on the male connector connecting block (9); the female connector (3) is matched with the male connector (2), one end of the female connector (3) comprises a second support plate (6) which is integrally arranged with the mechanical arm shell (1) or the base shell (24), an annular pressing block (15) which abuts against the second support plate (6), the annular pressing block (15) and a female connector connecting block (16) are in contact, the female connector connecting block (16) and the second support plate (6) are movably connected by a third bearing (14), the female connector connecting block (16) and the mechanical arm shell (1) are movably connected by a second bearing (17), a female connector plug-in block (19) is fixed on the annular pressing block (15) and matched with the male connector plug-in block (10), a fluid line and a signal line freely rotate without winding through the male connector (2) and the female connector (3), the fluid line is used for passing through gas or liquid, and the signal line is used for transmitting electricity and / or signal instructions; a step-shaped pressing block (13) surrounds and fastens the side of the slip ring stator (72) away from the slip ring slot (52) to ensure that the electrical slip ring (7) does not shake as a whole.The stepped pressing block (13) and the male head connecting block (9) are provided with a first bearing (11) at the corresponding stepped part, the mover side of the first bearing (11) is in contact with the male head connecting block (9), the stator side of the first bearing (11) is in contact with the stepped pressing block (13), in order to prevent the vertical displacement of the first bearing (11), a first clamping spring (12) is arranged between the first bearing (11) and the other side of the stepped pressing block (13); The male head connecting block (9) is provided with a first positioning pin (91a) matched with a first positioning insertion hole (91b) on the male head plug-in block (10), so that the male head connecting block (9) and the male head plug-in block (10) are fixedly connected; The male head connecting block (9) is also provided with a signal hole (92) for the signal line to pass through, a flow pipe hole (93) for the fluid line to pass through and a male head butt joint thread (95); The industrial robot is multi-stage interconnected, the server is in communication connection with the terminal equipment, and the terminal equipment establishes a control network to complete the cooperative control of the multi-stage industrial robot.

2. A multi-functional modular industrial robot according to claim 1, characterized in that, The base shell (24) is connected and stabilized on the operation table by the base fixing screw (231) between the fixed base (23), the fluid input port (25) and the signal input port (26) are opened on the side of the base shell (24), the fluid line and the signal line are accessed by the fluid input port (25) and the signal input port (26), and the plug-in male head (2) and the plug-in female head (3) are penetrated into the reserved fluid interface (223) and the reserved signal interface (224).

3. A multi-functional modular industrial robot according to claim 2, characterized in that, The plug-in male head (2) partially comprises a mechanical arm shell (1) or a mechanical clamp shell (20), which is made of aluminum, steel, titanium-aluminum alloy, high-strength aluminum alloy, and fiber-reinforced plastic; the mechanical clamp shell (20) is integrally formed with a first support plate (5) inside the mechanical clamp cavity, the first support plate (5) is arranged in cooperation with the mechanical clamp shell (20) to fix the slip ring stator (72) of the electrical slip ring (7) and the harmonic motor (8); the harmonic motor shaft (84) is a cylindrical edge shape away from the motor body side, used for positioning the slip ring rotor (71) and the slip ring stator (72), entering the step limiting hole (96) arranged on the male head connecting block (9) and fixed with the male head connecting block (9), so that the male head connecting block (9) can rotate under the drive of the harmonic motor (8); the male head connecting block (9) is fixedly connected with the male head plug-in block (10); the male head connecting block (9) is fixedly connected with the slip ring rotor (71) of the electrical slip ring (7), so as to realize the rotation of the slip ring rotor (71) under the drive of the harmonic motor (8), while the slip ring stator (72) remains fixed; a plurality of fluid inlets (75) are uniformly distributed on the slip ring rotor (71), and a plurality of fluid outlets (76) are symmetrically distributed on the slip ring stator (72), fluid is sequentially sealed into the fluid inlet (75) through the flow tube hole (93) by the male head plug-in flow channel (102) on the male head plug-in block (10), the signal line (73) is accessed into the slip ring rotor (71) through the signal hole (92) by the male head plug-in pin (101), and is led out from the side of the slip ring stator (72) and enters the harmonic motor (8).

4. A multi-functional modular industrial robot according to claim 3, characterized in that, The first support plate (5) is provided with a fluid passage (51), a slip ring clamping groove (52) and a slip ring fixing tooth seat (53), the slip ring clamping groove (52) is used for clamping the electrical slip ring (7) inside the slip ring clamping groove (52) to limit the movement of the slip ring stator (72) in the vertical direction, and the slip ring fixing tooth seat (53) is provided with a second slip ring fixing hole (74c), a slip ring fixing screw (74a) passes through the first slip ring fixing hole (74b) and the second slip ring fixing hole (74c) on the mechanical arm shell (1) and is fastened to the third slip ring fixing hole (74d) on the slip ring stator, so as to limit the movement of the slip ring stator (72) in the horizontal direction.

5. A multi-functional modular industrial robot according to claim 4, characterized in that, The first support plate (5) is provided with a sunken threaded via hole (82b), a fastening screw (82a) passes through the sunken threaded via hole (82b) to enter a fastening thread (82c) on the motor stator, thereby fixing the motor stator side to the back side of the first support plate (5), and further realizing the fixation of the motor on the mechanical arm shell (1) or the mechanical clamp shell (20); in addition, a fastening screw (83a) passes through a rotating shaft threaded hole (83b) provided on the motor flange (81) to enter a fastening thread (83c) on the motor rotor, thereby connecting the motor rotating shaft (84) to the motor rotor side, so that the motor rotating shaft (84) can rotate freely; the step side of the motor rotating shaft (84) is fixed on the male head connecting block (9) by a rotating shaft limiting screw (94a) and a rotating shaft limiting screw hole (94b), and the step back side of the motor rotating shaft (84) is fixed on the male head connecting block (9) by a rotating shaft fastening screw (97a) and a rotating shaft fastening screw hole (97b), so as to realize the fixation of the motor rotating shaft (84) and the male head connecting block (9), so that the male head connecting block (9) can stably rotate under the driving of the harmonic motor (8).

6. A multi-functional modular industrial robot according to claim 5, characterized in that, The plug female head (3) part includes a flared mechanical arm shell (1) or base shell (24), a second support plate (6) integrally arranged with the mechanical arm shell (1) or base shell (24), the second support plate (6) is provided with a fluid passage one (61) for fluid line and a signal passage one (62) for signal line; the flared mechanical arm shell (1) or base shell (24) is in vertical contact with the female head connecting block (16) on the platform perpendicular to the flared extension direction; the second bearing (17) is arranged between the inside of the flared mechanical arm shell (1) or base shell (24) and the outside of the female head connecting block (16), the second bearing (17) is in contact with the outside of the female head connecting block (16) on the mover side, and the second bearing (17) is in contact with the inside of the mechanical arm shell (1) or base shell (24) on the stator side, in order to stabilize the second bearing (17), the second circlip (18) is additionally arranged on one side of the second bearing (17); the second support plate (6) has a two-stage stepped shape on the side away from the plug male head (2), the low-stage step is in abutment with the distal end of the female head connecting block (16) through the third bearing (14), the third bearing (14) is in contact with the female head connecting block (16) on the mover side, and the third bearing (14) is in contact with the low-stage step of the second support plate (6) on the stator side; the high-stage step of the second support plate (6) is a non-circular structure, the signal passage one (62) is arranged in the high-stage step, the high-stage step passes through the signal passage two (151) on the annular pressing block (15) and limits the rotation of the annular pressing block (15), and the signal line is connected with the female head counter-plug pin (191) on the female head plug block (19) after passing through the signal passage two (151); the annular pressing block (15) is sealingly provided with the fluid passage two (152) for the fluid line, the fluid passage two (152) is sealingly connected with the female head counter-plug flow channel (192) on the female head plug block (19); the annular pressing block (15) further includes the second positioning insertion hole (153b) capable of being fixedly matched with the second positioning pin (153a) on the female head plug block (19).

7. A multi-functional modular industrial robot according to claim 6, characterized in that, The female head plug block (19) is provided with the female head counter-plug positioning (193), and after the female head counter-plug positioning (193) is tightly screwed with the male head counter-plug positioning (103) on the male head plug block (10), the female head counter-plug pin (191) and the female head counter-plug flow channel (192) are tightly connected with the male head counter-plug pin (101) and the male head counter-plug flow channel (102).

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