Modularized mechanical arm for teaching

Abstract

The invention provides modularized mechanical arm equipment for teaching. The modularized mechanical arm equipment comprises a plurality of mechanical arm units, at least one connecting plate and a base. Each mechanical arm unit comprises a shell and a rotating assembly; the rotating assembly is arranged in the containing space of the shell and comprises a motor, a speed reducer and a circuit board. The mechanical arm unit further comprises a quick release assembly which comprises a male head, a female head and a locking mechanism. When the mechanical arm units are locked and fixed, the first interfaces and the second interfaces of the mechanical arm units are electrically connected in sequence; the connecting plate comprises a female head used for connecting any two mechanical arm units. The base is provided with a female head and a locking mechanism which are used for being combined with a male head of the mechanical arm unit, and the mechanical arm unit is fixed to the base. The mechanical arm is arranged to be of the structure, assembly, extension and shortening of the mechanical arm can be rapidly achieved, the number of units is freely set, the mechanical arm is compatible with different teaching scenes, and cost is low. And all the units of the mechanical arm are electrically connected, and power supply of the mechanical arm and input of electric signals can be rapidly achieved.

Description

Technical Field

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

[0002] As the core equipment in the current intelligent construction field, the robotic arm has formed a mature application system in scenarios such as industrial assembly and medical assistance. Based on this situation, in order to further enhance the core competitiveness of users and match user capabilities with actual application scenarios, colleges and universities must carry out practical teaching of robotic arms. However, the current teaching of robotic arms in domestic colleges and universities mostly stays in the theoretical modeling and simulation stage. It not only lacks basic functions such as force feedback and visual recognition, but also is out of touch with reality. Its closed control system is difficult to adapt to the open source programming platform. This equipment defect makes it difficult for users to quickly adapt to the enterprise production environment when they come into contact with real industrial equipment due to lack of modular disassembly and assembly experience and multi-sensor collaborative debugging capabilities. Developing a teaching-specific robotic arm with an open architecture, support for visual programming and controllable cost has become an urgent need to improve the effectiveness of engineering education. Therefore, there is currently no good robotic arm for teaching. Summary of the invention

[0003] In order to overcome the above technical defects, the object of the present invention is to provide a modular robotic arm for teaching.

[0004] The invention discloses a modular mechanical arm for teaching, comprising a base and a plurality of mechanical arm units.

[0005] A plurality of robot arm units are connected in sequence. Each of the plurality of robot arm units includes a housing and a rotating assembly. A storage space is provided in the housing. The rotating assembly is arranged in the storage space, and includes a motor, a reducer and a circuit board. The motor includes a motor output shaft. The reducer includes a reducer output shaft or a flange. The circuit board is electrically connected to the motor, and a first interface and a second interface are provided on one side. The circuit board controls the motor so that the motor is connected to the reducer through the motor output shaft, and after being decelerated by the reducer, the reducer output shaft or flange outputs power to drive other components connected thereto to rotate.

[0006] The robotic arm unit also includes a quick-release assembly. The quick-release assembly includes at least one male head, at least one female head and a locking mechanism. The robotic arm unit can be combined with the female head through the male head and locked and fixed by the locking mechanism. When the multiple robotic arm units are locked and fixed, the first interfaces of the robotic arm units are electrically connected in sequence, and the second interfaces of the robotic arm units are electrically connected in sequence, so that voltage and / or electrical signals can be transmitted in sequence between the robotic arm units.

[0007] Each of the at least one connecting plate includes at least two female heads, and is connected to at least two robotic arm units by connecting to the male heads of the robotic arm units; so that one robotic arm unit can drive the connecting plate and the other robotic arm unit to rotate by rotating itself.

[0008] The base is provided with at least one female head and a locking mechanism, which are used to combine with the male head of the mechanical arm unit to fix the multiple mechanical arm units to the base.

[0009] Preferably, any two robotic arm units can be connected with a male head and a female head through a quick-release assembly, and at this time, one of the two robotic arm units rotates around a first axis and the other rotates around a second axis; the first axis is perpendicular to the second axis.

[0010] Preferably, each of the plurality of robot arm units has an independent network address.

[0011] Preferably, a computer or a host computer is electrically connected to the first interface or the second interface of the robotic arm unit, so that each robotic arm unit can be controlled and / or debugged.

[0012] Preferably, the robot arm unit further comprises a magnetic encoder, which is arranged in the circuit board to feed back the speed, position and steering angle of the motor through the magnetic encoder.

[0013] Preferably, the female head is provided with a slide groove with an isosceles trapezoidal cross section, and the male head is provided with a protrusion, which corresponds to the shape of the slide groove, so that the protrusion can slide into the slide groove and be fixed by the locking mechanism when it slides completely into the slide groove.

[0014] Preferably, the locking mechanism is a pull ring indexing pin. The pull ring indexing pin can move in a first direction. When the pull ring indexing pin is in a first position in the first direction, the pull ring indexing pin abuts against the male head and fixes the male head. When the pull ring indexing pin is in a second position, the pull ring indexing pin is separated from the male head so that the male head can slide in the slide groove.

[0015] Preferably, the at least one male head includes two male heads, and the two male heads are arranged opposite to each other on both sides of the robot arm unit in the first direction. The at least one female head includes one or two female heads; when the at least one female head includes two female heads, the two female heads are arranged opposite to each other on both sides of the robot arm unit in the second direction.

[0016] Preferably, the modular robotic arm also includes an equipment external platform, which is provided with at least one female head and can be combined with the male head of the last robotic arm unit away from the base among the multiple robotic arm units; the equipment external platform is used to install other equipment.

[0017] Preferably, the other equipment may be at least one of a welding gun, a clamp, and a suction cup.

[0018] Compared with the prior art, the above technical solution has the following beneficial effects:

[0019] 1. The modular robotic arm provided in this application constructs a complete modular teaching robotic arm system framework. Through quick-release components, modular interfaces and connecting plates set on circuit boards, the robotic arm can be quickly assembled, extended and shortened, the number of units can be freely set, and it is compatible with different teaching scenarios. And because each robotic arm unit has an independent circuit board, it can quickly achieve separate posture adjustment, and based on the connection method between different robotic arm units, a high degree of freedom adjustment of the modular robotic arm can be achieved. The base can be used as a central control hub, which can not only conveniently power the entire robotic arm, but also allow users to input electrical signals and conveniently adjust the data of each robotic arm unit. Finally, the robotic arm unit can make procurement more flexible, and a smaller number of robotic arm units can be purchased at a lower cost.

[0020] 2. Each robotic arm unit has an independent network address and can support distributed control architecture. Users can debug single-axis motion parameters (such as PID adjustment) individually, and then achieve multi-axis collaboration through the bus protocol, which meets the teaching needs of mainstream control methods in industrial sites.

[0021] 3. The base adopts a multi-interface redundant design, which not only supports cascade power supply of multiple robotic arm units, but also can be connected to different controllers such as PC and PLC, meeting the switching of various experimental modes such as offline programming and teaching pendant operation in industrial robot technology courses.

[0022] 4. The magnetic encoder has the characteristics of anti-dust interference, which is suitable for the mechanical vibration environment caused by high-frequency disassembly and assembly in the laboratory. The non-contact measurement can avoid mechanical wear and extend the service life of the robot unit. The magnetic encoder can also measure the real-time angle of the robot unit and other data by sensing the changing state of the magnet, providing users with more diverse status monitoring methods.

[0023] 5. The isosceles trapezoidal slide and the indexing pin form a self-centering locking mechanism. Users can perform "blind insertion" operations during assembly. The position deviation is automatically corrected during the sliding process of the protrusion. After the indexing pin is locked, surface contact is formed instead of point contact, which improves the connection rigidity.

[0024] 6. The external platform can use a standardized interface to provide users with a variety of tool options. Users can easily replace the end tool of the robot arm, providing rich support for teaching scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1a A schematic diagram of the three-dimensional structure of the modular robotic arm provided in this application;

[0026] Figure 1bA schematic diagram of the three-dimensional structure of another implementation of the modular robotic arm provided in the present application;

[0027] Figure 2 A schematic diagram of the three-dimensional structure of a robotic arm unit in the modular robotic arm provided in this application;

[0028] Figure 3 for Figure 2 Sectional view along AA;

[0029] Figure 4 A schematic diagram of the three-dimensional structure of the circuit board of the modular robotic arm provided in this application;

[0030] Figure 5 A schematic diagram of the three-dimensional structure of the harmonic reducer of the modular robotic arm provided in this application;

[0031] Figure 6 A schematic diagram of the three-dimensional structure of the quick-release assembly of the modular robotic arm provided in this application;

[0032] Figure 7 for Figure 6 Cross-sectional view along BB.

[0033] Reference numerals: 100, modular robotic arm;

[0034] 200, robotic arm unit;

[0035] 1. Shell; 11. Accommodation space;

[0036] 2. Rotating assembly; 21. Motor; 22. Speed ​​reducer; 23. Circuit board; 231. First interface; 232. Second interface;

[0037] 3. quick release assembly; 31. male head; 311. protrusion; 32. female head; 321. slide groove; 33. locking mechanism; 331. pull ring indexing pin;

[0038] 300, base;

[0039] 400, connecting plate;

[0040] x, first direction; y, second direction; A, first axis; B, second axis. DETAILED DESCRIPTION

[0041] The advantages of the present invention are further described below in conjunction with the accompanying drawings and specific embodiments.

[0042] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0043] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. The singular forms of "a", "said" and "the" used in this disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0044] It should be understood that although the terms first, second, third, etc. may be used in the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining"

[0045] In the description of the present invention, it is necessary to understand that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0046] In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the internal connection between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0047] In the following description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present invention, and have no specific meanings. Therefore, "module" and "component" can be used interchangeably.

[0048] See also Figure 1a-Figure 6 , Figure 1a A schematic diagram of the three-dimensional structure of the modular robotic arm provided in this application; Figure 1b A schematic diagram of the three-dimensional structure of another implementation of the modular robotic arm provided in the present application; Figure 2 A schematic diagram of the three-dimensional structure of a robotic arm unit in the modular robotic arm provided in this application; Figure 3 for Figure 2 Sectional view along AA; Figure 4 A schematic diagram of the three-dimensional structure of the circuit board of the modular robotic arm provided in this application; Figure 5 A schematic diagram of the three-dimensional structure of the harmonic reducer of the modular robotic arm provided in this application; Figure 6 A schematic diagram of the three-dimensional structure of the quick-release assembly of the modular robotic arm provided in this application.

[0049] like Figure 1a-Figure 6 As shown, the present application provides a modular robot arm 100 for teaching, including a base 300 and a plurality of robot arm units 200. The plurality of robot arm units 200 are connected in sequence. Each of the plurality of robot arm units 200 includes a housing 1 and a rotating assembly 2. There is a accommodating space 11 in the housing 1. The rotating assembly 2 is arranged in the accommodating space 11, and includes a motor 21, a reducer 22 and a circuit board 23. The motor 21 includes a motor output shaft. The reducer 22 includes a reducer output shaft. The circuit board 23 is electrically connected to the motor 21, and a first interface 231 and a second interface 232 are provided on one side. The circuit board 23 controls the motor 21 so that the motor 21 is connected to the reducer 22 through the motor output shaft, and after being decelerated by the reducer 22, the reducer output shaft outputs power to drive other components connected thereto to rotate.

[0050] Each of the at least one connecting plate includes at least two female heads, and is connected to at least two robotic arm units by connecting to the female heads of the robotic arm units; so that one robotic arm unit can drive the connecting plate and the other robotic arm unit to rotate by rotating itself.

[0051] It can be understood here that: the robot arm units 200 in this application are not necessarily directly connected in pairs, such as Figure 1a As shown, in a possible implementation, the two robot arms 200 may also be indirectly connected via a connecting plate 400 to achieve a specific shape and function. When the two robot arm units 200 are connected via a connecting plate 400, one robot arm unit 200 can be used as a pivot so that the other robot arm unit 200 can rotate within the plane where the connecting plate 400 is located. The present application is also not limited here.

[0052] It will be understood by those skilled in the art that Figure 1a and Figure 1b As shown, in another possible implementation, the robot arm units 200 may also be directly connected in pairs.

[0053] Further, the direct connection described herein can be that the two robot arm units 200 are connected to each other through the output shaft of the reducer 22. When the two robot arm units 200 are connected to each other through the output shaft of the reducer 22, both robot arm units 200 can rotate around the first axis A. At this time, the direction of the first axis A can be parallel to the first direction x.

[0054] In another possible implementation, the two robot arm units 200 may also be connected by the male head 31 and the female head 32 in the quick release assembly 3 (the specific structures of the quick release assembly, the male head and the female head will be described in detail below). When the two robot arm units 200 are connected by the quick release assembly 3, one of the two robot arm units 200 rotates around the first axis A and the other rotates around the second axis B. At this time, the first axis A and the second axis B are perpendicular to each other.

[0055] Through the above several possible implementations and any combination thereof, the entire modular robot arm 100 can adjust the combination of specific robot arm units 200 according to specific scenarios and functional requirements, thereby realizing different degrees of freedom between different robot arm units 200 (for example, moving in the first direction x, moving in the second direction y, rotating around the first direction x axis, rotating around the second direction y axis), etc., thereby realizing a high degree of freedom of the entire modular robot arm 100, so that it can operate in a relatively controllable manner with any motion path.

[0056] like Figure 6 As shown, the robot arm unit 200 also includes a quick release assembly 3. The quick release assembly 3 includes at least one male head 31, at least one female head 32 and a locking mechanism 33. The robot arm unit 200 can be combined with the female head 32 through the male head 31 and locked and fixed by the locking mechanism 33. When multiple robot arm units 200 are locked and fixed, the first interfaces 231 of each robot arm unit 200 are electrically connected in sequence, and the second interfaces 232 of each robot arm unit 200 are electrically connected in sequence, so that current and / or electrical signals can be transmitted in sequence between each robot arm unit 200.

[0057] The base 300 is provided with at least one female connector 32 and a locking mechanism 33 for combining with the male connector 31 of the robot arm unit 200 to fix the plurality of robot arm units 200 to the base 300 .

[0058] It can be understood here that, unlike a traditional robotic arm, the modular robotic arm 100 provided in the present application is composed of a plurality of robotic arm units 200. Among them, the robotic arm units 200 can be arbitrarily combined by relying on the quick-release assembly 3 and locked by the locking mechanism 33. In addition, each robotic arm unit 200 is provided with an independent circuit board 23, and the circuit board 23 is provided with a first interface 231 and a second interface 232. When two robotic arm units 200 are fixed to each other, an electrical connection between the robotic arm units 200 can be quickly established through the corresponding interface.

[0059] It should be noted that the types of the first interface 231 and the second interface 232 are not limited.

[0060] In one possible implementation, the first interface 231 is designed as an interface for transmitting electrical signals, and the second interface 232 is designed as an interface for transmitting current, so as to power the circuit board 23 and the motor 21, etc. In another possible implementation, the first interface 231 may transmit current, and the second interface 232 may transmit electrical signals. In yet another possible implementation, only the first interface 231 may be provided, and the second interface 232 may not be provided. In this case, the first interface 231 may transmit both current and electrical signals, etc., and this application does not limit this.

[0061] By setting the robot arm to this structure, the modular robot arm 100 provided in the present application constructs a complete modular teaching robot arm system framework. Through the quick-release assembly 3 and the modular interface arranged on the circuit board 23, the robot arm can be quickly assembled, extended and shortened, the number of units can be freely set, and it is compatible with different teaching scenarios. And because each robot arm unit 200 has an independent circuit board 23, the electrical connection between the units can be quickly realized, and each robot arm unit 200 can be individually adjusted in posture. Finally, the robot arm unit 200 can make procurement more flexible, and a smaller number of robot arm units 200 can be purchased at a lower cost.

[0062] The above is an explanation of the basic concept and beneficial effects of the present invention. Other possible implementations of the present application will be described below.

[0063] like Figure 4-Figure 6As shown, it should be noted that the types of motors 21, reducers 22, and circuit boards 23 used in this application are not limited. Exemplarily, in one possible implementation, the motor 21 is a frameless motor 21, and this design gives it higher flexibility, a more compact structure, and better performance. The reducer 22 is a harmonic reducer 22, so as to achieve a higher reduction ratio and more precise control of rotation. The circuit board 23 is a programmable circuit board 23, so as to achieve more functions, etc., and those skilled in the art can design it according to their needs. Furthermore, the circuit board 23 can also be provided with a magnetic encoder. The magnetic encoder is arranged in the circuit board 23 so that the electric drive is integrated, and the speed, position, and steering angle of the motor are fed back through the magnetic encoder. Thereby, precise control of each robotic arm unit 200 is achieved.

[0064] In a possible implementation, in the modular robot arm 100 provided by the present application, each of the multiple robot arm units 200 has an independent network address. Through such a design, first, the operation is simplified, and the user can debug the single-axis motion parameters (such as PID adjustment) separately without global coordination, which reduces the learning threshold. For example, when adjusting the torque or speed for a certain unit, the other units remain stationary, which is convenient for observing the experimental effect; second, the teaching effect is also improved. In industrial scenarios, such as robot arm welding or assembly, multi-axis collaboration is a core requirement, which makes the modular robot arm 100 provided by the present application close to the industrial standard during teaching, effectively improving the user's engineering practice ability. Third, the flexibility of the robot arm is also improved. The new unit only needs to allocate a new address to access the system without reconstructing the overall network, which allows users to arbitrarily increase or decrease the number of robot arm units 200, which is more flexible to use. Fourth, the reliability of the system is improved. If a robot arm unit 200 fails, the controller quickly locates the problem node through the address, and other units can still operate normally. In addition, the sensor data that may be installed in each unit can be transmitted through an independent channel to avoid signal interference and improve control accuracy.

[0065] Furthermore, in another possible implementation, the base 300 is also provided with at least one interface, and the at least one interface is electrically connected to the first interface 231 and the second interface 232 of the robot arm unit 200 .

[0066] Specifically, the base 300 may include an interface, which is simultaneously connected to the first interface 231 and the second interface 232 of the robot arm unit 200 closest to the base 300, so as to be electrically connected to the first interface 231 and the second interface 232 of other robot arm units 200. Alternatively, the base 300 may also include two interfaces, one interface connected to the first interface 231 of the robot arm unit 200 closest to the base 300, and one interface connected to the second interface 232, which is not limited in the present application.

[0067] By providing an interface on the base 300, the base 300 can be directly used as a central control node to provide a stable power and electrical signal supply for the modular robotic arm 100. In addition, the user can directly connect a computer or a host computer to the first interface 231 or the second interface 232 through the interface of the base 300, so that each robotic arm unit can be controlled and / or debugged, and the robotic arm can be controlled at a remote location to prevent cable entanglement or dangerous situations caused by improper rotation of the robotic arm, thereby improving safety and ease of use.

[0068] In a possible implementation, the quick-release assembly 3 includes at least one male head 31 , at least one female head 32 , and a locking mechanism 33 .

[0069] It should be noted that the specific structure of the quick-release assembly 3 provided in the present application is also not limited.

[0070] See also Figure 7 , Figure 7 for Figure 6 Cross-sectional view along BB.

[0071] Specifically, in a possible implementation, Figure 6 As shown, combined with Figure 1a-Figure 2 It is understood that the quick release assembly 3 includes two male heads 31 and one female head 32. The two male heads 31 are respectively located on both sides of the first direction x of the robot arm unit 200, thereby providing more interfaces for the robot arm unit 200, and further providing more possible combinations. In another possible implementation, the quick release assembly 3 may also include two male heads 31 and two female heads 32. In this case, the two male heads 31 are arranged on both sides of the first direction x of the robot arm unit 200 in opposite directions, and the two female heads 32 are arranged on both sides of the second direction y of the robot arm unit 200 in opposite directions, so as to maximize the number of possible interfaces. The present application is also not limited here.

[0072] It should be noted that the specific directions of the aforementioned first direction x and second direction y are also not limited. In a possible implementation, the first direction x is parallel to the length direction of the robotic arm unit 200, and the second direction y is parallel to the width direction of the robotic arm unit 200. This application does not make any limitation here.

[0073] Furthermore, if Figure 7As shown, the female head 32 is provided with a slide groove 321 with an isosceles trapezoidal cross section. The male head 31 is provided with a protrusion 311, and the protrusion 311 corresponds to the shape of the slide groove 321. So that the protrusion 311 can slide into the slide groove 321 and be fixed by the locking mechanism 33 when it is completely slid into the slide groove 321. Therefore, on the one hand, the symmetrical inclined surface structure of the isosceles trapezoidal slide groove 321 can guide the protrusion 311 of the male head 31 to automatically adjust the position deviation during the sliding process. For example, when the male head 31 is inserted, the geometric constraints of the inclined surfaces on both sides will force the protrusion 311 to align along the center line of the slide groove 321, realizing a "blind insertion" operation. On the other hand, after completely sliding in, the surface contact characteristics of the isosceles trapezoid make the load evenly distributed on the contact surface between the slide groove 321 and the protrusion 311, rather than the traditional point contact or line contact, which makes the quick release assembly 3 have a strong shear resistance after connection, and the connection is more stable.

[0074] The specific structure of the locking mechanism 33 is also not limited. Figure 7 As shown, in a possible implementation, the locking mechanism 33 is a pull ring indexing pin 331. The pull ring indexing pin 331 can move in the first direction x. When the pull ring indexing pin 331 is located in the first position in the first direction x, the pull ring indexing pin 331 abuts against the male head 31 and fixes the male head 31. When the pull ring indexing pin 331 is located in the second position, the pull ring indexing pin 331 is separated from the male head 31 so that the male head 31 can slide in the slide groove 321. Thereby, the simplicity of locking and the good fixation after locking are further guaranteed. In another possible implementation, the locking mechanism 33 can also be a certain clamp or mortise and tenon structure, which can be freely designed by those skilled in the art as needed, and the present application is not limited thereto.

[0075] It should be noted that the modular robotic arm 100 provided in the present application may also include other components.

[0076] like Figure 1a and Figure 1b As shown, in a possible implementation, the modular robot arm 100 further includes an equipment external platform (not shown in the figure), which is provided with at least one male head 31 and can be combined with the female head 32 of the last robot arm unit 200 away from the base 300 among the multiple robot arm units 200; the equipment external platform is used to install other equipment. The equipment external platform can adopt a standardized interface, providing users with a variety of tool options. Users can easily replace the end tool of the robot arm, providing rich support for teaching scenarios.

[0077] For example, in a possible implementation, the aforementioned other equipment may be at least one of a welding gun, a clamp, and a suction cup. This is closer to the actual industrial application scenario.

[0078] It should be noted that the embodiments of the present invention have better practicability and do not impose any form of limitation on the present invention. Any technician familiar with the field may use the technical content disclosed above to change or modify it into an equivalent effective embodiment. However, any modification or equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A modular robotic arm for teaching, characterized in that: It includes a plurality of mechanical arm units, at least one connecting plate and a base; The multiple robot arm units are connected in sequence; each of the multiple robot arm units includes a shell and a rotating assembly; there is a accommodating space in the shell; the rotating assembly is arranged in the accommodating space, and includes a motor, a reducer and a circuit board; the motor includes a motor output shaft; the reducer includes a reducer output shaft or a flange; the circuit board is electrically connected to the motor, and a first interface and a second interface are arranged on one side; the circuit board controls the motor so that the motor is connected to the reducer through the motor output shaft, and after being decelerated by the reducer, the reducer output shaft or flange outputs power; The mechanical arm unit also includes a quick-release assembly; the quick-release assembly includes at least one male head, at least one female head and a locking mechanism; the mechanical arm unit cooperates with the female head through the male head and is locked and fixed by the locking mechanism; when a plurality of the mechanical arm units are locked and fixed, the first interfaces of the mechanical arm units are electrically connected in sequence, and the second interfaces of the mechanical arm units are electrically connected in sequence, so that power and / or electrical signals are transmitted in sequence between the mechanical arm units; Each of the at least one connecting plate includes at least two female heads, and is connected to at least two of the robotic arm units by connecting to the male heads of the robotic arm units; so that one of the robotic arm units can rotate by itself to drive the connecting plate and the other robotic arm unit to rotate; The base is provided with at least one female head and a locking mechanism, which is used to combine with the male head of the mechanical arm unit to fix the multiple mechanical arm units to the base.

2. The modular robotic arm according to claim 1, characterized in that: The male head is connected to the female head through the quick-release assembly; at this time, one of the two mechanical arm units rotates around the first axis, and the other rotates around the second axis; the first axis is perpendicular to the second axis.

3. The modular robotic arm according to claim 1, characterized in that: Each of the plurality of robot arm units has an independent network address.

4. The modular robotic arm according to claim 1, characterized in that: A computer or a host computer is electrically connected to the first interface or the second interface of the robotic arm unit, so that each of the robotic arm units can be controlled and / or debugged.

5. The modular robotic arm according to claim 1, wherein: The robot arm unit also includes a magnetic encoder; the magnetic encoder is arranged in the circuit board to feedback the speed, position and steering angle of the motor through the magnetic encoder.

6. The modular robotic arm according to claim 1, wherein: The at least one female head is provided with a slide groove with an isosceles trapezoidal cross-section; the male head is provided with a protrusion, and the protrusion corresponds to the shape of the slide groove; so that the protrusion can slide into the slide groove and be fixed by the locking mechanism when it slides completely into the slide groove.

7. The modular robotic arm according to claim 5, characterized in that: The locking mechanism is a pull ring indexing pin; the pull ring indexing pin can move in a first direction; when the pull ring indexing pin is located at a first position in the first direction, the pull ring indexing pin abuts against the male head and fixes the male head; when the pull ring indexing pin is located at a second position, the pull ring indexing pin is separated from the male head so that the male head can slide in the slide groove.

8. The modular robotic arm according to claim 1, wherein: The at least one male head includes two male heads, and the two male heads are arranged back to back on both sides of the robotic arm unit in the first direction; the at least one female head includes one or two female heads; when the at least one female head includes two female heads, the two female heads are arranged back to back on both sides of the robotic arm unit in the second direction.

9. The modular robotic arm according to claim 1, wherein: The modular robotic arm also includes an equipment external platform, which is provided with at least one female head and can be combined with the male head of the last robotic arm unit away from the base among the multiple robotic arm units; the equipment external platform is used to install other equipment.

10. The modular robotic arm according to claim 9, characterized in that: The other equipment may be at least one of a welding gun, a clamp, and a suction cup.

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