High-degree-of-freedom built-in electro-mechanical integrated modular robotic arm and its assembly

Abstract

The present invention relates to a modular robotic arm with high degrees of freedom and an integrated mechanical, electrical, and fluid system, and its assembly, including an L-shaped modular robotic arm and an I-shaped modular robotic arm. The two types of modular robotic arms include a male plug and a female socket. Inside the male plug, there are a harmonic motor and an electrical slip ring. Signal lines and fluid lines are arranged inside the modular robotic arm. The fluid lines are used to pass gas and / or liquid, and the signal lines are used to transmit electricity and / or signal instructions. While achieving the integration of mechanical, electrical, and fluid systems, it can avoid the crossing and entanglement of lines, with a simple structure and easy maintenance, and can adapt to diverse working scenarios. Each section of the modular robotic arm is independently and freely controlled by a harmonic motor without the need for an additional deceleration device. The female socket is cooperatively arranged with the male plug, and the system assembled by connecting the multi-stage modular robotic arms end to end is tightly plugged. Each stage of the modular robotic arm can rotate independently while driving all the subsequent modular robotic arms to rotate freely, with extremely high degrees of freedom.

Description

Technical Field

[0001] The present invention relates to the field of robotic arms, and more specifically, to a modular robotic arm with high degrees of freedom, built-in mechanical, electrical and integrated functions, and its assembly system. Background Art

[0002] With the continuous development of science and technology, the application scenarios of automated robotic arms are becoming increasingly rich. However, the inventor has found that existing robotic arms generally have problems such as complex assembly and disassembly, single use scenarios, and insufficient degrees of freedom. For example, the existing robotic arm has an integrated joint design. When a certain section has a problem, the entire robotic arm needs to be replaced, or the free rotation of the robotic arm is hindered due to external wiring. Even though existing modular robotic arms can improve the efficiency of assembly and disassembly, there are still problems such as relatively single application scenarios, load levels that cannot meet requirements, or the need for a dedicated harmonic reducer to control the rotation angle, resulting in an inability to meet more precise automated processes with higher requirements for degrees of freedom. In addition, Beckhoff Automation GmbH mentioned a modular robotic arm in the invention patent with application number 202080053383.2. Although it integrates gas and liquid circuits and places the wiring inside the housing, its internal structure design is complex, and the maintenance and replacement costs are high. To solve the above problems, the present invention proposes a modular robotic arm with high degrees of freedom, built-in mechanical, electrical and integrated functions, and its assembly system. Summary of the Invention

[0003] The present invention provides a modular robotic arm with high degrees of freedom, built-in mechanical, electrical and integrated functions, and its assembly system.

[0004] A modular robotic arm with high degrees of freedom and an integrated mechanical and electrical system inside, which is an L-shaped modular robotic arm. The structure of the L-shaped modular robotic arm includes: a robotic arm housing 1, a head 4, a male plug 2, and a female socket 3 that are distributed at a right angle; the male plug 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 to the robotic arm housing 1 and a first support plate 5 integrally formed with the robotic arm housing 1. The slip ring rotor 71 of the electrical slip ring 7 is fixed to a male connector block 9. The motor shaft 84 of the harmonic motor 8 passes through the male connector block 9 and is fixed thereto, so that the harmonic motor 8 can independently control the rotation of the male connector block 9 and the slip ring rotor 71. A male plug block 10 is fixed to the male connector block 9; the female socket 3 is arranged in cooperation with the male plug 2, and includes a second support plate 6 integrally provided with the robotic arm housing 1, an annular pressing block 15 abutted against the second support plate 6. The annular pressing block 15 contacts a female connector block 16. The female connector block 16 is movably connected to the second support plate 6 by a third bearing 14, and the female connector block 16 is movably connected to the robotic arm housing 1 by a second bearing 17. A female plug block 19 is fixed on the annular pressing block 15 and is arranged in cooperation with the male plug block 10. Fluid lines and signal lines pass through the male plug 2 and the female socket 3 and rotate freely without entanglement. The fluid lines are used to pass gas or liquid, and the signal lines are used to transmit electricity and / or signal instructions.

[0005] Furthermore, the male plug part 2 includes a robotic arm housing 1, which is made of metal, aluminum, steel, titanium alloy, high-strength aluminum alloy, AW7075, fiber-reinforced plastic, glass fiber-reinforced plastic (GfK), or carbon fiber-reinforced plastic (CfK). Inside the robotic arm cavity, a first support plate 5 is integrally formed on the robotic arm housing 1. The cooperation between the first support plate 5 and the robotic arm housing 1 can fix the slip ring stator 72 of the electrical slip ring 7 and the harmonic motor 8. The side of the harmonic motor shaft 84 away from the motor body is cylindrical and chamfered, which is used to position the slip ring rotor 71 and the slip ring stator 72, enter the stepped limit hole 96 on the male connector block 9, and be fixed to the male connector block 9, so that the male connector block 9 can rotate driven by the harmonic motor 8. The male connector block 9 is fixedly connected to the male plug block 10. The male connector block 9 is fixedly connected to the slip ring rotor 71 of the electrical slip ring 7. Thus, the slip ring rotor 71 rotates driven by the harmonic motor 8, while the slip ring stator 72 remains fixed. A number of fluid inlets 75 are evenly distributed on the slip ring rotor 71, and a number of fluid outlets 76 are symmetrically distributed on the slip ring stator 72. Gas is hermetically connected to the fluid inlets 75 step by step through the male mating flow channel 102 on the male plug block 10 and the flow tube hole 93. The signal line 73 is connected to the slip ring rotor 71 through the male mating pin 101 and the signal hole 92, and is led out from the side of the slip ring stator 72 and into the harmonic motor 8. The side of the slip ring stator 72 away from the slip ring slot 52 is surrounded and fastened by a stepped press block 13 to ensure that the electrical slip ring 7 does not shake as a whole. At the corresponding stepped parts of the stepped press block 13 and the male connector block 9, a first bearing 11 is provided. The rotor side of the first bearing 11 contacts the male connector block 9, and the stator side of the first bearing 11 contacts the stepped press block 13. To prevent the vertical displacement of the first bearing 11, a first snap ring 12 is added between the first bearing 11 and the other side of the stepped press block 13.

[0006] Furthermore, the robotic arm housing 1 and the stepped press block 13 are combined by a first connecting screw 1a, and the robotic arm housing 1 and the end cover 4 are combined by a second connecting screw 1b. The first support plate 5 is provided with a fluid channel 51, a slip ring slot 52, and a slip ring fixing seat 53. The slip ring slot 52 is used to clamp the electrical slip ring 7 inside the slip ring slot 52 to limit the vertical movement of the slip ring stator 72. The slip ring fixing seat 53 is provided with a second slip ring fixing hole 74c. The slip ring fixing screw 74a passes through the first slip ring fixing hole 74b on the robotic arm housing 1 and the second slip ring fixing hole 74c and is fastened to the third slip ring fixing hole 74d on the slip ring stator to limit the horizontal movement of the slip ring stator 72.

[0007] Further, a sunken threaded through-hole 82b is formed on the first support plate 5, and a fastening screw 82a passes through the sunken threaded through-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 fixing the motor to the robotic arm housing 1; in addition, a fastening screw 83a passes through a rotating shaft threaded hole 83b provided on the motor flange 81 and enters a fastening thread 83c on the motor rotor, thereby connecting the motor rotating shaft 84 to the motor rotor side, enabling the motor rotating shaft 84 to rotate freely; the cylindrical 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 back side of the cylindrical edge 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 realize the fixation of the motor rotating shaft 84 and the male connector block 9, enabling the male connector block 9 to rotate under the drive of the harmonic motor 8.

[0008] Further, a first positioning pin 91a that is cooperatively connected with a first positioning jack 91b on the male plug block 10 is provided on the male connector block 9, and there is a fluid pipeline between the male connector block 9 and the male plug block 10; a signal hole 92 for a signal line to pass through, a flow tube hole 93 for a fluid line to pass through, and a male docking thread 95 are further provided on the male connector block 9.

[0009] Furthermore, the female plug part 3 includes a robotic arm housing 1 in a flared shape, a second support plate 6 integrally provided with the robotic arm housing 1. The second support plate 6 is provided with a fluid passage 61 for fluid lines to pass through and a signal passage 62 for signal lines to pass through; the flared robotic arm housing 1 is in movable contact with the platform of the female connector block 16 at the end of the flare in a direction perpendicular to the extension direction of the flare; a second bearing 17 is provided between the inner side of the flare of the robotic arm housing 1 and the outer side of the female connector block 16. The rotor side of the second bearing 17 contacts the outer side of the female connector block 16, and the stator side of the second bearing 17 contacts the inner side of the robotic arm housing 1. To stabilize the second bearing 17, a second snap ring 18 is added on one side of the second bearing 17; the second support plate 6 has a shape with two levels of steps on the side away from the male plug 2. The lower step abuts against the distal end of the female connector block 16 with a third bearing 14. The side of the third bearing 14 contacting the female connector block 16 is the rotor side, and the side of the third bearing 14 contacting the lower step of the second support plate 6 is the stator side; the higher step of the second support plate 6 is a non-circular structure, and a signal passage 62 is provided therein. The higher step passes through the signal passage 151 on the annular pressing block 15 and restricts the rotation of the annular pressing block 15. After the signal line passes through the signal passage 151, it is connected to the female mating pin 191 on the female plug block 19; a fluid passage 152 for fluid lines to pass through is hermetically provided on the annular pressing block 15, and the fluid passage 152 is hermetically connected to the female mating fluid passage 192 on the female plug block 19; the annular pressing block 15 further includes a second positioning jack 153b that can be fixedly fitted with the second positioning pin 153a on the female plug block 19.

[0010] Furthermore, the female plug block 19 is provided with a female mating positioning 193. When it is mated and positioned with the male mating positioning 103 on the male plug block 10 of the upper-level modular robotic arm, the female mating pin 191 and the female mating fluid passage 192 are both tightly connected to the male mating pin 101 and the male mating fluid passage 102, completing the connection of the fluid lines and signal lines of the two-level modular robotic arm. When the male plug block 10 of the upper-level modular robotic arm rotates driven by the harmonic motor 8, the female plug block 19 of the lower-level modular robotic arm will drive all the lower-level modular robotic arms to rotate.

[0011] A highly degree-of-freedom built-in electro-mechanical integrated modular robotic arm according to the present invention can also be an I-shaped modular robotic arm. The I-shaped modular robotic arm omits the end 4 and the second connecting screw 1b of the L-shaped modular robotic arm, and the second support plate 6 is arranged parallel to the first support plate 5.

[0012] A modular robotic arm assembly with high degrees of freedom and built-in electro-mechanical integration according to the present invention includes m L-shaped modular robotic arms and n I-shaped modular robotic arms spliced together. Through the cooperation of the male plug of the upper-level modular robotic arm and the female plug of the lower-level modular robotic arm, a multi-joint modular robotic arm assembly structure is formed, and both ends of this assembly structure can be respectively connected to the robotic arm base and the robotic claw.

[0013] Further, m + n ≥ 1, where m is an integer ≥ 0 and n is an integer ≥ 0.

[0014] The present invention has the following beneficial effects:

[0015] ① The modular robotic arm structure proposed by the present invention is simple and easy to maintain. It can rotate stably and freely under the drive of a harmonic motor. The rotation mode is completely controlled by the harmonic motor, and no additional reduction device is required. At the same time, the circuit is set inside the modular robotic arm, which is not only beautiful and concise but also ensures that the signal lines and fluid lines in the robotic arm cavity will not cross and entangle.

[0016] ② The modular robotic arm proposed by the present invention can adapt to different scenarios. It only needs to be assembled according to requirements. The robotic arm shell of the modular robotic arm of the present invention is made of lightweight and high-strength materials, and there is no concentrated stress area. The setting of dispersed stress can meet the operation under greater loads. The modular robotic arm proposed by the present invention has an internal gas / liquid path and can work in scenarios where gas is required. For example, a pneumatic or hydraulic robotic claw can be assembled at the end of the modular robotic arm of the present invention;

[0017] ③ The disassembly, assembly, and replacement of the modular robotic arm proposed by the present invention are very convenient. When each level of the modular robotic arm rotates using a harmonic motor, it can drive the lower-level modular robotic arm to rotate freely. More precisely, it can drive each subsequent level of the modular robotic arm to rotate freely, greatly improving the degrees of freedom of the assembled robotic arm. Description of the Drawings

[0018] Figure 1 Schematic diagram of the male plug of the L-shaped modular robotic arm in Embodiment 1 of the present invention;

[0019] Figure 2 Schematic diagram of the female plug of the L-shaped modular robotic arm in Embodiment 1 of the present invention;

[0020] Figure 3 Schematic cross-sectional structure diagram of the L-shaped modular robotic arm in Embodiment 1 of the present invention;

[0021] Figure 4 Schematic internal structure diagram of the L-shaped modular robotic arm in Embodiment 1 of the present invention;

[0022] Figure 5 Schematic diagram of the internal structure of the plug male head of the L-shaped modular robotic arm according to Embodiment 1 of the present invention;

[0023] Figure 6 Schematic diagram of the installation structure of the harmonic motor of the L-shaped modular robotic arm according to Embodiment 1 of the present invention;

[0024] Figure 7 Schematic diagram of the internal structure of the plug female head of the L-shaped modular robotic arm according to Embodiment 1 of the present invention;

[0025] Figure 8 Schematic sectional view of the I-shaped modular robotic arm according to Embodiment 2 of the present invention;

[0026] Figure 9 Schematic diagram of the internal structure of the plug male head of the I-shaped modular robotic arm according to Embodiment 2 of the present invention;

[0027] Figure 10 Schematic diagram of the internal structure of the plug female head of the I-shaped modular robotic arm according to Embodiment 2 of the present invention;

[0028] Figure 11 Schematic diagram of the assembly of the L-shaped modular robotic arm and the I-shaped modular robotic arm according to Embodiment 3 of the present invention.

[0029] In the figure, 1 - robotic arm housing, 1a - first connecting screw, 1b - second connecting screw, 2 - male connector, 3 - female connector, 4 - end, 5 - first support plate, 51 - fluid channel, 52 - slip ring slot, 53 - slip ring fixing teeth, 6 - second support plate, 61 - fluid channel, 62 - signal channel, 7 - electrical slip ring, 71 - slip ring rotor, 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 nozzle, 76 - fluid outlet nozzle, 77a - slip ring connection nut, 77b - slip ring connection through hole, 77c - slip ring connection hole, 8 - harmonic motor, 81 - motor flange, 82a - fastening screw, 82b - sunken thread through hole, 82c - fastening thread, 83a - fastening screw, 83b - shaft thread hole, 83c - fastening thread, 84 - motor shaft, 9 - male connector block, 91a - first positioning pin, 91b - first positioning socket, 92 - signal hole, 93 - flow tube hole, 94 - shaft limiting member, 94a - shaft limiting screw, 94b - shaft limiting screw hole, 95 - male connector docking thread, 96 - step limiting hole, 97 - shaft fastener, 97a - shaft fastening screw, 97b - shaft fastening screw hole, 10 - male connector plug block, 101 - male connector mating pin, 102 - male connector mating flow channel, 103 - male connector mating positioning, 11 - first bearing, 12 - first circlip, 13 - stepped pressing block, 14 - second bearing, 15 - annular pressing block, 151 - signal channel, 152 - fluid channel, 153a - second positioning pin, 153b - second positioning socket, 16 - female connector block, 161 - female connector docking thread, 17 - third bearing, 18 - second circlip, 19 - female connector plug block, 191 - female connector mating pin, 192 - female connector mating flow channel, 193 - female connector mating positioning, A - L - shaped modular robotic arm, B - I - shaped modular robotic arm. Detailed implementation

[0030] It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs.

[0031] It should be noted that the terms used herein are only for describing the specific implementation and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0032] For the convenience of description, in the present invention, if terms such as "upper", "lower", "left", and "right" appear, they only indicate the same directions as the upper, lower, left, and right of the attached drawings themselves, and do not limit the structure. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0033] Embodiment 1

[0034] Embodiment 1 of the present invention provides an L-shaped modular robotic arm, in combination with Figure 1 and Figure 2 , the L-shaped modular robotic arm includes a robotic arm housing 1 distributed at a right angle, a male plug 2, and a female socket 3.

[0035] In combination with Figures 3 - 5 observing the male plug 2 of the L-shaped modular robotic arm, the L-shaped modular robotic arm includes the robotic arm housing 1 at the male plug 2 part. The robotic arm housing 1 is combined with a stepped pressing block 13 through a first connecting screw 1a and with an end cover 4 through a second connecting screw 1b. A first support plate 5 is integrally formed inside the robotic arm cavity of the robotic arm housing 1. A fluid channel 51, a slip ring slot 52, and a slip ring fixing seat 53 are provided on the first support plate 5. The slip ring slot 52 is used to clamp an electrical slip ring 7 inside the slip ring slot 52 to limit the movement of the slip ring stator 72 in the vertical direction. A second slip ring fixing hole 74c is provided on the slip ring fixing seat 53. A slip ring fixing screw 74a passes through a first slip ring fixing hole 74b on the robotic arm housing 1 and the second slip ring fixing hole 74c and is 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.

[0036] Furthermore, in combination with Figure 6 observing the connection method of the harmonic motor 8, a sunken threaded through hole 82b is provided on the first support plate 5. A fastening screw 82a passes through the sunken threaded through 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, and further fix the motor to the robotic arm housing 1. In addition, a fastening screw 83a passes through a rotating shaft threaded hole 83b provided on the motor flange 81 and enters a fastening thread 83c on the motor rotor. The above setting connects the motor rotating shaft 84 to the motor rotor side, enabling the motor rotating shaft 84 to rotate freely.

[0037] Return to Figures 3 - 5, the side of the motor shaft 84 away from the motor is a cylindrical cut polygon, which is used to position the slip ring rotor 71 and the slip ring stator 72. The motor shaft 84 passes through the slip ring rotor 71 and the slip ring stator 72 of the electrical slip ring 7 and enters the stepped limit hole 96 provided on the male connector block 9. The cylindrical cut side of the motor shaft 84 is fixed to the male connector block 9 by the shaft limit screw 94a and the shaft limit screw hole 94b, and the back side of the cylindrical cut of the motor shaft 84 is fixed to the male connector block 9 by the shaft fastening screw 97a and the shaft fastening screw hole 97b, so as to realize the fixation of the motor 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.

[0038] Further, the male connector block 9 is provided with a first positioning pin 91a that cooperates with and connects to the first positioning jack 91b on the male plug-in block 10, and the male connector block 9 and the male plug-in block 10 are connected by a fluid pipeline.

[0039] Further, the male connector block 9 is also provided with a signal hole 92 for the signal line to pass through, a flow tube hole 93 for the fluid line to pass through, and a male docking thread 95. In addition, it also includes a slip ring connection through hole 77b. Through the cooperation of the slip ring connection nut 77a, the slip ring connection through hole 77b and the slip ring connection hole 77c, the slip ring rotor 71 of the electrical slip ring 7 can be fixed to the male connector block 9, thereby realizing the rotation of the slip ring rotor 71 driven by the harmonic motor 8, while the slip ring stator 72 remains fixed.

[0040] Further, a plurality of fluid inlet nozzles 75 are evenly distributed on the slip ring rotor 71, and a plurality of fluid outlet nozzles 76 are symmetrically distributed on the slip ring stator 72. The fluid is gradually sealed from the male docking flow channel 102 on the male plug-in block 10 through the flow tube hole 93 and connected to the fluid inlet nozzles 75. The signal line 73 is connected to the slip ring rotor 71 through the signal hole 92 by the male docking pin 101 and is led out from the side of the slip ring stator 72 and enters the harmonic motor 8. Through the above settings, when the harmonic motor 8 drives the slip ring rotor 71 to rotate, the slip ring stator 72 remains fixed, and at the same time, it can ensure that the signal line and the fluid line in the robotic arm cavity do not cross and tangle abnormally.

[0041] Further, the side of the slip ring stator 72 away from the slip ring slot 52 is surrounded and fastened by a stepped press block 13 to ensure that the overall electrical slip ring 7 does not shake. The end of the stepped press block 13 away from the slip ring stator 72 is fixed to the side of the robotic arm housing 1 by a first connecting screw 1a. The other side of the end is in movable contact with the male connector block 9, and the two can slide relative to each other on the contact surface. In addition, a first bearing 11 is provided at the corresponding stepped part between the stepped press block 13 and the male connector block 9. The rotor side of the first bearing 11 contacts the male connector block 9, and the stator side of the first bearing 11 contacts the stepped press block 13. In order to prevent the vertical displacement of the first bearing 11, a first snap ring 12 is added between the first bearing 11 and the other side of the stepped press block 13.

[0042] The above settings can enable the male plug block 10, the male connector block 9, and the slip ring rotor 71 to rotate stably and freely under the drive of the harmonic motor 8. The rotation mode is completely controlled by the harmonic motor 8, and no additional speed reduction device needs to be set. At the same time, it can ensure that the signal lines and fluid lines in the robotic arm cavity do not cross and entangle abnormally.

[0043] Now in combination with Figures 3 - 4 Figure 7 to observe the female plug 3 of the L-shaped modular robotic arm. The L-shaped modular robotic arm includes a flared robotic arm housing 1 at the female plug 3 part, a second support plate 6 integrally provided with the robotic arm housing 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.

[0044] Further, the flared robotic arm housing 1 is in movable contact with the platform of the female connector block 16 perpendicular to the extension direction of the flare at the flare end, so that the two can rotate relative to each other at the flare end. In order to make the relative rotation between the two proceed smoothly, a second bearing 17 is provided between the inner side of the flare of the robotic arm housing 1 and the outer side of the female connector block 16. The rotor side of the second bearing 17 contacts the outer side of the female connector block 16, and the stator side of the second bearing 17 contacts the inner side of the robotic arm housing 1. In order to stabilize the second bearing 17, a second snap ring 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 plug 2. The lower step abuts against the distal end of the female connector block 16 with a third bearing 14. The side of the third bearing 14 contacting the female connector block 16 is the rotor side, and the side of the third bearing 14 contacting the lower step of the second support plate 6 is the stator side.

[0045] Further, the high-level step of the second support plate 6 is of a non-circular structure, and a signal channel 62 is provided therein. The high-level step passes through the signal channel 151 on the annular pressing block 15 and restricts the rotation of the annular pressing block 15. After passing through the signal channel 151, the signal line is connected to the female mating pin 191 on the female plugging block 19. A fluid channel 152 for the fluid line to pass through is hermetically provided on the annular pressing block 15, and the fluid channel 152 is hermetically connected to the female mating flow channel 192 on the female plugging block 19. The annular pressing block 15 further includes a second positioning jack 153b that can be fixedly fitted with the second positioning pin 153a on the female plugging block 19. The above settings can achieve that when the female mating thread 161 on the female connecting block 16 is tightened with the male mating thread 95 on the connecting male head 9 of another robotic arm section, the female connecting block 16 will tighten the annular pressing block 15 and the female plugging block 19 under the action of the pulling force. While avoiding shaking between components, it can further improve the airtightness of the connection ports of each flow tube. It should be noted that although the female connecting block 16 can rotate, due to the locking of the high-level step in the second support plate 6 and the cooperation of the second bearing 15 and the third bearing 17, neither the annular pressing block 15 nor the female plugging block 19 will be driven by the female connecting block 16.

[0046] Furthermore, a female mating positioning 193 is provided on the female plugging block 19. After being mated and positioned with the male mating positioning 103 on the male plugging block 10 of the upper-level modular robotic arm, the female mating pin 191 and the female mating flow channel 192 are both tightly connected to the male mating pin 101 and the male mating flow channel 102, completing the connection of the fluid line and the signal line of the two-level modular robotic arm. When the male plugging block 10 of the upper-level modular robotic arm rotates driven by the harmonic motor 8, the female plugging block 19 of the lower-level modular robotic arm will drive all the lower-level modular robotic arms to rotate.

[0047] The above settings can make the disassembly, assembly, and replacement of the modular robotic arm in the present invention very convenient, realizing that each level of the modular robotic arm can drive the lower-level modular robotic arms to rotate freely while completing rotation by using the harmonic motor. More precisely, it can drive each subsequent level of the modular robotic arm to rotate freely, greatly improving the degree of freedom of the robotic arm.

[0048] Embodiment 2

[0049] Embodiment 2 of the present invention provides an I-shaped modular robotic arm. Combining Figures 8 - 10 , the difference between the I-shaped modular robotic arm and the L-shaped modular robotic arm in Embodiment 1 is only that: the I-shaped modular robotic arm is arranged in a straight line, omitting the end 4 and the second connecting screw 1b of the L-shaped modular robotic arm, and the second support plate 6 is arranged parallel to the first support plate 5.

[0050] Embodiment 3

[0051] Embodiment 3 of the present invention provides an assembled robotic arm, which combines Figure 11 , including 4 L-shaped modular robotic arms and 1 I-shaped modular robotic arm. Through the cooperation of the male plug of the upper-level modular robotic arm and the female plug of the lower-level modular robotic arm, a multi-section modular robotic arm assembly structure is formed. Both ends of this assembly structure can be respectively connected to a robotic arm base and a modular robotic claw (not shown in the figure). The number and assembly method of the L-shaped modular robotic arms and I-shaped modular robotic arms given in this embodiment are only examples. In the actual process, the number and assembly method of the L-shaped modular robotic arms and I-shaped modular robotic arms can be adjusted according to requirements.

[0052] In summary, by using the modular robotic arm proposed by the present invention, it can be stably and freely rotated under the drive of a harmonic motor. The rotation mode is completely controlled by the harmonic motor, and there is no need to additionally set a reduction device. At the same time, the circuit is arranged inside the modular robotic arm. While being beautiful and concise, it can ensure that the signal lines and fluid lines in the robotic arm cavity will not cross or entangle. In addition, the disassembly, installation, and replacement of the modular robotic arm proposed by the present invention are very convenient. Each level of the modular robotic arm can drive the lower-level modular robotic arm to freely rotate while completing rotation by using the harmonic motor. More precisely, it can drive each subsequent level of the modular robotic arm to freely rotate, greatly improving the degree of freedom of the robotic arm. Finally, there is no concentrated stress area in the modular robotic arm of the present invention. The setting of dispersed stress can meet the operation under a greater load. The modular robotic arm of the present invention is equipped with fluid lines and can adapt to more application scenarios.

[0053] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0054] The above are only the preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A modular robotic arm with high degrees of freedom and an integrated mechanical and electrical structure built-in, characterized in that, it is an L-shaped modular robotic arm, and the L-shaped modular robotic arm includes: a robotic arm housing (1), a head (4), a male plug (2) and a female plug (3) distributed at a right angle; the male plug (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 robotic arm housing (1) and a first support plate (5) integrally formed with the robotic arm housing (1), the slip ring rotor (71) of the electrical slip ring (7) is fixed on a male connector block (9), the motor shaft (84) of the harmonic motor (8) passes through the male connector block (9) and is fixed thereto, so that the harmonic motor (8) can independently control the rotation of the male connector block (9) and the slip ring rotor (71), and a male plug block (10) is fixed on the male connector block (9); the female plug (3) is arranged in cooperation with the male plug (2), one end of the female plug (3) includes a second support plate (6) integrally provided with the robotic arm housing (1), an annular pressing block (15) abutted against the second support plate (6), the annular pressing block (15) contacts a female connector block (16), the female connector block (16) is movably connected to the second support plate (6) by a third bearing (14), the female connector block (16) is movably connected to the robotic arm housing (1) by a second bearing (17), a female plug block (19) is fixed on the annular pressing block (15) and is arranged in cooperation with the male plug block (10), fluid lines and signal lines pass through the male plug (2) and the female plug (3) and rotate freely without entanglement, the fluid lines are used for passing gas or liquid, and the signal lines are used for transmitting electricity and / or signal instructions; a first positioning pin (91a) is provided on the male connector block (9) and is in mating connection with a first positioning socket (91b) on the male plug block (10), so that the male connector block (9) and the male plug block (10) are fixedly connected; a signal hole (92) for the signal line to pass through, a flow tube hole (93) for the fluid line to pass through, and male docking threads (95) are further provided on the male connector block (9); the side of the slip ring stator (72) away from the slip ring slot (52) is surrounded and fastened by a stepped pressing block (13) to ensure that the electrical slip ring (7) does not shake as a whole; a first bearing (11) is provided at the corresponding stepped part between the stepped pressing block (13) and the male connector block (9), the rotor side of the first bearing (11) contacts the male connector block (9), and the stator side of the first bearing (11) contacts the stepped pressing block (13). In order to prevent the vertical displacement of the first bearing (11), a first circlip (12) is added between the first bearing (11) and the other side of the stepped pressing block (13).

2. The modular robotic arm with high degrees of freedom and an integrated mechanical and electrical structure built-in according to claim 1, characterized in that, The mechanical arm housing (1) is integrally formed with a first support plate (5) inside the mechanical arm cavity. The first support plate (5) is cooperated with the mechanical arm housing (1) to fix the slip ring stator (72) of the electrical slip ring (7) and the harmonic motor (8) disposed on both sides of the first support plate (5); the motor shaft (84) of the harmonic motor (8) is stepped on the side away from the motor body. The motor shaft (84) passes through the slip ring rotor (71) and the slip ring stator (72) of the electrical slip ring (7), enters the stepped limit hole (96) provided on the male connector block (9) and is fixed to the male connector block (9), so that the male connector block (9) can rotate under the drive of the harmonic motor (8); the male connector block (9) is fixedly connected to the male plug block (10); the male connector block (9) is fixedly connected to the slip ring rotor (71) of the electrical slip ring (7), thereby realizing the rotation of the slip ring rotor (71) driven by the harmonic motor (8), while the slip ring stator (72) remains fixed; a plurality of fluid inlets (75) are evenly distributed on the slip ring rotor (71), and a plurality of fluid outlets (76) are symmetrically distributed on the slip ring stator (72). Gas is hermetically connected to the fluid inlets (75) step by step through the flow tube holes (93) from the male mating air duct (102) on the male plug block (10). The signal line (73) is connected to the slip ring rotor (71) through the signal hole (92) by the male mating pin (101), and is led out from the side of the slip ring stator (72) and enters the harmonic motor (8).

3. A high-degree-of-freedom built-in electro-mechanical integrated modular robotic arm according to claim 2, wherein, the mechanical arm housing (1) is combined with the stepped pressing block (13) through the first connecting screw (1a), and is combined with the end (4) through the second connecting screw (1b); a first fluid channel (51), a slip ring slot (52) and a slip ring fixing seat (53) are provided on the first support plate (5). 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. A second slip ring fixing hole (74c) is provided on the slip ring fixing seat (53). The slip ring fixing screw (74a) passes through the first slip ring fixing hole (74b) on the mechanical arm housing (1) and the second slip ring fixing hole (74c) 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.

4. A high-degree-of-freedom built-in electro-mechanical integrated modular robotic arm according to claim 3, wherein, A sunken threaded through-hole (82b) is formed in the first support plate (5). A first fastening screw (82a) passes through the sunken threaded through-hole (82b) and enters a first 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 fixing the motor to the robotic arm housing (1). In addition, a second fastening screw (83a) passes through a rotating shaft threaded hole (83b) provided on the motor flange (81) and enters a second fastening thread (83c) on the motor rotor, thereby connecting the motor rotating shaft (84) to the motor rotor side, enabling the motor rotating shaft (84) to rotate freely. The stepped side of the motor rotating shaft (84) is fixed to the male connector block (9) by a rotating shaft limit screw (94a) and a rotating shaft limit threaded hole (94b), and the stepped 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 realize the fixation of the motor rotating shaft (84) and the male connector block (9), enabling the male connector block (9) to rotate stably under the drive of the harmonic motor (8).

5. A highly degree-of-freedom built-in electromechanical integrated modular robotic arm according to claim 4, characterized in that, The plug-in female head (3) part includes a robotic arm housing (1) in a flared shape, a second support plate (6) integrally provided with the robotic arm housing (1). The second support plate (6) is provided with a second fluid passage (61) for fluid lines to pass through and a second signal passage (62) for signal lines to pass through; the flared robotic arm housing (1) is in movable contact with a platform of the female head connection block (16) in a direction perpendicular to the extension direction of the flare at the end of the flare; a second bearing (17) is provided between the inner side of the flare of the robotic arm housing (1) and the outer side of the female head connection block (16). The rotor side of the second bearing (17) contacts the outer side of the female head connection block (16), and the stator side of the second bearing (17) contacts the inner side of the robotic arm housing (1). To stabilize the second bearing (17), a second snap ring (18) is added on one side of the second bearing (17); the second support plate (6) has a shape with two levels of steps on the side away from the plug-in male head (2). The lower step abuts against the distal end of the female head connection block (16) with a third bearing (14). The side of the third bearing (14) contacting the female head connection block (16) is the rotor side, and the side of the third bearing (14) contacting the lower step of the second support plate (6) is the stator side; the higher step of the second support plate (6) is a non-circular structure, and a second signal passage (62) is provided therein. The higher step passes through the first signal passage (151) on the annular pressing block (15) and restricts the rotation of the annular pressing block (15). After the signal line passes through the first signal passage (151), it is connected to the female head mating pin (191) on the female head plugging block (19); a third fluid passage (152) for fluid lines to pass through is hermetically provided on the annular pressing block (15), and the third fluid passage (152) is hermetically connected to the female head mating air passage (192) on the female head plugging block (19); the annular pressing block (15) also includes a second positioning jack (153b) that can be fixedly matched with the second positioning pin (153a) on the female head plugging block (19).

6. A highly degrees-of-freedom built-in electro-mechanical integrated modular robotic arm according to claim 5, characterized in that, a female head mating positioning (193) is provided on the female head plugging block (19). When it is plugged and positioned and tightened with the male head mating positioning (103) on the male head plugging block (10) of the upper-level modular robotic arm, the female head mating pin (191) and the female head mating air passage (192) are both tightly connected to the male head mating pin (101) and the male head mating air passage (102). When the male head plugging block (10) of the upper-level modular robotic arm rotates driven by the harmonic motor (8), the female head plugging block (19) of the lower-level modular robotic arm will drive all the lower-level modular robotic arms to rotate.

7. A highly degrees-of-freedom built-in electro-mechanical integrated modular robotic arm according to claim 6, characterized in that, It is an I-shaped modular robotic arm. The robotic arm housing (1) of the I-shaped modular robotic arm is linearly distributed. The end (4) and the second connecting screw (1b) of the L-shaped modular robotic arm are omitted, and the second support plate (6) is arranged parallel to the first support plate (5).

8. A modular robotic arm assembly system, comprising the modular robotic arm according to claim 7, characterized in that, It is formed by splicing m sections of the L-shaped modular robotic arm and n sections of the I-shaped modular robotic arm. Through the cooperation and tightening of the plugging male head of the upper-level modular robotic arm and the plugging female head of the lower-level modular robotic arm, a modular robotic arm assembly system is formed.

9. According to a modular robotic arm assembly system as claimed in claim 8, characterized in that, m + n ≥ 1, where m is an integer ≥ 0 and n is an integer ≥ 0.

Images