Modular arm of robot

Abstract

The robot modular arm comprises an arm body, at least two pipe cavities are formed in the arm body side by side in the axial direction of the arm body, and a tool unit is independently contained in each pipe cavity; the tool unit comprises a telescopic driving device and a connecting seat; the front end of the telescopic driving device is connected with the connecting seat; a tool hand is mounted on the connecting seat through a quick release mechanism, and the telescopic driving device is used for driving the tool hand to linearly move. According to the method, the multi-task operation capability can be realized, and meanwhile, the method has the characteristics of simple structure control logic and rapid switching of the tool units.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology, specifically to a modular robot arm. Background Technology

[0002] In automated operations such as intelligent grasping and precision assembly, balancing the structural complexity and functional adaptability of robotic end effectors capable of multi-task execution is a key technical challenge that the industry needs to address. Currently, the mainstream execution solutions fall into two main categories: The first type is a highly humanoid dexterous hand driven by artificial intelligence. This type of actuator integrates multiple precision joints and sensing units to simulate the complex movements of the human hand, representing the high-tech field of intelligent robotic hands. However, this type of solution has significant drawbacks. For example, the actuator may contain dozens of micro-drive components, transmission joints, and sensing modules. Not only is the structural design and manufacturing extremely difficult and costly, but it also relies on complex AI control algorithms to achieve joint coordination. This results in cumbersome control logic, high computational resource consumption, and the multi-joint linkage structure leads to low reliability, making it difficult to widely apply in mass industrial scenarios.

[0003] The second type is the parallel operation of multiple independent robotic arms, such as the "multi-axis robot" disclosed in patent CN202510393011.9. The core design of this patent is to set up multiple independent multi-degree-of-freedom robotic arms in parallel on the same carrier. Each robotic arm is equipped with complete serial joints, drive components and control units, which can realize multi-task parallel operation. However, this solution also has obvious limitations: each independent robotic arm needs to replicate the complete joint and drive structure, resulting in extremely high redundancy of the overall structure and a large number of parts. This not only greatly increases the manufacturing cost and assembly difficulty, but also the parallel layout of multiple extended robotic arms occupies a lot of space, making it extremely unsuitable for narrow workstations. At the same time, the coordinated movement of multiple robotic arms relies on complex control logic, which not only limits the response speed, but also requires subsequent maintenance and troubleshooting to be handled separately for each arm, resulting in high operation and maintenance costs.

[0004] In summary, the industry urgently needs a robotic arm solution that can achieve rapid switching between multiple tasks, has a simple and reliable structure, and simple control logic, in order to solve the technical problems of complex structure, high cost, and poor space adaptability of existing technologies. Summary of the Invention

[0005] The purpose of this invention is to provide a modular robotic arm that can achieve multi-task operation capabilities while having the characteristics of simple structural control logic and rapid switching of tool units.

[0006] To achieve the above objectives, the technical solution of the present invention is as follows: A modular robotic arm includes an arm body and a tool hand. The arm body has at least two cavities arranged side by side along its axial direction, and each cavity independently houses a tool unit. The tool unit includes a telescopic drive device and a connecting base; The telescopic drive device's telescopic end is connected to the connecting seat; A tool arm is mounted on the connecting seat via a quick-release mechanism, and the telescopic drive device is used to drive the tool arm to move linearly.

[0007] Furthermore, the telescopic drive device includes a stepper motor, a transmission mechanism, and a bracket; the bracket is arranged along the axial direction of the tube cavity, one end of the bracket is fixedly connected to the end face of the stepper motor, and the transmission mechanism is located inside the bracket; The transmission mechanism includes a lead screw and a nut sleeve that is threadedly engaged with the lead screw; the output shaft of the stepper motor is connected to one end of the lead screw and is used to drive the lead screw to rotate; the nut sleeve is threadedly engaged with the lead screw. The inner wall of the bracket is provided with a guide rail along the axial direction; a guide groove adapted to the guide rail is provided on the outer periphery of the nut sleeve, and the guide rail is embedded in the guide groove to constrain the circumferential rotation of the nut sleeve. The rear end of the connecting seat is fixedly connected to the front end of the nut sleeve; Furthermore, the tool unit also includes a rotary drive device; The output end of the rotary drive device is connected to the telescopic drive device, and is used to drive the telescopic drive device to rotate along the axis of the cavity; Furthermore, the tool unit also includes a rotary drive device; The telescopic drive device is fixedly installed on the inner wall of the tube cavity, and the output end of the telescopic drive device is connected to the rotary drive device. The output shaft of the rotary drive device is connected to the connecting seat in a driving manner.

[0008] Furthermore, the tool unit also includes a slip ring, the rotating end of which is fixedly connected to the output shaft of the rotary drive device for rotating synchronously with the telescopic drive device, and the rotating end of which is electrically connected to the telescopic drive device and the connecting seat. The fixed end of the slip ring and the rotating end of the slip ring are in contact with each other, and the fixed end of the slip ring is used to connect an external power supply line or a signal transmission line.

[0009] Furthermore, the quick-release mechanism includes a slot provided on the tool arm and a radially movable elastic locking mechanism provided on the connecting seat; The elastic locking mechanism includes two locking pins that are symmetrically distributed radially along the connecting seat. The inner end of each locking pin is fixedly connected to both ends of a return spring. The outer end of each locking pin is equipped with an unlocking button, and the unlocking button protrudes from both side walls of the connecting seat.

[0010] Furthermore, the contact surfaces of the tool arm and the connector are respectively provided with mutually cooperating electrical connectors.

[0011] Furthermore, the tool hand is one or more of a soft adaptive gripper, a parallel two-finger gripper, or a negative pressure suction gripper.

[0012] Furthermore, the arm body is designed with a mesh or hollow structure.

[0013] Compared to existing technologies, the modular robotic arm of this invention integrates independent tool units in parallel within the arm's tubular cavity, allowing for independent control of rotation and extension. Each tool can be activated individually as needed, achieving rapid multi-tasking response while eliminating the need for complex multi-arm collaborative control logic. Furthermore, the quick-release design of the tool hand further enhances the ease of maintenance and applicability of the equipment, avoiding the redundant drives and space-consuming issues associated with multiple independent robotic arm solutions. Overall, this technology balances multi-tasking functionality with structural simplicity, exhibiting high adaptability to various scenarios, and is particularly suitable for cost-sensitive automation scenarios such as confined spaces and lightweight operations. Attached Figure Description

[0014] Figure 1 A perspective view of a modular robotic arm provided for Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the structure of the tool unit in Embodiment 1 of the present invention; Figure 3 for Figure 2 A schematic diagram of the AA cross-section of the tool unit; Figure 4 This is a schematic diagram of the elastic locking mechanism in the quick-release structure of the present invention; Figure 5 This is a schematic diagram of the overall structure of Embodiment 2 of the present invention; In the diagram: 1. Arm body; 2. Tube cavity; 3. Tool arm; 4.1. Stepper motor; 4.2. Lead screw; 4.3. Nut sleeve; 4.4. Bracket; 5. Rotary drive device; 6. Connecting seat; 7.1. Slip ring fixed end; 7.2. Slip ring rotating end; 8. Unlock button; 9. Locking pin; 10. Return spring. Detailed Implementation

[0015] The present invention will be further described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The terms such as "upper," "lower," "left," and "right" used in this specification are only for the convenience of description and are not intended to limit the scope of the present invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered as within the scope of the present invention.

[0016] Example 1 Reference Appendix Figure 1 As shown in the figure, this embodiment provides a modular robot arm. The present invention integrates multiple functional tools into a single arm body 1, and realizes efficient tool switching and complex operations through a built-in rapid extension and rotation mechanism.

[0017] The robotic arm mainly comprises an arm body 1. The arm body 1 serves as a load-bearing structure, and multiple independent cavities 2 are arranged parallel to each other along the axial direction inside the arm body 1. In this embodiment, three cavities are used as an example, but in practice, one, two, or the number of cavities 2 can be customized according to operational requirements; no limitation is made here. Each cavity 2 contains an independently operating tool unit.

[0018] like Figure 2 , 3 As shown, the tool unit includes a telescopic drive device, a rotary drive device 5, and a connecting seat 6.

[0019] The rotary drive device 5 is fixedly installed at the tail end of the inner wall of the tube cavity 2. The output shaft of the rotary drive device 5 is connected to the telescopic drive device for transmission. The rotary drive device 5 is used to drive the entire telescopic drive device to rotate around the axis of the tube cavity 2.

[0020] The telescopic drive device includes a stepper motor 4.1, a transmission mechanism, and a bracket 4.4. The bracket 4.4 is axially arranged along the cavity 2, and one end of the bracket 4.4 is fixedly connected to the end face of the stepper motor 4.1. The transmission mechanism is located inside the bracket 4.4. Specifically, the output shaft of the stepper motor 4.1 is connected to the transmission mechanism to provide rotational power. The transmission mechanism converts the rotational motion output by the motor into linear motion. The transmission mechanism includes a lead screw 4.2 and a nut sleeve 4.3 that is threadedly engaged with the lead screw. The output shaft of the stepper motor 4.1 is connected to one end of the lead screw 4.2 to drive the lead screw 4.2 to rotate. The nut sleeve 4.3 is threadedly engaged with the lead screw 4.2. A guide rail is axially arranged on the inner wall of the bracket 4.4. A guide groove adapted to the guide rail is provided on the outer periphery of the nut sleeve 4.3, and the guide rail is embedded in the guide groove. The nut sleeve 4.3 is constrained to rotate circumferentially, so that when the lead screw 4.2 rotates, the nut sleeve 4.3 moves linearly along the axial direction. The rear end of the connecting seat 6 is fixedly connected to the front end of the nut sleeve 4.3, so that the nut sleeve 4.3 drives the connecting seat 6 to move linearly together.

[0021] The tool arm 3, acting as an end effector, is mounted on the front end of the connecting base 6 via a quick-release mechanism. The quick-release mechanism includes a slot on the tool arm 3 and a radially movable elastic locking mechanism on the connecting base 6. Specifically, as... Figure 4 As shown, the elastic locking mechanism includes two locking pins 9 and two unlocking buttons 8 symmetrically arranged on the connecting seat 6. Each unlocking button 8 is fixedly connected to one locking pin 9, and the two locking pins 9 are fixed to both ends of a return spring 10. The return spring 10 provides a constant outward ejection force to the locking pins 9. The tool arm 3 has two slots corresponding to the positions of the locking pins 9.

[0022] The contact surfaces of the tool arm 3 and the connector 6 are respectively provided with mutually cooperating electrical connectors. In this embodiment, the tool arm 3 is equipped with an electrical connector consisting of multiple spring probes, and the center of the connector 6 is equipped with a contact point corresponding to the spring probes.

[0023] To facilitate installation by workers, the mating edges of the tool hand 3 and the connecting seat 6 are provided with corresponding alignment marks, such as raised marks or color marks.

[0024] During installation, align the tool arm 3 base with the markings and push it into the locking pin 9 of the connecting seat 6. During this process, the return spring 10 is compressed. When pushed to the bottom, the locking pin 9 pops out under the action of the return spring 10, achieving mechanical locking. When disassembling the device, press the unlock button 8. This causes the two locking pins 9 to overcome the elasticity of the return spring 10, causing both pins 9 to retract inwards simultaneously. This allows the tool arm 3 to be pulled out of the slot.

[0025] The structure shown in this embodiment has three cavities 2, and the three cavities 2 can be equipped with three different or identical tool hands 3, such as a soft adaptive gripper, a parallel two-finger gripper, and a negative pressure suction gripper.

[0026] The main body of the soft adaptive gripper is made of elastic materials such as silicone, which adaptively wraps around the target object. It is suitable for gripping irregularly shaped and fragile objects, such as fruits, pastries, and glassware.

[0027] The parallel two-finger gripper is driven by a motor, and the two fingertips can perform high-precision parallel opening and closing movements. Force sensors can be integrated into the fingertips to achieve precise force-controlled gripping, which is suitable for assembly, insertion and removal, pressing and other operations that require precision and force.

[0028] The main body of the negative pressure suction claw includes one or more suction cups for adsorbing the target object. It is suitable for gripping plate-shaped, slippery, or surface-intolerant objects, such as glass panels and metal sheets.

[0029] The devices used in the tool hand 3, such as the soft adaptive gripper, parallel two-finger gripper, and negative pressure suction gripper, are all existing technologies in the field, and their specific mechanical structures and working principles will not be described in detail here.

[0030] Furthermore, in order to achieve uninterrupted transmission of electrical energy and control signals during the continuous infinite rotation of the tool hand 3, each tool unit is equipped with a set of slip rings, which are located between the rotary drive device 5 and the telescopic drive device.

[0031] The rotating end 7.2 of the slip ring is fixedly connected to the output shaft of the rotary drive device 5, and is used to rotate synchronously with the telescopic drive device. The fixed end 7.1 of the slip ring is used to connect an external power supply line. The fixed end 7.1 and the rotating end 7.2 of the slip ring are in contact with each other through a ring track. The rotating end 7.2 of the slip ring is electrically connected to the stepper motor 4.1 and the connecting seat 6. In this way, no matter how the rotating frame rotates, power and signals can be stably transmitted to the rotating parts through the slip ring, avoiding entanglement of the wiring structure.

[0032] In this embodiment, the outer walls of each cavity 2 on the arm body 1 are processed into a mesh or hollow structure. This design greatly increases the heat dissipation surface area, which is beneficial for dissipating the heat generated by the tool unit during operation into the air in a timely manner. At the same time, the hollow structure also reduces the overall weight of the arm body 1.

[0033] The core of this embodiment is to encapsulate each tool unit within a rotatable frame, which rotates as a whole within cavity 2. The workflow of this embodiment is as follows: During non-working hours, operators can quickly install different special tools 3, such as precision grippers, adaptive soft grippers, and vacuum suction cups, onto the corresponding connecting seats 6 of different cavities 2 using quick-release mechanisms, according to the production tasks to be performed, such as assembly, sorting, and packaging.

[0034] Based on the object's shape, material, and grasping requirements, the system issues task instructions and selects the optimal tool to perform grasping, suction, and pressing operations. Specifically, the rotary drive device 5 within the corresponding cavity 2 is activated. The rotary drive device 5 drives the telescopic drive device, connecting seat 6, and tool module to rotate around the axis of cavity 2, adjusting the tool arm 3 to a suitable working angle. After the tool is aligned, the telescopic drive device is activated. The stepper motor 4.1 is fixed and rotates via the drive screw 4.2, causing the nut sleeve 4.3 to push the connecting seat 6 to extend linearly along the guide rail. The connecting seat 6 drives the tool module at the front end to extend out of the arm body 1 and reach the working position. The tool arm 3 performs corresponding grasping and suction operations according to the instructions. After the operation is completed, the telescopic drive device reverses, retracting the tool arm 3 back into the cavity 2 inside the arm body 1 to avoid interference.

[0035] Once a task is completed, if the next task requires a different tool arm 3, the tool arm 3 retracts into the arm, and the system can immediately dispatch another tool arm 3 in another cavity 2 to extend for work, achieving a switch within seconds without manual intervention or frequent replacement of the tool arm 3.

[0036] When it is necessary to replace the tool arm 3, start the telescopic drive to extend the connecting seat 6 and the tool arm 3 out of the arm body 1. The operator only needs to press the unlock button 8 to easily unlock and remove the tool arm 3. Then start the telescopic drive again to retract the connecting seat 6 and the tool arm 3 back into the arm body 1.

[0037] Example 2 The core difference between this embodiment and embodiment 1 is that the rotary drive device 5 directly drives the tool hand 3 to rotate.

[0038] The parts that are the same as those in the previous embodiment, such as the type of arm 1, cavity 2, tool arm 3, and quick-release mechanism, will not be described again here, but can be referred to the previous embodiment. The following focuses on describing the differences: like Figure 5As shown, the telescopic drive device is fixedly installed on the inner wall of the cavity 2, and the front end of the nut sleeve 4.3 in the telescopic drive device is fixedly connected to the rotary drive device 5.

[0039] The output shaft of the rotary drive device 5 is connected to the connecting seat 6 via a transmission connection, and the tool arm 3 is mounted on the connecting seat 6 via a quick-release mechanism.

[0040] When the telescopic drive device is activated, the nut sleeve 4.3 pushes the rotary drive device 5 to move linearly, which in turn drives the connecting seat 6 and the tool arm 3 to move linearly.

[0041] When the rotary drive device 5 is started, its output shaft drives the connecting seat 6 and the tool arm 3 to rotate synchronously.

[0042] To ensure continuous power supply to the rotary drive device 5 and the tool arm 3 during their combined rotary and linear motions, a slip ring is installed within the cavity 2. The slip ring is positioned between the rotary drive device 5 and the connecting seat 6. The rotating end 7.2 of the slip ring is fixedly connected to the output shaft of the rotary drive device 5, allowing it to rotate synchronously with the connecting seat 6. The fixed end 7.1 of the slip ring engages with the rotating end 7.2 through a contact fit. The fixed end 7.1 is used to connect to an external power supply line, while the rotating end 7.2 is electrically connected to the connecting seat 6. Since the rotating end of the slip ring, the connecting seat 6, and the tool arm 3 remain relatively stationary during rotation, power supply via the slip ring prevents wire entanglement during rotation, ensuring stable power transmission.

[0043] The workflow of this embodiment is as follows: The telescopic drive device propels the rotary drive device 5 in linear motion. The rotary drive device 5 causes the connecting seat 6 on its output shaft and the tool module to extend or retract together.

[0044] When the tool module needs to adjust its angle, the rotary drive device 5 is activated, and its output shaft drives the connecting seat 6 and the tool module to rotate relative to the arm body 1, thereby realizing the posture adjustment of the end tool hand 3.

[0045] The extension and rotation movements can be controlled independently or in combination, allowing the tool to adjust its angle synchronously during the extension or retraction process.

[0046] Once the tool reaches the desired position, it performs the specific task.

[0047] In this embodiment, the rotary drive device 5 only needs to drive the connecting seat 6 and the tool arm 3 to rotate, thus reducing the load on the rotary drive device 5.

[0048] The above description is only a preferred embodiment of the present invention. Therefore, all equivalent changes or modifications made to the structure, features and principles described in the claims of this patent application are included within the protection scope of this patent application.

Claims

1. A robot modular arm, comprising an arm body and a tool hand, characterized in that, at least two cavities are arranged in parallel along the axial direction of the arm body, each of the cavities independently contains a tool unit; the tool unit comprises a telescopic driving device and a connecting seat; the telescopic end of the telescopic driving device is connected with the connecting seat; the tool hand is installed on the connecting seat through a quick release mechanism, and the telescopic driving device is used to drive the tool hand to move linearly. 2.A robot modular arm according to claim 1, characterized in that, the telescopic driving device comprises a stepper motor, a transmission mechanism and a bracket; the bracket is arranged along the axial direction of the cavity, one end of the bracket is fixedly connected with the end surface of the stepper motor, and the transmission mechanism is arranged in the bracket; the transmission mechanism comprises a lead screw and a nut sleeve threadedly connected with the lead screw; the output shaft of the stepper motor is connected with one end of the lead screw to drive the lead screw to rotate; the nut sleeve is threadedly connected with the lead screw; a guide rail is arranged on the inner wall of the bracket along the axial direction; a guide groove matched with the guide rail is arranged on the outer periphery of the nut sleeve, the guide rail is embedded in the guide groove to constrain the nut sleeve from rotating circumferentially; the rear end of the connecting seat is fixedly connected with the front end of the nut sleeve. 3.A robot modular arm according to claim 1, characterized in that, the tool unit further comprises a rotary driving device; the output end of the rotary driving device is connected with the telescopic driving device to drive the telescopic driving device to rotate along the axial line of the cavity. 4.A robot modular arm according to claim 1, characterized in that, the tool unit further comprises a rotary driving device; the telescopic driving device is fixedly installed on the inner wall of the cavity, the output end of the telescopic driving device is connected with the rotary driving device; the output shaft of the rotary driving device is in transmission connection with the connecting seat. 5.A robot modular arm according to any one of claims 3 or 4, characterized in that, the tool unit further comprises a slip ring, the fixed end of the slip ring is fixedly connected with the end surface of the rotary driving device, the rotary end of the slip ring is fixedly connected with the output of the rotary driving device to rotate synchronously with the telescopic driving device, and the rotary end of the slip ring is electrically connected with the telescopic driving device and the connecting seat; the fixed end of the slip ring is used to externally connect a power supply circuit or a signal transmission circuit. 6.A robot modular arm according to claim 1, characterized in that, the quick release mechanism comprises a clamping groove arranged on the tool hand and a radially movable elastic locking mechanism arranged on the connecting seat; the elastic locking mechanism comprises two clamping pins symmetrically distributed along the radial direction of the connecting seat, the inner ends of the clamping pins are respectively fixedly connected with the two ends of a return spring, the outer ends of the clamping pins are respectively provided with an unlocking button, and the unlocking buttons protrude from the two side walls of the connecting seat; 7. The robotic modular arm of claim 1, wherein, the contact surfaces of the tool hand and the connecting seat are respectively provided with electric connectors matched with each other.

8. The robotic modular arm of claim 1, wherein, the tool hand is one or more of a soft self-adaptive gripper, a parallel two-fingered gripper or a negative pressure suction gripper.

9. A modular robotic arm according to claim 1, characterized in that, The arm body is designed with a mesh or hollow structure.

Images