Mechanical arm

Abstract

According to the mechanical arm, an adapter is provided with a first end and a second end, the first end is rotationally connected with a first shaft body through a rotating mechanism, the second end is rotationally connected with a second shaft body through another rotating mechanism, and the first shaft body and the second shaft body are arranged at an angle; the first shaft body, the adapter and the second shaft body are sequentially connected to form a through core wire pipeline inside, the core wire is arranged in the core wire pipeline, and the transmission mechanism is used for driving the core shaft to reciprocate in the core wire pipeline; a clamping assembly is arranged in the rotating mechanism and can be switched between a restraining state and a releasing state in the reciprocating motion process of the mandrel. When the clamping assembly is in a restrained state, the first end part and the first shaft body cannot rotate relatively, and the second end part and the second shaft body cannot rotate relatively; when the clamping assembly is in the release state, the first end part and the first shaft body can rotate relatively, and the second end part and the second shaft body can rotate relatively. Multi-directional movement of the mechanical arm can be achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical arm, and particularly relates to a mechanical arm. BACKGROUND

[0002] With the continuous development of science and technology, the mechanical arm is also developing towards high precision, high flexibility and high adaptability, and its application field is also expanding, such as medical, automobile, semiconductor, aviation and other fields. In the medical industry, such as in the field of endoscopic surgery, usually multiple doctors or auxiliary personnel are needed to complete the operation together; during the operation, the assistant needs to assist in changing, fixing and maintaining the lens position, which requires the auxiliary personnel to maintain concentration at all times and increases the incoordination of the operation. For example, in the automobile field, when the local surface of the automobile is baked, due to the limited space, the employee needs to hold the baking rack and maintain a certain state for a long time, which is high in work intensity and poor in flexibility during use, resulting in low production efficiency.

[0003] There are two types of mechanical arms or auxiliary mechanical arm devices in the industry at present, namely manual type and automatic control type.

[0004] For the manual type, part of them are realized by XYZ three-axis movement (movement + rotation), and the disadvantages are obvious, which are not flexible enough and need to adjust each axis movement step by step; another part is realized by shaft / rod / gear connection to realize the change of any spatial position, but it cannot realize the movement and fixation of the mechanical arm at any position by simple external force input (under the action of non-destructive external force, the mechanical arm does not displace), which is mainly because most of the mechanical arm structures are simply hinged and fixed by adjacent structures, and the whole is relatively fixed by the friction / supporting force in the component, which leads to the displacement of the local or overall position under the action of external force.

[0005] For the automatic control type, most of them use servo motors / cylinders as driving force to realize the change, positioning and fixation of space, but they face the shortcomings of expensive equipment, high operation space requirement, need for special auxiliary personnel and poor adaptability.

[0006] Therefore, the industry needs a more convenient mechanical arm that can realize multi-directional movement. SUMMARY

[0007] The purpose of the present application is to provide a mechanical arm which realizes multi-directional movement control by the cooperation of the penetrating core wire and the detent assembly in the rotating mechanism.

[0008] To achieve the above object, the application provides a mechanical arm, which comprises a transmission mechanism, a first shaft body, a second shaft body, an adapter, and a core wire; the adapter has a first end and a second end, the first end is rotationally connected with the first shaft body by a rotation mechanism, the second end is rotationally connected with the second shaft body by another rotation mechanism, the first end and the second end are arranged at an angle to make the first shaft body and the second shaft body arranged at an angle; the first shaft body, the adapter, and the second shaft body are sequentially connected to form a through core wire pipeline inside, the core wire is arranged in the core wire pipeline, and the transmission mechanism is used to drive the core wire to reciprocate in the core wire pipeline; the rotation mechanism is provided with a detent assembly, the detent assembly can be switched between a constraint state and a release state during the reciprocation of the core wire; when the detent assembly is in the constraint state, the first end and the first shaft body cannot rotate relative to each other, and the second end and the second shaft body cannot rotate relative to each other; when the detent assembly is in the release state, the first end and the first shaft body can rotate relative to each other, and the second end and the second shaft body can rotate relative to each other.

[0009] Optionally, the rotation mechanism comprises a first core shaft pipe, the first core shaft pipe is sleeved outside the core wire, a first accommodating groove is formed in the outer wall of the first core shaft pipe, and a first perforation is formed in the bottom of the first accommodating groove; the detent assembly comprises a first connecting piece and a first clamping block, the first connecting piece is connected with the core wire and the first connecting piece is connected with the first clamping block, the first connecting piece passes through the first perforation, and the first clamping block is matched with the first accommodating groove and can be accommodated in the first accommodating groove; the first shaft body and the second shaft body are both provided with an inner pipe, the inner pipe is sleeved outside the first core shaft pipe and rotationally connected with the first core shaft pipe, a second accommodating groove is formed in the inner wall of the inner pipe, and the opening of the second accommodating groove is arranged opposite to the opening of the first accommodating groove, the first clamping block is matched with the second accommodating groove and can be accommodated in the second accommodating groove, so that when the core wire reciprocates in the core wire pipeline, the first connecting piece drives the first clamping block to reciprocate between the first accommodating groove and the second accommodating groove.

[0010] Optionally, the first clamping block, the first accommodating groove, the second accommodating groove, the first connecting piece, the first clamping block, the first connecting piece, the first accommodating groove, and the second accommodating groove are one-to-one correspondingly arranged, and the first clamping block, the first connecting piece, the first accommodating groove, and the second accommodating groove are uniformly arranged along the circumference of the core wire.

[0011] Optionally, the rotating mechanism includes a first mandrel tube, which is sleeved on the outside of the mandrel wire. The outer wall of the first mandrel tube has a first receiving groove, and the bottom of the first receiving groove has a first through hole. The locking assembly includes a first connector and a first locking block. The first connector is connected to the mandrel wire and the first connector is connected to the first locking block. The first connector passes through the first through hole. The first locking block is adapted to the first receiving groove and can be accommodated in the first receiving groove. Both the first shaft and the second shaft are provided with an inner tube. The inner tube is sleeved on the outside of the first mandrel tube and rotatably connected to the first mandrel tube. The inner wall of the inner tube is uniformly provided with a second receiving groove. The end of the first locking block away from the first receiving groove has a first external protrusion. The first external protrusion is adapted to the second receiving groove and can be accommodated in the second receiving groove, so that when the mandrel wire reciprocates in the mandrel wire tube, the first connector drives the first locking block to reciprocate in the direction closer to the first receiving groove and in the direction away from the first receiving groove, so that the first external protrusion can be inserted into or pulled out of the second receiving groove.

[0012] Optionally, a first elastic element is provided between the first card block and the bottom of the first receiving groove.

[0013] Optionally, the first card block has a first inner protrusion in the direction of the bottom of the first receiving groove. The first inner protrusion passes through the first elastic member and can pass through the first through hole. The first connector is connected to the first inner protrusion.

[0014] Optionally, the rotating mechanism further includes a first outer tube, which is sleeved outside the first mandrel tube. The first shaft and the second shaft are also provided with a second outer tube. The end of the second outer tube is provided with an insertion part arranged along the axial direction of the second outer tube. The second outer tube is inserted into the first outer tube through the insertion part and is rotatably connected to the first outer tube.

[0015] Optionally, the insertion part is provided with a rotating component, and the second outer tube and the first outer tube are rotatably connected by the rotating component.

[0016] Optionally, the transmission mechanism includes a pressing handle, a limiting rod, a second elastic element, a slider, a slide groove, a connecting rod, and a driving element; the second elastic element is sleeved outside the limiting rod, one end of the limiting rod is connected to the pressing handle, the other end of the limiting rod is connected to the slider, the slider is slidably connected to the slide groove, the limiting rod can reciprocate within the slide groove, the second elastic element is fixed to one end of the slide groove, one end of the connecting rod is hinged to the slider, the other end of the connecting rod is hinged to the driving element, and the driving element is connected to the core wire.

[0017] Optionally, it also includes a fixed seat, which is disposed at one end of the robotic arm. The fixed seat is rotatably connected to the first shaft or the second shaft by another rotating mechanism. When the locking assembly is in a constrained state, the fixed seat cannot rotate relative to the first shaft or the second shaft. When the locking assembly is in a released state, the fixed seat can rotate relative to the first shaft or the second shaft.

[0018] The robotic arm provided by this invention has the following beneficial effects:

[0019] This invention provides a robotic arm, comprising a transmission mechanism, a first shaft, a second shaft, a connector, and a core wire. The connector has a first end and a second end. The first end is rotatably connected to the first shaft via a rotating mechanism, and the second end is rotatably connected to the second shaft via another rotating mechanism. The first end and the second end are angled to the first shaft and the second shaft. The first shaft, the connector, and the second shaft are sequentially connected to form a through core wire channel. The core wire is disposed within the core wire channel. The transmission mechanism drives the core wire to reciprocate within the core wire channel. The rotating mechanism includes a locking component that can switch between a constrained state and a released state during the reciprocating motion of the core wire. When the locking component is in the constrained state, the first end and the first shaft cannot rotate relative to each other, and the second end and the second shaft cannot rotate relative to each other. When the locking component is in the released state, the first end and the first shaft can rotate relative to each other, and the second end and the second shaft can rotate relative to each other. With this configuration, when multi-directional movement of the robotic arm is required during the use of this invention, the core wire moves to the locking assembly to achieve a released state, thereby allowing the first end to rotate relative to the first shaft and the second end to rotate relative to the second shaft. After the robotic arm has moved to the operator's target position, the core wire moves to the locking assembly to achieve a constrained state, preventing the first end from rotating relative to the first shaft and the second end from rotating relative to the second shaft, thus fixing the state of the robotic arm. By utilizing the through-wire and the locking assembly in the rotating mechanism, multi-directional movement control of the robotic arm can be achieved. Attached Figure Description

[0020] Figure 1 A schematic diagram of the overall structure of a robotic arm provided in a first perspective according to an embodiment of the present invention;

[0021] Figure 2 A schematic diagram of the overall structure of a robotic arm provided in a second perspective according to an embodiment of the present invention;

[0022] Figure 3 A cross-sectional view of the internal structure of the rotating mechanism of the robotic arm provided in the first embodiment of the present invention;

[0023] Figure 4 A schematic diagram of the overall structure of the first spindle tube of the rotating mechanism of a robotic arm provided in an embodiment of the present invention;

[0024] Figure 5 This is a cross-sectional view of the internal structure of a robotic arm provided in an embodiment of the present invention;

[0025] Figure 6 A cross-sectional view of the inner tube of a robotic arm provided in a second embodiment of the present invention;

[0026] Figure 7 A schematic diagram showing the connection relationship between the first mandrel tube and the positioning assembly of the robotic arm provided in the second embodiment of the present invention;

[0027] Figure 8 A schematic diagram of the overall structure of the first locking block of the locking assembly of the robotic arm provided in the second embodiment of the present invention;

[0028] Figure 9 A schematic diagram of the release state of the locking assembly of the robotic arm provided in the second embodiment of the present invention;

[0029] Figure 10 A schematic diagram of the constraint state of the locking assembly of the robotic arm provided in the second embodiment of the present invention;

[0030] Figure 11 A schematic diagram showing the positional relationship between the first outer protrusion and the second receiving groove of the positioning component of the robotic arm provided in the second embodiment of the present invention;

[0031] Figure 12 A schematic diagram of the overall structure of the transmission mechanism of a robotic arm provided in an embodiment of the present invention;

[0032] Figure 13 An axial view of the transmission mechanism of a robotic arm provided in an embodiment of the present invention;

[0033] Figure 14 A schematic diagram of the overall structure of the drive component of the transmission mechanism of a robotic arm provided in an embodiment of the present invention;

[0034] Figure 15 A schematic diagram showing the connection relationship between the slider and the fixed groove of the transmission mechanism of a robotic arm according to an embodiment of the present invention;

[0035] Figure 16 This is a schematic diagram of the overall structure of the slider of the transmission mechanism of a robotic arm according to an embodiment of the present invention.

[0036] Figure 17 A schematic diagram illustrating the connection relationship between the first axis of a robotic arm and an adapter according to an embodiment of the present invention;

[0037] Figure 18 A schematic diagram of the overall structure of the gripper of the robotic arm provided in an embodiment of the present invention;

[0038] Figure 19 This is an exploded view of the structure of the fixing base of the robotic arm provided in an embodiment of the present invention;

[0039] Figure 20 A cross-sectional view of the internal structure of the mounting base of a robotic arm provided in an embodiment of the present invention;

[0040] Figure 21 A front view of the rotation axis of the fixed base of a robotic arm according to an embodiment of the present invention;

[0041] Figure 22 A cross-sectional view of the rotation axis of the fixed base of a robotic arm according to an embodiment of the present invention;

[0042] Figure 23 This is a schematic diagram showing the connection relationship between the fixed base of the robotic arm and the first or second shaft according to an embodiment of the present invention.

[0043] The attached figures are labeled as follows:

[0044] 100-Clamping component; 111-Clamping component body; 112-Gripper; 113-Fastener

[0045] 200-Front end shaft; 211-Press handle; 212-Second elastic element; 213-Slider; 2131-Limiting rod; 2132-Connecting plate; 2133-Slider limiting part; 214-Connecting rod; 215-Fixed groove; 2150-Groove slide rail; 216-Driver limiting part; 2160-Through hole; 2170-Opening groove; 2171-Limiting groove; 2172-Clocking element; 218-Core wire; 2180-Core wire tube;

[0046] 300 - Adapter; 311 - Second outer tube; 312 - First fixed bushing; 313 - First fixed bushing fastener;

[0047] 400-Mid-end Shaft;

[0048] 402-First elastic body; 403-First locking block; 4031-First outer protrusion; 4032-First inner protrusion; 40310-Rope loop hole; 404-First connector; 405-First receiving groove; 406-First through hole; 407-Second receiving groove; 410-Inner tube; 411-First outer tube; 412-First mandrel tube; 413-Seal; 414-Rotating component; 415-Bearing fixing component;

[0049] 500-rear end shaft;

[0050] 600-Fixed seat; 611-Fixed seat body; 612-Rotating shaft; 6120-Slot; 613-Second spindle tube; 614-Second fixed bushing; 615-Fixed seat bearing; 601-Third receiving groove; 602-Third elastic element; 603-Second locking block; 604-Second through hole; 605-Second inner protrusion; 606-Central hole; 607-Fourth receiving groove. Detailed Implementation

[0051] To make the objectives, advantages, and features of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and are not drawn to scale, and are only used to facilitate and clarify the explanation of the embodiments of this invention. Furthermore, the structures shown in the drawings are often part of the actual structures. In particular, different figures may emphasize different aspects and may sometimes use different scales.

[0052] It should be understood that when an element or layer is referred to as "on" or "connected to" other elements or layers, it may be directly on or connected to other elements or layers, or there may be intervening elements or layers. Conversely, when an element is referred to as "directly on" or "directly connected to" other elements or layers, there are no intervening elements or layers. Although the terms first, second, third, etc., may be used to describe various elements, components, areas, layers, and / or portions, these elements, components, areas, layers, and / or portions should not be limited by these terms. These terms are only used to distinguish one element, component, area, layer, or portion from another element, component, area, layer, or portion. Therefore, without departing from the teachings of this invention, the first element, component, area, layer, or portion discussed below may be referred to as a second element, component, area, layer, or portion. Spatial relation terms such as "below," "under," "below," "above," "on top," "above," etc., may be used herein for convenience of description to describe the relationship between one element or feature shown in the figures and other elements or features. It should be understood that, in addition to the orientations shown in the figures, spatial relational terms are intended to also include different orientations of the devices in use and operation. For example, if the devices in the figures are flipped, then elements or features described as “below,” “under,” or “below” will be oriented “on” other elements or features. Devices may be oriented additionally (rotated 90 degrees or otherwise) and the spatial descriptive terms used herein will be interpreted accordingly. The terminology used herein is intended only to describe particular embodiments and is not intended to limit the invention. When used herein, the singular forms “a,” “an,” and “the” are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “comprising” is used to identify the presence of features, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups. When used herein, the terms “and / or” include any and all combinations of the associated listed items.

[0053] The purpose of this invention is to provide a robotic arm that utilizes a through-through core wire 218 and a locking component in a rotating mechanism to achieve multi-directional movement control.

[0054] To achieve the above objectives, the present invention provides a robotic arm, comprising a transmission mechanism, a first shaft, a second shaft, a connector, and a core wire 218;

[0055] The adapter has a first end and a second end. The first end is rotatably connected to the first shaft by a rotating mechanism, and the second end is rotatably connected to the second shaft by another rotating mechanism. The first end and the second end are set at an angle so that the first shaft and the second shaft are set at an angle.

[0056] The first shaft, the adapter, and the second shaft are connected in sequence to form a through core wire 218 channel inside. The core wire 218 is disposed in the core wire 218 channel, and the transmission mechanism is used to drive the core wire 218 to reciprocate in the core wire 218 channel.

[0057] The rotating mechanism is provided with a locking component, which can switch between a constrained state and a released state during the reciprocating motion of the core wire 218.

[0058] When the locking assembly is under constraint, the first end cannot rotate relative to the first shaft, and the second end cannot rotate relative to the second shaft;

[0059] When the locking assembly is in the released state, the first end can rotate relative to the first shaft, and the second end can rotate relative to the second shaft.

[0060] With this configuration, when multi-directional movement of the robotic arm is required during the use of this invention, the core wire 218 moves to the locking assembly to achieve a released state, thereby allowing the first end to rotate relative to the first shaft and the second end to rotate relative to the second shaft. After the robotic arm has moved to the operator's target position, the core wire 218 moves to the locking assembly to achieve a constrained state, preventing the first end from rotating relative to the first shaft and the second end from rotating relative to the second shaft, thus fixing the state of the robotic arm. This allows for multi-directional movement control of the robotic arm through the cooperation of the through core wire 218 and the locking assembly in the rotating mechanism.

[0061] The technical principles of the present invention will be described in detail below with reference to specific embodiments. It should be understood that the embodiments are preferred technical solutions of the present invention, and the present invention is not limited to the embodiments.

[0062] Please refer to Figure 1 and Figure 2 , Figure 1 A schematic diagram of the overall structure of a robotic arm provided in a first perspective according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the overall structure of a robotic arm provided in an embodiment of the present invention from a second perspective. (See diagram below.) Figure 1 and Figure 2As shown, in a specific exemplary embodiment, the robotic arm includes a front axis 200, a middle axis, and a rear axis 500. The front axis 200 and the middle axis are connected by the adapter, and the middle axis and the rear axis 500 are also connected by the adapter. If we examine the front axis 200 and the middle axis separately, the front axis 200 can be considered as the first axis, and the middle axis as the second axis. Similarly, if we examine the middle axis and the rear axis 500 separately, the middle axis can be considered as the first axis, and the rear axis 500 as the second axis; further details will not be elaborated here.

[0063] Based on this, we can understand the technical solution of the present invention. Figure 1 and Figure 2 The method of using the robotic arm involves utilizing the transmission mechanism to release the core wire 218 when multi-directional movement of the robotic arm is required. This allows the adapter to rotate relative to the front shaft 200, the middle shaft, and the rear shaft 500. After the robotic arm has moved to the operator's target position, the core wire 218 is moved back to the locking assembly to constrain it. This prevents the adapter from rotating relative to the front shaft 200, the middle shaft, and the rear shaft 500, thus fixing the robotic arm's position. The multi-directional movement control of the robotic arm is achieved through the cooperation of the through core wire 218 and the locking assembly in the rotation mechanism.

[0064] For details, please refer to Figure 3 , Figure 3 This is a cross-sectional view of the internal structure of the rotating mechanism of the robotic arm provided in the first embodiment of the present invention.

[0065] like Figure 3 As shown, the rotating mechanism includes a first mandrel tube, which is sleeved on the outside of the core wire 218. A first receiving groove is formed on the outer wall of the first mandrel tube, and a first through hole 406 is formed at the bottom of the first receiving groove.

[0066] The locking assembly includes a first connector and a first locking block. The first connector is connected to the core wire 218 and the first connector is connected to the first locking block. The first connector passes through the first through hole 406. The first locking block is adapted to the first receiving groove and can be accommodated in the first receiving groove.

[0067] Both the first shaft and the second shaft are provided with an inner tube. The inner tube is sleeved outside the first mandrel tube and rotatably connected to the first mandrel tube. The inner wall of the inner tube is provided with a second receiving groove. The opening of the second receiving groove is opposite to the opening of the first receiving groove. The first locking block is adapted to the second receiving groove and can be accommodated in the second receiving groove, so that when the mandrel 218 reciprocates in the mandrel 218 tube, the first connector drives the first locking block to reciprocate between the first receiving groove and the second receiving groove.

[0068] With this configuration, when the transmission mechanism drives the core wire 218 to move, the core wire 218 drives the first connecting member to move synchronously, thereby the first connecting member drives the first locking block to move. When the first locking block moves into the first receiving groove, the first locking block will not jam the second receiving groove, thus allowing the inner tube to rotate relative to the first mandrel tube. Since the core wire 218 runs through the entire core wire 218 tube and passes through all the adapters, the above states are formed synchronously, causing the adapter to rotate relative to the front end shaft 200, the middle end shaft, and the rear end shaft 500, corresponding to the release state. When the first locking block moves into the second receiving groove, the first locking block engages with the second receiving groove. Since the core wire 218 and the first connector are still connected to the locking block to form a constraint, the locking connection of the inner tube is achieved. At this time, the inner tube cannot rotate relative to the first mandrel tube. Similarly, since the core wire 218 runs through the entire core wire 218 tube and passes through all the adapters, the above states are formed synchronously. Thus, the adapter, the front end shaft 200, the middle end shaft, and the rear end shaft 500 cannot rotate relative to each other at this time, corresponding to the constraint state.

[0069] For further information, please refer to the following: Figure 3 and Figure 4 , Figure 4 This is a schematic diagram of the overall structure of the first mandrel tube of the rotating mechanism of a robotic arm according to an embodiment of the present invention. In an exemplary embodiment, there are multiple first locking blocks, multiple first receiving slots, multiple second receiving slots, and multiple first connecting members. The first locking blocks, first connecting members, first receiving slots, and second receiving slots are arranged in a one-to-one correspondence. The first locking blocks, first connecting members, first receiving slots, and second receiving slots are all uniformly arranged circumferentially along the mandrel 218, thereby achieving circumferentially uniform constraint.

[0070] Further, please refer to Figure 5 , Figure 5 This is a cross-sectional view of the internal structure of a robotic arm provided according to an embodiment of the present invention. Figure 5As shown, a first fixed bushing can be installed in the hollow space inside the robotic arm for fixed support. The first fixed bushing fastener can be attached to the end face by screws to limit and position the first fixed bushing.

[0071] For preferred options, please refer to [the following]. Figure 6 to Figure 11 , Figure 6 A cross-sectional view of the inner tube of a robotic arm provided in a second embodiment of the present invention; Figure 7 A schematic diagram showing the connection relationship between the first mandrel tube and the positioning assembly of the robotic arm provided in the second embodiment of the present invention; Figure 8 A schematic diagram of the overall structure of the first locking block of the locking assembly of the robotic arm provided in the second embodiment of the present invention; Figure 9 A schematic diagram of the release state of the locking assembly of the robotic arm provided in the second embodiment of the present invention; Figure 10 A schematic diagram of the constraint state of the locking assembly of the robotic arm provided in the second embodiment of the present invention; Figure 11 This is a schematic diagram showing the positional relationship between the first outer protrusion 4032 and the second receiving groove of the positioning assembly of the robotic arm provided in a second embodiment of the present invention. Figure 6 to Figure 11 As shown, the second embodiment differs from the first embodiment in that the shape of the first card block is different.

[0072] In such Figure 6 to Figure 11 In the second embodiment shown, the rotating mechanism includes a first mandrel tube, which is sleeved on the outside of the core wire 218. A first receiving groove is formed on the outer wall of the first mandrel tube, and a first through hole 406 is formed at the bottom of the first receiving groove.

[0073] The locking assembly includes a first connector and a first locking block. The first connector is connected to the core wire 218 and the first connector is connected to the first locking block. The first connector passes through the first through hole 406. The first locking block is adapted to the first receiving groove and can be accommodated in the first receiving groove.

[0074] Both the first shaft and the second shaft are provided with an inner tube. The inner tube is sleeved outside the first mandrel tube and rotatably connected to the first mandrel tube. The inner wall of the inner tube is uniformly provided with a second receiving groove. The end of the first locking block away from the first receiving groove is provided with a first external protrusion 4032. The first external protrusion 4032 is adapted to the second receiving groove and can be accommodated in the second receiving groove, so that when the mandrel 218 reciprocates in the mandrel 218 tube, the first connector drives the first locking block to reciprocate in the direction close to the first receiving groove and in the direction away from the first receiving groove, so that the first external protrusion 4032 can be inserted into or pulled out of the second receiving groove.

[0075] With this configuration, when the transmission mechanism drives the core wire 218 to move, the core wire 218 drives the first connecting member to move synchronously, thereby the first connecting member drives the first locking block to move. When the first locking block moves into the first receiving groove, the first locking block will not jam the second receiving groove, thus allowing the inner tube to rotate relative to the first mandrel tube. Since the core wire 218 runs through the entire core wire 218 tube and passes through all the adapters, the above states are formed synchronously, causing the adapter to rotate relative to the front end shaft 200, the middle end shaft, and the rear end shaft 500, corresponding to the release state. When the first outer protrusion 4032 of the first locking block moves into the second receiving groove, the first outer protrusion 4032 of the first locking block is locked into the second receiving groove. Since the core wire 218 and the first connector are still connected to the locking block to form a constraint, the locking connection of the inner tube is realized. At this time, the inner tube cannot rotate relative to the first mandrel tube. Similarly, since the core wire 218 runs through the entire core wire 218 tube and passes through all the adapters, the above states are formed synchronously. Thus, the adapter and the front end shaft 200, the middle end shaft and the rear end shaft 500 cannot rotate relative to each other at this time, corresponding to the constraint state.

[0076] The second embodiment optimizes the first embodiment by proposing a first external protrusion 4032, the width of which should be smaller than the body of the first locking block. If, according to the first embodiment, the first external protrusion 4032 is not considered for locking the second receiving groove, and only the body of the first locking block is considered for locking the second receiving groove, then the width of the second receiving groove would have a larger requirement. This would result in a smaller number of second receiving grooves that can be set throughout the entire circumference, leading to a locking position that can only achieve a few angles. To allow switching between the release state and the constraint state at any rotation angle, the number of second receiving grooves throughout the entire circumference must be increased, and the width of each second receiving groove must be reduced, so that several second receiving grooves are evenly distributed along the circumference of the first mandrel tube. Thus, when the first locking block moves away from the first receiving groove, the first external protrusion 4032 is inserted into the currently aligned second receiving groove. For details, please refer to... Figure 11 Each of the second receiving slots shall have a first guide slope on its sidewall, and the external protrusion shall have a second guide slope that is adapted to the first guide slope on the sidewall of the second receiving slot, so that even if the external protrusion is not completely aligned with the second receiving slot, but is aligned with the sidewall of any of the second receiving slots, the external protrusion can still slide into the second receiving slot using the first guide slope and the second guide slope.

[0077] Please continue to refer to this. Figure 6 to Figure 11 ,like Figure 6 to Figure 11 As shown, a first elastic element is provided between the bottom of the first locking block and the first receiving groove. This arrangement allows the first elastic element to self-reset the first locking block, assisting in switching between the released state and the constrained state. For example, the operator first applies a constraint to the transmission mechanism, causing the transmission mechanism to drive the core wire 218 to move. The core wire 218 drives the first connecting member, and the first connecting member drives the first locking block to move into the first receiving groove, entering the released state. At this time, the first elastic element is compressed, generating a spring force on the first locking block. After the operator releases the constraint on the transmission mechanism, the first elastic element springs the first locking block back. At this time, the outer protrusion of the first locking block is squeezed into the second receiving groove by the elastic element, entering the constrained state.

[0078] Please continue to refer to this. Figure 6 to Figure 11 ,like Figure 6 to Figure 11 As shown, the first locking block has a first inner protrusion 4031 facing the bottom of the first receiving groove. The first inner protrusion 4031 passes through the first elastic member and can pass through the first through hole 406. The first connecting member is connected to the first inner protrusion 4031. When the first locking block moves into the first receiving groove, the first inner protrusion 4031 can be accommodated by the first through hole 406. The first connecting member can be a loop, using the loop hole to constrain the first inner protrusion 4031.

[0079] Please continue to refer to this. Figure 3 ,like Figure 3 As shown, the rotating mechanism further includes a first outer tube, which is sleeved outside the first mandrel tube. Both the first and second shafts are also provided with second outer tubes. The end of the second outer tube has an insertion portion arranged axially along the second outer tube. The second outer tube is inserted into the first outer tube via the insertion portion and is rotatably connected to the first outer tube. Specifically, a rotating component is provided within the insertion portion, and the second outer tube and the first outer tube are rotatably connected via the rotating component. In an exemplary embodiment, the rotating component is a bearing, thereby facilitating relative rotation between the adapter and the front end shaft 200, the middle shaft, and the rear end shaft 500. A bearing fixing component 415 and a seal can be provided to further stabilize the bearing and prevent external contact with the bearing from causing corrosion or affecting its movement.

[0080] The transmission mechanism is described in detail below.

[0081] Please refer to Figure 12 to Figure 17 , Figure 12A schematic diagram of the overall structure of the transmission mechanism of a robotic arm provided in an embodiment of the present invention; Figure 13 An axial view of the transmission mechanism of a robotic arm provided in an embodiment of the present invention;

[0082] Figure 14 A schematic diagram of the overall structure of the drive component of the transmission mechanism of a robotic arm provided in an embodiment of the present invention;

[0083] Figure 15 A schematic diagram showing the connection relationship between the slider 213 and the fixed groove 215 of the transmission mechanism of the robotic arm provided in an embodiment of the present invention; Figure 16 A schematic diagram of the overall structure of the slider 213 of the transmission mechanism of a robotic arm provided in an embodiment of the present invention; Figure 17 This is a schematic diagram showing the connection relationship between the first axis of the robotic arm and the adapter, provided in an embodiment of the present invention.

[0084] like Figure 12 to Figure 17 As shown, the transmission mechanism includes a pressing handle 211, a limiting rod 2131, a second elastic element 212, a slider 213, a slide groove (not marked in the figure), a connecting rod 214, and a driving element 216.

[0085] The second elastic element 212 is sleeved outside the limiting rod 2131. One end of the limiting rod 2131 is connected to the pressing handle 211, and the other end of the limiting rod 2131 is connected to the slider 213. The slider 213 is slidably connected to the slide groove, and the limiting rod 2131 can reciprocate within the slide groove. The second elastic element 212 is fixed to one end of the slide groove. One end of the connecting rod 214 is hinged to the slider 213, and the other end of the connecting rod 214 is hinged to the driving member 216. The driving member 216 is connected to the core wire 218.

[0086] When the operator presses the pressing handle 211, it is equivalent to the operator applying a constraint to the transmission mechanism. At this time, the limiting rod 2131 is driven, thereby causing the slider 213 to slide into the groove. Simultaneously, the slider 213 drives the connecting rod 214, the connecting rod 214 drives the driving member 216, and the driving member 216 drives the core wire 218. The driving member 216 may have a through hole 2160, through which the core wire 218 passes, thereby realizing that the driving member 216 is sleeved and connected to the outer periphery of the core wire 218. The connecting rod 214 can be hinged to both the slider limiting part 2133 and the driving member limiting part 2161.

[0087] When the transmission mechanism is located in the front shaft 200, an opening slot 2170 and a limiting slot 2171 can be provided. The opening slot 2170 provides an installation position for the pressing handle 211, and the limiting slot 2171 restricts the fixed groove 215. The fixed groove 215 provides sliding space for the slider 213 and the driving member 216, i.e., the sliding groove is located inside the fixed groove 215, and the surface of the fixed groove 215 is provided with a groove slide rail 2150 for the sliding of the driving member 216. The limiting rod 2131 and the slider 213 can be connected by a connecting plate 2132 to provide installation space for other components. The front shaft 200 and the adapter can also not rotate relative to each other. In this case, a locking member 2172, such as a boss or a slot, is provided between the front shaft 200 and the adapter to prevent relative rotation between them.

[0088] Please refer to Figure 18 , Figure 18 This is a schematic diagram of the overall structure of a gripper 100 for a robotic arm according to an embodiment of the present invention. The gripper 100 may be provided at one end of the robotic arm to realize the gripping function. The gripper 100 may include a gripper body 111, a gripper 112 and a fastener 113. The fastener 113 is used to adjust the opening degree of the gripper 112.

[0089] Please refer to Figure 19 to Figure 23 , Figure 19 An exploded view of the structure of the mounting base 600 of the robotic arm provided in an embodiment of the present invention; Figure 20 A cross-sectional view of the internal structure of the mounting base 600 of a robotic arm provided in an embodiment of the present invention; Figure 21 This is a front view of the rotation axis 612 of the mounting base 600 of the robotic arm provided in an embodiment of the present invention; Figure 22 A cross-sectional view of the rotation shaft 612 of the mounting base 600 of the robotic arm provided in an embodiment of the present invention; Figure 23 This is a schematic diagram showing the connection relationship between the fixed base 600 of the robotic arm and the first or second shaft, according to an embodiment of the present invention.

[0090] like Figure 19 to Figure 23 As shown, it further includes a fixed base 600, which is disposed at one end of the robotic arm. The fixed base 600 is rotatably connected to the first shaft or the second shaft by another rotating mechanism.

[0091] When the locking assembly is under constraint, the fixed seat 600 cannot rotate relative to the first shaft or the second shaft;

[0092] When the locking assembly is in the released state, the fixing seat 600 can rotate relative to the first shaft or the second shaft.

[0093] The fixing base 600 may include a fixing base 600 body, a rotating shaft 612, a second mandrel tube 613, a second locking block 603, a second inner protrusion 605, a second outer protrusion, a third elastic element 602, a second connecting element, a second fixing bushing 614, a fixing base 600 bearing, a third receiving groove 601, and a fourth receiving groove 607. The first mandrel tube of the fixing base 600 differs from the first mandrel tube mentioned above in that the middle sidewall of the first mandrel tube of the fixing base 600 has a central hole 606 for the core wire 218 to pass through, and the core wire 218 branches to both sides in the first mandrel tube of the fixing base 600; the second mandrel tube 613 is sleeved on the outside of the branched core wire 218, and the outer wall of the second mandrel tube 613 has a third receiving groove 601, and the bottom of the first receiving groove has a second through hole 604.

[0094] The second connector is connected to the core wire 218 and the second connector is connected to the second locking block 603. The second connector passes through the second through hole 604. The second locking block 603 is adapted to the third receiving groove 601 and can be accommodated in the third receiving groove 601.

[0095] The inner wall of the fixing base 600 is provided with a fourth receiving groove 607. The opening of the fourth receiving groove 607 is opposite to the opening of the third receiving groove 601. The second locking block 603 is adapted to and can be accommodated in the fourth receiving groove 607, so that when the core wire 218 reciprocates in the core wire 218 tube, the second connector drives the second locking block 603 to reciprocate between the third receiving groove 601 and the fourth receiving groove 607. Similarly, the second locking block 603 may also include a second inner protrusion 605 and a second outer protrusion, so that during the reciprocating motion, the second inner protrusion 605 is accommodated in the second through hole 604, and the second outer protrusion is inserted into and pulled out of the fourth receiving groove 607.

[0096] The rotating shaft 612 is sleeved outside the second mandrel tube 613 and rotates synchronously with the second mandrel tube 613. It provides a slot 6120 for connection between the second mandrel tube 613 and the rear end shaft 500. Similarly, the second fixing bushing 614 is used for internal filling and fixing to ensure synchronous rotation of the rotating shaft 612 and the second mandrel tube 613. The fixed seat 600 bearing enables the rotational connection between the rotating shaft 612 and the fixed seat 600 body, thereby achieving the rotational connection between the fixed seat 600 body and the rear end shaft 500. The rear end shaft 500 can be considered either the first shaft or the second shaft. Therefore, the first shaft and the second shaft are representations of the objects of study when investigating the rotational connection state between two entities. In any embodiment, the number of the first shaft and the second shaft is not limited.

[0097] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and relevant parts can be referred to the method section.

[0098] It should also be noted that although the present invention has been disclosed above with reference to preferred embodiments, these embodiments are not intended to limit the present invention. For any person skilled in the art, many possible variations and modifications can be made to the technical solutions of the present invention based on the disclosed technical content, or equivalent embodiments can be modified accordingly, without departing from the scope of the present invention. Therefore, any simple modifications, 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 present invention shall still fall within the scope of protection of the present invention.

[0099] It should also be understood that, unless otherwise specified or indicated, the terms “first,” “second,” “third,” etc., in the specification are used only to distinguish the various components, elements, and steps in the specification, and not to indicate the logical or sequential relationships between the various components, elements, and steps.

[0100] Furthermore, it should be recognized that the terminology described herein is used only to describe particular embodiments and not to limit the scope of the invention. It must be noted that the singular forms “a” and “an” used herein and in the appended claims include plural bases unless the context clearly indicates otherwise. For example, a reference to “a step” or “an apparatus” means a reference to one or more steps or apparatuses, and may include secondary steps and secondary apparatuses. All conjunctions used should be understood in the broadest sense. And the word “or” should be understood to have the definition of logical “or” rather than logical “exclusive OR”, unless the context clearly indicates otherwise. Furthermore, implementation of embodiments of the invention may include performing selected tasks manually, automatically, or in combination.

Claims

1. A robotic arm, characterized in that, Includes a transmission mechanism, a first shaft, a second shaft, a connector, and a core wire; The adapter has a first end and a second end. The first end is rotatably connected to the first shaft by a rotating mechanism, and the second end is rotatably connected to the second shaft by another rotating mechanism. The first end and the second end are set at an angle so that the first shaft and the second shaft are set at an angle. The first shaft, the adapter, and the second shaft are connected in sequence to form a through core wire tube inside, the core wire is disposed in the core wire tube, and the transmission mechanism is used to drive the core wire to reciprocate in the core wire tube; The rotating mechanism is equipped with a locking component, which can switch between a constrained state and a released state during the reciprocating motion of the core wire. When the locking assembly is under constraint, the first end cannot rotate relative to the first shaft, and the second end cannot rotate relative to the second shaft; When the locking assembly is in the released state, the first end can rotate relative to the first shaft, and the second end can rotate relative to the second shaft.

2. The robotic arm as described in claim 1, characterized in that, The rotating mechanism includes a first mandrel tube, which is sleeved on the outside of the core wire. A first receiving groove is formed on the outer wall of the first mandrel tube, and a first through hole is formed at the bottom of the first receiving groove. The locking assembly includes a first connector and a first locking block. The first connector is connected to the core wire and the first connector is connected to the first locking block. The first connector passes through the first through hole, and the first locking block is adapted to the first receiving groove and can be accommodated in the first receiving groove. Both the first shaft and the second shaft are provided with an inner tube. The inner tube is sleeved outside the first mandrel tube and rotatably connected to the first mandrel tube. The inner wall of the inner tube is provided with a second receiving groove. The opening of the second receiving groove is opposite to the opening of the first receiving groove. The first locking block is adapted to the second receiving groove and can be accommodated in the second receiving groove, so that when the mandrel reciprocates in the mandrel tube, the first connector drives the first locking block to reciprocate between the first receiving groove and the second receiving groove.

3. The robotic arm as described in claim 2, characterized in that, There are multiple first card blocks, multiple first receiving slots, multiple second receiving slots, and multiple first connecting members. The first card blocks, the first connecting members, the first receiving slots, and the second receiving slots are arranged in a one-to-one correspondence. The first card blocks, the first connecting members, the first receiving slots, and the second receiving slots are all evenly arranged along the circumference of the core wire.

4. The robotic arm as described in claim 1, characterized in that, The rotating mechanism includes a first mandrel tube, which is sleeved on the outside of the core wire. A first receiving groove is formed on the outer wall of the first mandrel tube, and a first through hole is formed at the bottom of the first receiving groove. The locking assembly includes a first connector and a first locking block. The first connector is connected to the core wire and the first connector is connected to the first locking block. The first connector passes through the first through hole, and the first locking block is adapted to the first receiving groove and can be accommodated in the first receiving groove. Both the first shaft and the second shaft are provided with an inner tube. The inner tube is sleeved outside the first mandrel tube and rotatably connected to the first mandrel tube. The inner wall of the inner tube is uniformly provided with a second receiving groove in the circumferential direction. The first locking block is provided with a first external protrusion at one end away from the first receiving groove. The first external protrusion is adapted to the second receiving groove and can be accommodated in the second receiving groove, so that when the mandrel moves back and forth in the mandrel tube, the first connector drives the first locking block to move back and forth in the direction close to the first receiving groove and in the direction away from the first receiving groove, so that the first external protrusion can be inserted into or pulled out of the second receiving groove.

5. The robotic arm as described in claim 2 or 4, characterized in that, A first elastic element is provided between the first card block and the bottom of the first receiving groove.

6. The robotic arm as described in claim 5, characterized in that, The first card block has a first inner protrusion facing the bottom of the first receiving groove. The first inner protrusion passes through the first elastic member and can pass through the first through hole. The first connecting member is connected to the first inner protrusion.

7. The robotic arm as described in claim 2 or 4, characterized in that, The rotating mechanism further includes a first outer tube, which is sleeved outside the first mandrel tube. The first shaft and the second shaft are also provided with a second outer tube. The end of the second outer tube is provided with an insertion part arranged along the axial direction of the second outer tube. The second outer tube is inserted into the first outer tube through the insertion part and is rotatably connected to the first outer tube.

8. The robotic arm as described in claim 7, characterized in that, The insertion part is provided with a rotating component, and the second outer tube and the first outer tube are rotatably connected by the rotating component.

9. The robotic arm as described in claim 1, characterized in that, The transmission mechanism includes a pressing handle, a limiting rod, a second elastic element, a slider, a slide groove, a connecting rod, and a driving element; The second elastic element is sleeved outside the limiting rod. One end of the limiting rod is connected to the pressing handle, and the other end of the limiting rod is connected to the slider. The slider is slidably connected to the slide groove. The limiting rod can reciprocate within the slide groove. The second elastic element is fixed to one end of the slide groove. One end of the connecting rod is hinged to the slider, and the other end of the connecting rod is hinged to the driving member. The driving member is connected to the core wire.

10. The robotic arm as described in claim 1, characterized in that, It also includes a fixed base, which is located at one end of the robotic arm and is rotatably connected to the first shaft or the second shaft by another rotating mechanism; When the locking assembly is in a constrained state, the fixed seat cannot rotate relative to the first shaft or the second shaft; When the locking assembly is in the released state, the fixing seat can rotate relative to the first shaft or the second shaft.

Images