Modularized assembly type mechanical arm

Abstract

The modular assembly type mechanical arm comprises a base and a plurality of mechanical arm joint modules which are installed on the base and connected in sequence, the mechanical arm joint module at the head end is connected with the base in a quick disassembly mode, and the mechanical arm joint module at the tail end is connected with an end effector in a quick disassembly mode. Every two adjacent mechanical arm joint modules are connected in a direct quick-release mode or an indirect quick-release mode, the base, the tail end executor and the multiple mechanical arm joint modules can be freely assembled into mechanical arms of different configurations, and the tail end executor comprises a linear moving module, a tail end vacuum suction cup, a tail end electric clamping jaw and the like. And various teaching requirements are met.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, and in particular to a modular assembled mechanical arm. Background Art

[0002] Robotic arm (industrial robotic arm) experimental teaching has always lacked suitable teaching equipment. Although there are a wide variety of industrial robotic arms available on the market, it is still difficult to adapt to teaching needs. The reasons are as follows: 1. Industrial robotic arms are relatively expensive, and it is difficult for most colleges and universities to purchase equipment, and it is difficult to guarantee the teaching needs of 3-5 people operating one device; 2. Industrial robotic arms may injure surrounding operators due to loss of control during operation. Therefore, they are not suitable for teaching laboratories with a large number of students. It is necessary to develop desktop equipment for teaching needs. However, a large number of desktop robotic arm products on the market are only suitable for remote control operation, and cannot support robotic arm core technology experiments, so they are not suitable for university teaching. Summary of the invention

[0003] In order to solve the above-mentioned existing technical problems, defects and unattainable technical requirements, the purpose of the present invention is to provide a modular assembled robotic arm, and multiple robotic arm joint modules can be assembled, and in conjunction with a base and different end effectors, can be freely assembled into robotic arms of different configurations, supporting experimental teaching of various types of robotic arms.

[0004] The technical solution adopted by the present invention to achieve its invention object is: A modular assembled robotic arm comprises a base and a plurality of robotic arm joint modules which are connected in sequence and mounted on the base. The robotic arm joint module at the head end is quickly released connected to the base, and the robotic arm joint module at the end end is quickly released connected to an end effector. Two adjacent sets of robotic arm joint modules are directly or indirectly quickly released connected. The base, the end effector and the plurality of robotic arm joint modules can be freely assembled into robotic arms of different configurations.

[0005] Preferably, the robotic arm joint module comprises a shell and a rotating drive element installed in the shell, the output shaft of the rotating drive element passes through the shell, and the end of the output shaft is connected to a male seat or a female seat, and other sides of the shell are also provided with a male seat or a female seat; the male seat and the female seat are quickly connected by one or a combination of a plug-in structure, a snap-on structure, and a locking structure.

[0006] Preferably, the male seat or female seat on the robotic arm joint module can directly cooperate with the female seat or male seat on another robotic arm joint module for quick release connection, thereby realizing a direct quick release connection between two adjacent sets of robotic arm joint modules.

[0007] Preferably, the male or female seat on the robotic arm joint module can directly cooperate with the female or male seat on the joint module connecting part on the robotic arm for quick release connection, thereby realizing indirect quick release connection between two adjacent groups of robotic arm joint modules through the joint module connecting part on the robotic arm.

[0008] Preferably, the joint module connecting part is a connecting rod assembly, which includes a connecting rod and a male or female seat installed at both ends of the connecting rod. The male or female seat of the connecting rod directly cooperates with the female or male seat of the robot arm joint module for quick release connection.

[0009] Preferably, a male seat or a female seat is installed on the base, and the male seat or the female seat on the side of the shell of the robotic arm joint module at the head end can be directly matched with the female seat or the male seat on the base for quick release connection.

[0010] Preferably, when a quick-release connection is achieved between the male and female sockets through a plug-in structure, a plug-in portion or a plug-in slot is provided on the male socket, and a plug-in slot or a plug-in portion that is adapted to the shape of the plug-in portion or the plug-in slot is provided on the female socket, the plug-in portion is inserted into the plug-in slot, and the male and female sockets are locked in position by a locking assembly.

[0011] Preferably, the male seat is provided with a plug-in portion, which is a dovetail block structure, and the female seat is provided with a plug-in slot, which is a dovetail slot structure. The locking assembly is arranged on the female seat, and the dovetail block of the male seat is translated and inserted into the dovetail slot of the female seat. The locking assembly can lock the relative position of the dovetail block.

[0012] Preferably, the locking assembly includes a locking block, a locking screw and a limit screw. The locking block is movably arranged on the female seat, and a locking groove is provided on the side of the dovetail block of the male seat. When the end of the locking block is placed in the locking groove, the locking block can lock the relative position of the dovetail block; the locking screw is screwed on the female seat, and a guide groove adapted to the shape of the locking block is provided on the female seat. The locking block slides along the guide groove, and the locking groove is adapted to the shape of the locking block. The limit screw passes through the locking block and is connected to the end of the locking screw. The head end face of the limit screw and the step surface of the locking screw cooperate with each other to achieve axial limitation of the locking block, so that the locking block moves with the locking screw. Rotating the locking screw inward can insert the locking block into the locking groove; rotating the locking screw outward can cause the locking block to disengage from the locking groove.

[0013] Preferably, the feature is that the end effector comprises one or a combination of a linear motion module, an end vacuum suction cup, and an end electric gripper.

[0014] The beneficial effects of the present invention are as follows: 1. The robotic arm joint module is modular, and multiple robotic arm joint modules can be assembled. Together with the base, connecting rod assembly and different end effectors, they can be freely assembled into robotic arms of different configurations, supporting experimental teaching of various types of robotic arms, and using the advantages of modular reusability to reduce laboratory costs.

[0015] 2. The robot arm joint module constitutes the basic driving unit of various articulated robot arms, and has built-in brushless DC motors, harmonic reducers, motor drivers, output shafts with dual encoders and other main components; the robot arm joint modules can be cascaded and use serial bus communication to combine into a specific form of robot arm. The first-level robot arm joint module can communicate with the host computer (PC) through an adapter, thereby using the PC as the controller of the robot arm.

[0016] 3. Multiple robot arm joint modules can be assembled into a desktop device imitating a UR industrial robot arm, which is convenient for experimental teaching and provides rich application cases. The robot arm joint module at the head end is connected to the base, the adjacent robot arm joint modules are directly connected or connected through a connecting rod assembly, and the robot arm joint module at the end is connected to the end effector. The end effector includes a linear motion module, an end vacuum suction cup and an end electric gripper, etc., to meet a variety of teaching needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of the modular assembled robotic arm of Example 1; Figure 2 This is a schematic diagram of the structure of the robot arm joint module of Example 1; Figure 3 It is a schematic structural diagram of the male socket of Example 1; Figure 4 It is a structural schematic diagram of the female seat of Example 1; Figure 5 This is a schematic structural diagram of the quick-release connection of two sets of modularized robotic arm joint modules in Example 1; Figure 6 This is a structural schematic diagram of the mechanical arm joint module and the base of Example 1 being directly matched and quickly disconnected; Figure 7 This is a schematic diagram of the structure of the mechanical arm joint module and the connecting rod assembly of Example 1, which are directly matched and quickly connected; Figure 8 It is a structural schematic diagram of the female seat and the locking assembly of Example 1; Fig. 9 It is a structural schematic diagram of the locking assembly of Example 1; Fig.10 This is an internal cross-sectional view of the locking assembly of Example 1.

[0018] Figures 1 to 10In the figure: 1—housing; 2—output shaft; 3—male seat; 301—plug-in part; 302—locking groove; 303—limiting surface; 4—female seat; 401—plug-in groove; 402—guide groove; 5—locking assembly; 501—locking screw; 502—locking block; 503—limiting screw; 6—elastic limiting member; 7—data communication interface; 8—power supply interface; 9—base; 10—connecting rod; 11—end effector. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integrated connection, or even a connection that can move relatively; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. Example 1

[0021] like Figures 1 to 10 As shown, a modular assembled robotic arm includes a base 9 and a plurality of robotic arm joint modules mounted on the base and connected in sequence. The robotic arm joint module at the head end is quickly released connected to the base 9, and the robotic arm joint module at the end is quickly released connected to the end effector 11. Two adjacent groups of robotic arm joint modules are directly or indirectly quickly released connected. The base 9, the end effector 11 and the plurality of robotic arm joint modules can be freely assembled into robotic arms of different configurations.

[0022] like Figures 2~4 As shown, the robotic arm joint module includes a shell 1 and a rotating drive element installed in the shell 1, the output shaft 2 of the rotating drive element passes through the shell 1, and the end of the output shaft 2 is connected to a male seat 3 or a female seat 4, and other sides of the shell 1 are also provided with a male seat 3 or a female seat 4; the male seat 3 and the female seat 4 are quickly connected by one or a combination of a plug-in structure, a snap-on structure, and a locking structure.

[0023] Furthermore, the male seat 3 or the female seat 4 provided on the other side of the housing 1 is integrally formed with the housing 1 or detachably connected to the housing 1. The end of the output shaft 2 is fixedly connected with the male seat 3 or the female seat 4 by bolts.

[0024] like Figure 5 As shown, the male seat 3 or the female seat 4 on the robot arm joint module can be directly matched with the female seat 4 or the male seat 3 on another robot arm joint module for quick release connection, thereby realizing a direct quick release connection between two adjacent sets of robot arm joint modules.

[0025] like Figure 6 As shown, the base 9 is provided with a male seat 3 or a female seat 4, and the male seat 3 or the female seat 4 on the side of the housing 1 of the mechanical arm joint module at the head end can be directly matched with the female seat 4 or the male seat 3 on the base 9 for quick release connection. Specifically, in this embodiment, the base 9 is provided with a female seat 4, and the male seat 3 on the rear side of the housing 1 relative to the output shaft 2 of the rotary drive element can be directly matched with the female seat 4 on the base 9 for quick release connection, and the dovetail block of the male seat 3 is translated and inserted into the dovetail groove of the female seat 4, and the locking assembly 5 can lock the relative position of the dovetail block.

[0026] like Figure 7 As shown, the male or female seat on the robotic arm joint module can directly cooperate with the female or male seat on the joint module connecting part on the robotic arm for quick release connection, thereby realizing indirect quick release connection between two adjacent groups of robotic arm joint modules through the joint module connecting part on the robotic arm.

[0027] The joint module connecting part is a connecting rod assembly, which includes a connecting rod 10 and a male seat 3 or a female seat 4 installed at both ends of the connecting rod 10. The male seat or the female seat of the connecting rod is directly matched with the female seat or the male seat of the robot joint module for quick release connection. Specifically, in this embodiment, a male seat is provided on the output shaft of the rotating drive element of the first robot joint module, and a male seat is provided on the rear side of the housing of the second robot joint module relative to the output shaft of its rotating drive element. Female seats 4 are respectively installed at both ends of the connecting rod 10, and the male seats of the two sets of robot joint modules can be respectively translated and inserted into the female seats 4 at both ends of the connecting rod 10, and the relative position of the dovetail blocks can be locked by the locking assembly 5.

[0028] When the male socket 3 and the female socket 4 are quickly connected through a plug-in structure, a plug-in portion or a plug-in slot is provided on the male socket 3, and a plug-in slot or a plug-in portion that is adapted to the shape of the plug-in portion or the plug-in slot is provided on the female socket 4. The plug-in portion is inserted into the plug-in slot, and the male socket 3 and the female socket 4 are locked in position through a locking assembly.

[0029] In this embodiment, the male seat 3 is provided with a plug-in portion 301, which is a dovetail block structure. The female seat 4 is provided with a plug-in groove 401, which is a dovetail groove structure. The locking component 5 is arranged on the female seat 4. The dovetail block of the male seat 3 is translated and inserted into the dovetail groove of the female seat 4. The locking component 5 can lock the relative position of the dovetail block.

[0030] In this embodiment, a male seat 3 is provided on the output shaft 2 of the rotary drive element, a male seat 3 is provided on the rear side of the housing 1 relative to the output shaft 2 of the rotary drive element, and a female seat 4 is provided on at least one other side of the housing 1.

[0031] like Figures 8-10 As shown, the locking assembly includes a locking screw 501, a locking block 502 and a limit screw 503. The locking block 502 is movably arranged on the female seat 4. A locking groove 302 is provided on the side of the dovetail block of the male seat 3. When the end of the locking block 502 is placed in the locking groove 302, the locking block can lock the relative position of the dovetail block.

[0032] The male seat 3 is provided with a limiting surface 303 at one end located in the dovetail block insertion direction. When the dovetail block of the male seat 3 is inserted into the dovetail groove of the female seat 4, the limiting surface 303 conflicts with the end face of the female seat 4, so that the locking block is exactly aligned with the locking groove 302.

[0033] The locking screw is screwed on the female seat 4, and the female seat 4 is provided with a guide groove 402 adapted to the shape of the locking block. The locking block slides along the guide groove 402, and the locking groove 302 is adapted to the shape of the locking block. The limit screw 503 passes through the locking block and is connected to the end of the locking screw 501. The head end face of the limit screw 503 and the step surface of the locking screw 501 cooperate with each other to realize axial limitation of the locking block, so that the locking block moves with the locking screw 501. Rotating the locking screw 501 inward can insert the locking block into the locking groove 302; rotating the locking screw 501 outward can make the locking block disengage from the locking groove 302. Of course, the telescopic member and the elastic element can also be used to cooperate to drive the locking block to move, so as to lock the relative position of the dovetail block. Specifically, the telescopic member is slidably arranged on the female seat, and the locking block is fixed or integrally arranged on the end of the telescopic member. The elastic element always gives the telescopic member an elastic force to move in the direction close to the locking groove. When the locking block is aligned with the locking groove, the elastic element drives the telescopic member to move, thereby driving the locking block to insert into the locking groove. When it needs to be removed, just pull the telescopic member outward to make the locking block disengage from the locking groove, and the dovetail block of the male seat can be moved out of the dovetail groove of the female seat.

[0034] The end effector includes one or a combination of a linear motion module, an end vacuum suction cup, and an end electric clamp.

[0035] The rotary drive element includes a motor assembly, a reducer assembly and an encoder assembly. The motor assembly is installed in the housing 1 through a motor seat. The motor output shaft of the motor assembly is connected to the reducer assembly. The reducer assembly adopts harmonic drive deceleration. The reducer output shaft of the reducer assembly passes through the housing 1, and the end of the reducer output shaft is connected to a male seat 3 or a female seat 4. The encoder assembly is a dual encoder module, and the encoder assembly is coaxially connected to the motor assembly. The housing 1 is also equipped with a data communication interface 7 and a power supply interface 8. The data communication interface 7 is connected to a host computer through a data adapter, so that the robot arm joint module can realize data communication with the host computer, and the host computer is used as the controller of the robot arm joint module.

[0036] An elastic limiter 6 is connected to the shell 1. Specifically, the elastic limiter 6 can be a rubber block or a silicone block, which is fixed to the shell 1 by screws. The elastic limiter 6 on the robotic arm joint module cooperates with the elastic limiter 6 or the shell 1 on another robotic arm joint module to limit the rotation angle of the shell 1 on the robotic arm joint module to avoid line entanglement.

[0037] The cooperation principle of the male seat and the female seat of the present invention is as follows: during installation, the dovetail block of the male seat 3 is translated from one end of the female seat 4 and inserted into the dovetail groove of the female seat 4 until the limit surface 303 conflicts with the end surface of the female seat 4, so that the locking block 502 is just aligned with the locking groove 302, and the locking screw 501 is rotated inwardly, and the locking block 502 moves inwardly with the locking screw 501. The locking block 502 is inserted into the locking groove 302 under the guidance of the guide groove 402, thereby locking the relative position of the male seat and the female seat; during removal, the locking screw 501 is rotated outwardly, and the locking block 502 moves outwardly with the locking screw 501, and the locking block 502 is disengaged from the locking groove 302, at which time the dovetail block of the male seat 3 can be removed from the dovetail groove of the female seat 4.

[0038] like Figure 1As shown, this embodiment uses six groups of robot arm joint modules to assemble into a desktop device imitating a UR industrial robot arm. The six groups of robot arm joint modules have the same structure and are all robot arm joint modules provided by this application. The specific structure is as follows: the male seat 3 on the side of the first robot arm joint module at the bottom layer can be directly matched with the female seat 4 on the base 9 for quick release connection, the male seat 3 connected to the end of the output shaft 2 of the first robot arm joint module at the bottom layer is directly matched with the female seat 4 on the side of the second robot arm joint module for quick release connection, the second robot arm joint module and the third robot arm joint module are connected through a connecting rod assembly, and the two ends of the connecting rod 10 of the connecting rod assembly are respectively equipped with female seats 4, and the two groups of female seats 4 can be respectively matched with the second robot arm joint module and the third robot arm joint module. The male seat 3 on the module is directly connected with the quick release connection, the third robot arm joint module and the fourth robot arm joint module are also connected through a connecting rod assembly, the male seat 3 connected at the end of the output shaft 2 of the fourth robot arm joint module is directly connected with the female seat 4 on the side of the fifth robot arm joint module, the male seat 3 connected at the end of the output shaft 2 of the fifth robot arm joint module is directly connected with the female seat 4 on the side of the sixth robot arm joint module, and the end of the output shaft 2 of the sixth robot arm joint module is directly connected with the end effector 11.

[0039] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the attached claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved.

[0040] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A modular assembly type robotic arm, characterized in that: It includes a base and a plurality of robotic arm joint modules which are connected in sequence and mounted on the base. The robotic arm joint module at the head end is quickly released connected to the base, the robotic arm joint module at the end end is quickly released connected to the end effector, and two adjacent groups of robotic arm joint modules are directly or indirectly quickly released connected. The base, the end effector and the plurality of robotic arm joint modules can be freely assembled into robotic arms of different configurations.

2. A modular assembly type robotic arm according to claim 1, characterized in that: The robotic arm joint module includes a shell and a rotating drive element installed in the shell, the output shaft of the rotating drive element passes through the shell, and the end of the output shaft is connected to a male seat or a female seat, and other sides of the shell are also provided with a male seat or a female seat; the male seat and the female seat are quickly connected by one or a combination of a plug-in structure, a snap-on structure, and a locking structure.

3. A modular assembly type robotic arm according to claim 2, characterized in that: The male seat or female seat on the robotic arm joint module can directly cooperate with the female seat or male seat on another robotic arm joint module for quick release connection, thereby realizing direct quick release connection between two adjacent sets of robotic arm joint modules.

4. A modular assembly type robotic arm according to claim 2, characterized in that: The male or female seat on the robotic arm joint module can directly cooperate with the female or male seat on the joint module connecting part on the robotic arm for quick release connection, thereby realizing indirect quick release connection between two adjacent groups of robotic arm joint modules through the joint module connecting part on the robotic arm.

5. A modular assembly type robotic arm according to claim 4, characterized in that: The joint module connecting part is a connecting rod assembly, which includes a connecting rod and a male seat or a female seat installed at both ends of the connecting rod. The male seat or the female seat of the connecting rod is directly matched with the female seat or the male seat of the robot arm joint module for quick release connection.

6. The modular assembly type robotic arm according to claim 2, characterized in that: The base is provided with a male seat or a female seat, and the male seat or the female seat on the side of the shell of the mechanical arm joint module at the head end can be directly matched with the female seat or the male seat on the base for quick release connection.

7. The modular assembly type robotic arm according to claim 2, characterized in that: When a quick-release connection is achieved between the male and female sockets through a plug-in structure, a plug-in portion or a plug-in slot is provided on the male socket, and a plug-in slot or a plug-in portion that is adapted to the shape of the plug-in portion or the plug-in slot is provided on the female socket. The plug-in portion is inserted into the plug-in slot, and the male and female sockets are locked in position through a locking assembly.

8. The modular assembly type robotic arm according to claim 7, characterized in that: The male seat is provided with a plug-in portion, which is a dovetail block structure; the female seat is provided with a plug-in slot, which is a dovetail slot structure; a locking assembly is arranged on the female seat; the dovetail block of the male seat is translated and inserted into the dovetail slot of the female seat; and the locking assembly can lock the relative position of the dovetail block.

9. The modular assembly type robotic arm according to claim 8, characterized in that: The locking assembly includes a locking block, a locking screw and a limit screw. The locking block is movably arranged on the female seat, and a locking groove is provided on the side of the dovetail block of the male seat. When the end of the locking block is placed in the locking groove, the locking block can lock the relative position of the dovetail block; the locking screw is screwed on the female seat, and a guide groove adapted to the shape of the locking block is provided on the female seat. The locking block slides along the guide groove, and the locking groove is adapted to the shape of the locking block. The limit screw passes through the locking block and is connected to the end of the locking screw. The head end face of the limit screw and the step surface of the locking screw cooperate with each other to achieve axial limitation of the locking block, so that the locking block moves with the locking screw. Rotating the locking screw inward can insert the locking block into the locking groove; rotating the locking screw outward can cause the locking block to disengage from the locking groove.

10. The modular assembly type robotic arm according to claim 1, characterized in that: The end effector includes one or a combination of a linear motion module, an end vacuum suction cup, and an end electric clamp.

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