Mechanical arm and robot

Abstract

The utility model provides a mechanical arm and a robot. The mechanical arm comprises a first joint and a second joint, the first joint comprises a first driving part and a power shaft which are connected, and the first driving part is used for driving the power shaft to rotate; the second joint is connected with the power shaft and rotates along with the power shaft; the warning assembly comprises a lamp strip and a light guide plate, the lamp strip is arranged around the periphery of the power shaft and used for emitting light to indicate the working state of the second joint, the light guide plate comprises a light guide part, the light guide part is arranged around the periphery of the lamp strip, and the light guide plate is connected with the second joint. The mechanical arm has a good lamplight display effect.

Description

Technical Field

[0001] The present application relates to the field of electronics, and in particular to a mechanical arm and a robot. Background Art

[0002] In order to display the working status of the robot arm, an alarm light or a status light may be used to indicate the working status of the robot arm. However, the display effect of the alarm light or the status light on the existing robot arm is not good, which affects the appearance of the robot arm. Utility Model Content

[0003] An embodiment of the present application provides a robotic arm having a good lighting display effect.

[0004] A first aspect of the present application provides a robotic arm, comprising:

[0005] A first joint, wherein the first joint comprises a first driving member and a power shaft connected to each other, and the first driving member is used to drive the power shaft to rotate;

[0006] a second joint, the second joint being connected to the power shaft and rotating with the power shaft; and

[0007] A warning component, wherein the warning component includes a light strip and a light guide plate, wherein the light strip is arranged around the periphery of the power shaft and is used to emit light to indicate the working status of the second joint, and the light guide plate includes a light guide portion, which is arranged around the periphery of the light strip, and the light guide plate is connected to the second joint.

[0008] Furthermore, the light guide plate also includes a first connecting portion and a second connecting portion, and the first connecting portion and the second connecting portion are spaced apart on the surface of the light guide portion facing the power shaft, and the first connecting portion, the light guide portion and the second connecting portion enclose a accommodating cavity, and the accommodating cavity is used to set the light strip; the first connecting portion and the second connecting portion are connected to the power shaft at one end away from the light guide portion.

[0009] Furthermore, the warning component also includes a first adhesive component, which is elastic and is arranged between the power shaft and the light strip to bond the light strip to the power shaft; the light guide plate also includes a plurality of first protrusions and a plurality of second protrusions, the plurality of first protrusions are arranged at intervals on a side of the first connecting portion away from the light guide portion, and the plurality of second protrusions are arranged at intervals on a side of the second connecting portion away from the light guide portion; the plurality of first protrusions and the plurality of second protrusions are at least partially embedded in the first adhesive component to connect the warning component to the power shaft.

[0010] Furthermore, the warning component also includes a second adhesive component, which is arranged in the accommodating cavity and located between the light strip and the light guide part, and is used to bond the light strip and the light guide part.

[0011] Furthermore, the first joint includes a first shell, the first shell is sleeved on the outer periphery of the first driving member, and a surface of the first shell facing away from the first driving member is at least partially flush with a surface of the light guide plate facing away from the light strip.

[0012] Further, the second joint includes a second shell, the second shell includes a first limiting portion, the light guide plate also includes a second limiting portion, the second limiting portion is arranged on the surface of the light guide portion facing the power shaft, and the first limiting portion and the second limiting portion are limitedly matched to connect the light guide plate to the second joint.

[0013] Further, the light guide portion includes a first light guide sub-portion and a second light guide sub-portion, the first connecting portion includes a first connecting sub-portion and a second connecting sub-portion, the second connecting portion includes a third connecting sub-portion and a fourth connecting sub-portion, and the first light guide sub-portion and the second light guide sub-portion are arranged opposite to each other on the outer periphery of the power shaft;

[0014] The first connecting sub-part and the third connecting sub-part are arranged at intervals on the surface of the first light-guiding sub-part facing the power shaft, the first connecting sub-part, the first light-guiding sub-part and the second connecting sub-part form a first accommodating sub-cavity, the first accommodating sub-cavity is used to arrange part of the light strip, and the ends of the first connecting sub-part and the second connecting sub-part facing away from the first light-guiding sub-part are connected to the power shaft;

[0015] The second connecting sub-part and the fourth connecting sub-part are arranged at intervals on the surface of the second light-guiding sub-part facing the power shaft, the second connecting sub-part, the second light-guiding sub-part and the second connecting sub-part enclose a second accommodating sub-cavity, the second accommodating sub-cavity is used to arrange another part of the light strip, the second connecting sub-part and the second connecting sub-part are connected to the power shaft at one end away from the second light-guiding sub-part, wherein the accommodating cavity includes a first accommodating sub-cavity and a second accommodating sub-cavity;

[0016] The light-guiding part also includes a first snap-in sub-part and a second snap-in sub-part, wherein the first snap-in sub-part is disposed at one end of the first light-guiding sub-part, and the second snap-in sub-part is disposed at one end of the second light-guiding sub-part, and the first snap-in sub-part is snap-fitted with the second snap-in sub-part to connect the first light-guiding sub-part with the second light-guiding sub-part.

[0017] Furthermore, the light strip includes a plurality of light-emitting units arranged at intervals around the power shaft, each of the light-emitting units includes a first light-emitting sub-unit, a second light-emitting sub-unit and a third light-emitting sub-unit, the first light-emitting sub-unit emits a first color light, the second light-emitting sub-unit emits a second color light, and the third light-emitting sub-unit emits a third color light, the first light-emitting sub-unit, the second light-emitting sub-unit and the third light-emitting sub-unit cooperate to adjust the color of the light emitted by the light-emitting unit, wherein the first color light, the first color light and the third color light are respectively one of red light, green light and blue light and are different from each other.

[0018] Furthermore, the second joint also includes a circuit board, a first controller, a second controller, a second drive and a wiring harness; the circuit board is electrically connected to the first controller and the second controller respectively, and the first controller is electrically connected to the second drive to control the second drive to work; the power shaft has a through hole, the second controller is electrically connected to one end of the wiring harness, and the other end of the wiring harness is electrically connected to the light strip after passing through the through hole, and the second controller is used to control the light strip to work.

[0019] In a second aspect, an embodiment of the present application further provides a robot, comprising:

[0020] The robot body; and

[0021] The robotic arm described in the embodiment of the present application is arranged on the robot body.

[0022] The robotic arm of the present application includes a first joint, a second joint and a warning component, the warning component includes a light strip and a light guide plate, the light strip is arranged around the periphery of the power shaft, and is used to emit light to indicate the working status of the second joint, the light guide plate is arranged around the periphery of the light strip, and the light guide plate is connected to the second joint. By setting the light guide plate, the light emitted by the light strip can be made to be emitted more evenly, thereby improving the luminous efficiency of the light strip, improving the light display effect of the warning component, and improving the appearance of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 It is a schematic diagram of the three-dimensional structure of a robotic arm according to an embodiment of the present application.

[0025] Figure 2 It is a schematic diagram of the exploded structure of a robotic arm according to an embodiment of the present application.

[0026] Figure 3 It is a plan view of a robotic arm according to an embodiment of the present application.

[0027] Figure 4 It is the edge of the mechanical arm of an embodiment of the present application Figure 3 Schematic diagram of the cross-sectional structure in the AA direction.

[0028] Figure 5 It is a schematic diagram of the three-dimensional structure of a robotic arm according to another embodiment of the present application.

[0029] Figure 6 It is a structural diagram of a warning component of an embodiment of the present application.

[0030] Figure 7 It is a side view of a warning component according to an embodiment of the present application.

[0031] Figure 8 The warning component of an embodiment of the present application is Figure 7 Schematic diagram of the cross-sectional structure in the BB direction.

[0032] Fig. 9 yes Figure 4 Enlarged view of the dotted box I in the middle.

[0033] Fig.10 It is a schematic diagram of the explosion structure of a warning component according to an embodiment of the present application.

[0034] Fig.11 It is a schematic diagram of the structure of a light strip according to an embodiment of the present application.

[0035] Fig.12 It is a schematic diagram of the circuit structure of the second joint of an embodiment of the present application.

[0036] Fig.13 It is a schematic diagram of the structure of a robot according to an embodiment of the present application.

[0037] Description of reference numerals:

[0038] 100-mechanical arm, 10-first joint, 11-first driving member, 12-power shaft, 13-first shell, 20-second joint, 21-second shell, 211-first limit part, 22-circuit board, 23-first controller, 24-second controller, 25-second driving member, 26-wiring harness, 30-warning component, 31-light belt, 311-light-emitting unit, 3111-first light-emitting sub-unit, 3112-second light-emitting sub-unit, 3113-third light-emitting sub-unit, 32-light guide plate, 321-light guide part, 3211-first light-guiding sub-unit, 3212-second light-guiding sub-unit, 3213-third light-guiding sub-unit A snap-fit ​​sub-portion, 3214-a second snap-fit ​​sub-portion, 322-a first connecting portion, 3221-a first connecting sub-portion, 3222-a second connecting sub-portion, 323-a second connecting portion, 3231-a third connecting sub-portion, 3232-a fourth connecting sub-portion, 324-a accommodating cavity, 3241-a first accommodating sub-cavity, 3242-a second accommodating sub-cavity, 325-a first spur, 326-a second spur, 327-a second limiting portion, 33-a first gluing member, 34-a second gluing member, 40-a third joint, 50-a fourth joint, 60-a fifth joint, 70-a sixth joint, 200-a robot, 210-a robot body. DETAILED DESCRIPTION

[0039] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0040] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0041] The technical solutions in the embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0042] It should be noted that, for the convenience of explanation, in the embodiments of the present application, the same figure marks represent the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments.

[0043] In order to display the working status of the robot arm, an alarm light or a status light may be used to indicate the working status of the robot arm. However, the display effect of the alarm light or the status light on the existing robot arm is not good, which affects the appearance of the robot arm.

[0044] See also Figures 1 to 4 The embodiment of the present application provides a robotic arm 100, which includes a first joint 10, a second joint 20 and a warning component 30, the first joint 10 includes a first driving member 11 and a power shaft 12 connected to each other, the first driving member 11 is used to drive the power shaft 12 to rotate; the second joint 20 is connected to the power shaft 12 and rotates with the power shaft 12; the warning component 30 includes a light strip 31 and a light guide plate 32, the light strip 31 is arranged around the periphery of the power shaft 12, and is used to emit light to indicate the working status of the second joint 20, the light guide plate 32 is arranged around the periphery of the light strip 31, and the light guide plate 32 is connected to the second joint 20.

[0045] The light guide plate 32 is also called a light-homogenizing plate. The light guide plate 32 can make the light emitted from the light strip 31 emit more evenly after passing through the light guide plate 32 , thereby improving the luminous efficiency and display effect of the light strip 31 , so that the robot arm 100 has a better appearance.

[0046] It can be understood that the light strip 31 is an annular structure (also called a light ring), and the light strip 31 is sleeved on the outer periphery of the power shaft 12 .

[0047] It can be understood that the light guide plate 32 is a ring-shaped structure, and the light guide plate 32 is sleeved on the outer periphery of the light strip 31 .

[0048] It can be understood that the first joint 10 is used to drive the second joint 20 to rotate, and the second joint 20 is used to drive the joint connected to the power output shaft of the second joint 20 to rotate.

[0049] It can be understood that the first joint 10 and the second joint 20 are two adjacent joints.

[0050] When the robot arm 100 is working, the first driving member 11 is turned on to drive the power shaft 12 to rotate. The rotation of the power shaft 12 drives the second joint 20 and the warning component 30 to rotate. The warning component 30 is used to display the working status of the second joint 20, so as to adjust the working parameters of the second joint 20 in time according to the working status, so as to better perform human-computer interaction and avoid the robot arm 100 directly stopping working due to the abnormal working state not being corrected in time. In addition, since the warning component 30 can display at least three colors of light, it can indicate the working status of the second joint 20, and then the working status of the second joint 20 can be well known through the color of the light displayed by the warning component 30, so as to adjust the motion state of the second joint 20 in advance, and when the second joint 20 is abnormal, it can be directly read through the color of the warning component 30, without using other control or terminal devices to connect to the robot arm 100 to read the abnormality, which brings a good indication effect and interactive experience, and greatly expands the user's customized usage scenarios.

[0051] Optionally, the first driving member 11 may be, but is not limited to, a driving motor, for example, may be, but is not limited to, a stepping motor, a DC motor, a servo motor, a stepping servo motor, and the like.

[0052] Optionally, the light strip 31 can emit light of at least three colors, including but not limited to at least three of purple, blue, red, green, magenta, yellow, orange, pink, etc.

[0053] Optionally, the lighting effects of the light strip 31 may include but are not limited to at least one of the lighting effects including constant light, flashing (such as fast flash, slow flash), gradient color, flowing water, breathing light, bright and dark light, etc.

[0054] Optionally, the working state of the second joint 20 may include but is not limited to at least one of emergency stop, abnormal, normal, high speed, medium speed, low speed, light load, heavy load, teaching, collision, standby, low power, motor overtemperature, high or low current, etc.

[0055] The robot arm 100 of the present application includes a first joint 10, a second joint 20 and a warning component 30, wherein the warning component 30 includes a light strip 31 and a light guide plate 32, wherein the light strip 31 is arranged around the periphery of the power shaft 12, and is used to emit light to indicate the working status of the second joint 20, and the light guide plate 32 is arranged around the periphery of the light strip 31, and the light guide plate 32 is connected to the second joint 20. By setting the light guide plate 32, the light emitted by the light strip 31 can be emitted more evenly, thereby improving the luminous efficiency of the light strip 31, improving the light display effect of the warning component 30, and improving the appearance effect of the robot arm 100.

[0056] Optionally, the number of the second joints 20 is one or more. When the number of the second joints 20 is multiple, the multiple second joints 20 are rotatably connected in sequence. The multiple second joints 20 can all be provided with the warning component 30, or only some of the components can be provided with the warning component 30, which is not specifically limited in this application.

[0057] See also Figure 5 In a specific example, the robot arm 100 includes six joints, and the six joints include a first joint 10, a second joint 20, a third joint 40, a fourth joint 50, a fifth joint 60 and a sixth joint 70 that are rotatably connected in sequence. A warning component 30 is provided between two adjacent joints to indicate the working status of each joint, so that when an abnormality occurs in the robot arm 100, it can be known in time which joint has the abnormality.

[0058] See also Figures 6 to 9 In some embodiments, the light guide plate 32 includes a light guide portion 321, a first connection portion 322 and a second connection portion 323. The light guide portion 321 is arranged around the outer periphery of the light strip 31. The first connection portion 322 and the second connection portion 323 are spaced apart on the surface of the light guide portion 321 facing the power shaft 12. The first connection portion 322, the light guide portion 321 and the second connection portion 323 enclose a receiving cavity 324, and the receiving cavity 324 is used to set the light strip 31; the first connection portion 322 and the second connection portion 323 are connected to the power shaft 12 at one end away from the light guide portion 321.

[0059] It should be noted that the first connection portion 322 and the second connection portion 323 are both disposed around the outer circumference of the power shaft 12 .

[0060] It can be understood that the accommodating cavity 324 is an annular structure, and the accommodating cavity 324 is arranged around the outer circumference of the power shaft 12 .

[0061] Optionally, the light guide portion 321, the first connection portion 322 and the second connection portion 323 are an integrated structure, and the light guide portion 321, the first connection portion 322 and the second connection portion 323 are different parts of the same part. The light guide portion 321, the first connection portion 322 and the second connection portion 323 can be prepared by an integrated molding process.

[0062] In this embodiment, a accommodating cavity 324 is provided on the inner side of the light guide plate 32, so that the light strip 31 can be better limited in the accommodating cavity 324, and during the rotation of the second joint 20, the light strip 31 is not easy to be misplaced, so that the warning component 30 can better display the working status of the second joint 20.

[0063] Please see again Figure 6 and Fig. 9 In some embodiments, the warning component 30 also includes a first adhesive component 33, which is elastic and is disposed between the power shaft 12 and the light strip 31, and is used to bond the light strip 31 to the power shaft 12; the light guide plate 32 also includes a plurality of first protrusions 325 and a plurality of second protrusions 326, the plurality of first protrusions 325 are spaced apart on a side of the first connection portion 322 away from the light guide portion 321, and the plurality of second protrusions 326 are spaced apart on a side of the second connection portion 323 away from the light guide portion 321; the plurality of first protrusions 325 and the plurality of second protrusions 326 are at least partially embedded in the first adhesive component 33 to connect the warning component 30 to the power shaft 12.

[0064] Optionally, the first adhesive member 33 may be, but is not limited to, at least one of foam adhesive, 3M soft adhesive, double-sided adhesive, and the like.

[0065] Optionally, the first protrusion 325 refers to an end connected to the first connection portion 322 whose size gradually decreases toward an end away from the first connection portion 322; the second protrusion 326 refers to an end connected to the second connection portion 323 whose size gradually decreases toward an end away from the second connection portion 323. This facilitates the first protrusion 325 and the second protrusion 326 to penetrate into the first adhesive member 33, thereby improving the bonding performance between the light guide plate 32 and the first adhesive member 33.

[0066] Optionally, the first adhesive member 33 is an annular structure, and the first adhesive member 33 is disposed around the outer circumference of the power shaft 12. The first spurs 325 are disposed around the outer circumference of the power shaft 12 at intervals; and the second spurs 326 are disposed around the outer circumference of the power shaft 12 at intervals.

[0067] It should be noted that the plurality of first protrusions 325 and the plurality of second protrusions 326 are at least partially embedded in the first adhesive member 33, and the plurality of first protrusions 325 and the plurality of second protrusions 326 may only partially penetrate the first adhesive member 33; or the plurality of first protrusions 325 and the plurality of second protrusions 326 may fully penetrate the first adhesive member 33. Compared with the solution in which the plurality of first protrusions 325 and the plurality of second protrusions 326 are only partially penetrated, the plurality of first protrusions 325 and the plurality of second protrusions 326 fully penetrate the first adhesive member 33, which can increase the contact area between the light guide plate 32 and the first adhesive member 33, thereby increasing the bonding force between the light guide plate 32 and the first adhesive member 33, and improving the stability of the installation and connection of the light guide plate 32.

[0068] It can be understood that, along the extension direction of the rotating shaft, the outer periphery of the first adhesive member 33 protrudes from the outer periphery of the light strip 31; in other words, the first adhesive member 33 expands outward compared to the light strip 31. In this way, due to the connection between the first adhesive member 33 and the light guide plate 32.

[0069] In the embodiment of the present application, a plurality of first protrusions 325 and a plurality of second protrusions 326 are provided on the side of the light guide plate 32 facing the first adhesive component 33, so that the contact area between the light guide plate 32 and the first adhesive component 33 can be increased, thereby increasing the bonding force between the light guide plate 32 and the first adhesive component 33 and improving the stability of the installation and connection of the light guide plate 32.

[0070] In some embodiments, the warning component 30 further includes a second adhesive member 34 , which is disposed in the accommodating cavity 324 and located between the light strip 31 and the light guide portion 321 , and is used to bond the light strip 31 to the light guide portion 321 .

[0071] It can be understood that there is a gap between the light strip 31 and the bottom wall of the accommodating cavity 324 .

[0072] Optionally, the second adhesive member 34 may be prepared by, but is not limited to, dispensing or pouring glue.

[0073] In this embodiment, by setting a second adhesive component 34 on the light strip 31 and the light guide part 321, the light strip 31 and the light guide plate 32 can be better adhered together, and the light strip 31 and the light guide plate 32 can be better prevented from being misaligned during the rotation of the second joint 20, thereby affecting the display effect of the warning component 30.

[0074] See also Figure 4 and Fig. 9 In some embodiments, the first joint 10 includes a first shell 13, which is sleeved on the outer periphery of the first driving member 11, and the surface of the first shell 13 facing away from the first driving member 11 is at least partially flush with the surface of the light guide plate 32 facing away from the light strip 31.

[0075] It can be understood that the first driving member 11 is disposed in the first housing 13 , the power shaft 12 protrudes from the first housing 13 , and the power shaft 12 can rotate relative to the first housing 13 .

[0076] In this embodiment, by embedding the warning component 30 into the first joint 10, and making the surface of the first shell 13 facing away from the first driving member 11 flush with the surface of the light guide plate 32 facing away from the light strip 31, the robot arm 100 has no protruding (or overflowing) structure, so that the robot arm 100 has better integrity and aesthetics.

[0077] In some embodiments, the second joint 20 includes a second shell 21, the second shell 21 includes a first limiting portion 211, the light guide plate 32 also includes a second limiting portion 327, the second limiting portion 327 is arranged on the surface of the light guide portion 321 facing the power shaft 12, the first limiting portion 211 and the second limiting portion 327 are limited and matched to connect the light guide plate 32 with the second joint 20 to prevent the light guide plate 32 and the second shell 21 of the second joint 20 from relative rotation or falling, so that the light guide plate 32 and the second joint 20 can be more reliably combined.

[0078] Optionally, the number of the first limiting portions 211 may be one or more. When the number of the first limiting portions 211 is more than one, the plurality of first limiting portions 211 are arranged at intervals around the outer circumference of the second housing 21. The number of the second limiting portions 327 may be one or more. When the number of the second limiting portions 327 is more than one, the plurality of second limiting portions 327 are arranged at intervals along the circumferential direction of the surface of the light guide portion 321 facing the power shaft 12. The first limiting portions 211 correspond to the second limiting portions 327 one by one, and different first limiting portions 211 correspond to different second limiting portions 327.

[0079] In some embodiments, the first limiting portion 211 is a groove, the second limiting portion 327 is a protrusion, and the groove is snap-fitted with the protrusion. In other embodiments, the first limiting portion 211 is a protrusion, the second limiting portion 327 is a groove, and the groove is snap-fitted with the protrusion.

[0080] It should be noted that the second limiting portion 327 is disposed at a distance from the second connecting portion 323 on the side of the first connecting portion 322 away from the second connecting portion 323 .

[0081] In this embodiment, by setting a first limiting portion 211 on the second shell 21 and a second limiting portion 327 on the light guide plate 32, the first limiting portion 211 and the second limiting portion 327 cooperate with each other, so as to increase the connectivity between the light guide plate 32 and the second joint 20, and at the same time better prevent the second shell 21 and the light guide plate 32 from being misaligned during the rotation of the second joint 20 relative to the first joint 10, thereby improving the stability of the structure and increasing the service life of the robot arm 100.

[0082] See also Fig.10In some embodiments, the light guide portion 321 includes a first light guide sub-portion 3211 and a second light guide sub-portion 3212, the first connecting portion 322 includes a first connecting sub-portion 3221 and a second connecting sub-portion 3222, the second connecting portion 323 includes a third connecting sub-portion 3231 and a fourth connecting sub-portion 3232, the first light guide sub-portion 3211 and the second light guide sub-portion 3212 are arranged on the outer periphery of the power shaft 12 opposite to each other; the first connecting sub-portion 3221 and the third connecting sub-portion 3231 are arranged at intervals The first light guide sub-portion 3211 faces the surface of the power shaft 12, the first connecting sub-portion 3221, the first light guide sub-portion 3211 and the second connecting sub-portion 3222 enclose a first accommodating sub-cavity 3241, the first accommodating sub-cavity 3241 is used to set a part of the light strip 31, the first connecting sub-portion 3221 and the second connecting sub-portion 3222 are connected to the power shaft 12 at one end away from the first light guide sub-portion 3211; the second connecting sub-portion 3222 and the fourth connecting sub-portion 32 The second connecting sub-portion 3222, the second light guiding sub-portion 3212 and the second connecting sub-portion 3222 are arranged at intervals on the surface of the second light guiding sub-portion 3212 facing the power shaft 12, the second connecting sub-portion 3222, the second light guiding sub-portion 3212 and the second connecting sub-portion 3222 are surrounded by a second accommodating sub-cavity 3242, and the second accommodating sub-cavity 3242 is used to set another part of the light strip 31, and the second connecting sub-portion 3222 and the end of the second connecting sub-portion 3222 away from the second light guiding sub-portion 3212 are connected to the power shaft 12, wherein the accommodating cavity 324 includes A first accommodating sub-cavity 3241 and a second accommodating sub-cavity 3242; the light guiding portion 321 also includes a first snap-fit ​​sub-portion 3213 and a second snap-fit ​​sub-portion 3214, the first snap-fit ​​sub-portion 3213 is arranged at one end of the first light guiding sub-portion 3211, and the second snap-fit ​​sub-portion 3214 is arranged at one end of the second light guiding sub-portion 3212, the first snap-fit ​​sub-portion 3213 and the second snap-fit ​​sub-portion 3214 are snap-fitted to connect the first light guiding sub-portion 3211 with the second light guiding sub-portion 3212.

[0083] Optionally, the number of the first snap-fit ​​sub-portions 3213 is two, and the two first snap-fit ​​sub-portions 3213 are respectively arranged at the opposite ends of the first light guiding sub-portion 3211; the number of the second snap-fit ​​sub-portions 3214 is two, and the two second snap-fit ​​sub-portions 3214 are respectively arranged at the opposite ends of the second light guiding sub-portion 3212; one of the two first snap-fit ​​sub-portions 3213 is snap-connected with one of the two second snap-fit ​​sub-portions 3214, and the other of the two first snap-fit ​​sub-portions 3213 is snap-connected with the other of the two second snap-fit ​​sub-portions 3214.

[0084] In some embodiments, the first clamping sub-portion 3213 and the second clamping sub-portion 3214 are both hooks. In other embodiments, the first clamping sub-portion 3213 is a buckle, and the second clamping sub-portion 3214 is a slot. In still other embodiments, the first clamping sub-portion 3213 is a slot, and the second clamping sub-portion 3214 is a buckle. This application does not make specific limitations on this.

[0085] It can be understood that in this embodiment, the light guide plate 32 is composed of two semi-annular structures connected by snap-fit.

[0086] In this embodiment, by dividing the light guide plate 32 into two semi-ring structures and then connecting them by snap-fitting, it is helpful to simplify the preparation process of the light guide plate 32, and can also simplify the assembly process of the light guide plate 32, thereby improving the assembly efficiency of the warning component 30.

[0087] See also Fig.11 In some embodiments, the light strip 31 includes a plurality of light-emitting units 311 spaced apart around the power shaft 12, each of the light-emitting units 311 including a first light-emitting subunit 3111, a second light-emitting subunit 3112 and a third light-emitting subunit 3113, the first light-emitting subunit 3111 emits a first color light, the second light-emitting subunit 3112 emits a second color light, and the third light-emitting subunit 3113 emits a third color light, the first light-emitting subunit 3111, the second light-emitting subunit 3112 and the third light-emitting subunit 3113 cooperate to adjust the color of the light emitted by the light-emitting unit 311, so that the user can judge the working state of the second joint 20 of the robot 100 according to the color of the light, wherein the first color light, the first color light and the third color light are respectively one of red light, green light and blue light and are different from each other.

[0088] Optionally, the first light-emitting subunit 3111 may be, but is not limited to, an LED lamp, a Micro LED lamp, a MiniLED lamp, an OLED lamp, and the like.

[0089] Optionally, the second light-emitting subunit 3112 may be, but is not limited to, an LED lamp, a Micro LED lamp, a MiniLED lamp, an OLED lamp, and the like.

[0090] Optionally, the third light-emitting subunit 3113 may be, but is not limited to, an LED lamp, a Micro LED lamp, a MiniLED lamp, an OLED lamp, etc.

[0091] In a specific embodiment, the first light-emitting subunit 3111 is a red LED light, the second light-emitting subunit 3112 is a green LED light, and the third light-emitting subunit 3113 is a blue LED light. The working state of the second joint 20 indicated by the light emitted by the first light-emitting subunit 3111, the second light-emitting subunit 3112 and the third light-emitting subunit 3113 is shown in Table 1 below.

[0092] Table 1 Working status of the second joint 20 corresponding to different colors

[0093]

[0094] Three separate lights (independent red, green and blue lights) are used to indicate the working status of the robot arm 100. This method is simple and reliable. However, the types and numbers of states of the robot arm 100 indicated by it are very limited (for example, red - abnormal, yellow - alarm, green - normal), and the working states or abnormalities of the robot arm 100 are far more than three. During actual use, if the robot arm 100 appears red or yellow, the operation of the robot arm 100 will stop to ensure the safe use of the robot arm 100. Due to the particularity of the robot arm 100, the protection mechanism of the robot arm 100 itself will be triggered after an abnormality occurs, and the robot arm 100 will rotate and lock to ensure safety. The robot arm 100 is a relatively high-tech device. In actual use, it is necessary to connect to the host computer or intranet of the robot arm 100 to read the abnormal message of the robot arm 100, and then take corresponding processing measures. At the same time, since the robot arm 100 has too few status indications, it cannot indicate many situations that can be avoided or predicted in advance, which will make it impossible for the user to reduce or adjust the working parameters of the robot arm 100 in advance. Continuing to use it will trigger the abnormal alarm of the robot arm 100 and directly lock the robot arm 100. In addition, it does not have sufficient human-computer interaction functions during use, and there is no custom interface to select the status display, which will bring users a very bad experience in actual use.

[0095] In this embodiment, three light-emitting sub-units, such as a red light, a green light and a blue light, are provided on each light-emitting unit 311, so that by controlling the ratio of the light emitted by the first light-emitting sub-unit 3111, the second light-emitting sub-unit 3112 and the third light-emitting sub-unit 3113, the light-emitting unit 311 can be adjusted to emit light of more colors, so that more working states and abnormal states of the robot arm 100 can be displayed, so that the working state (normal, abnormal, etc.) of the robot arm 100 can be directly judged according to the color or shape of the light displayed by the warning component 30, without reading the abnormal state of the robot arm 100 through the upper computer. When the working state of the robot arm 100 is abnormal, the robot arm 100 can be adjusted in time, so that the robot arm 100 can work better, improve the working efficiency of the robot arm 100, reduce the failure rate, and have a better human-computer interaction experience. In addition, the interface definitions of all lighting effects (referred to as lighting effects) can be opened, allowing users to quickly choose to set their own customized lighting instructions and lighting effects, to achieve effective instructions, efficient interaction, and highly customized and customized cool lighting effects.

[0096] See also Fig.12 In some embodiments, the second joint 20 further includes a circuit board 22, a first controller 23, a second controller 24, a second driving member 25 and a wiring harness 26; the circuit board 22 is electrically connected to the first controller 23 and the second controller 24 respectively, the first controller 23 is electrically connected to the second driving member 25, and is used to control the second driving member 25 to work; the power shaft 12 has a through hole (not shown), the second controller 24 is electrically connected to one end of the wiring harness 26, and the other end of the wiring harness 26 is electrically connected to the light strip 31 after passing through the through hole, and the second controller 24 is used to control the light strip 31 to work.

[0097] It can be understood that the second driving member 25 is disposed in the second housing 21 .

[0098] It can be understood that the second driving member 25 and the light strip 31 are independently controlled by two different controllers.

[0099] Optionally, the second driving member 25 may be, but is not limited to, a driving motor, for example, may be, but is not limited to, a stepping motor, a DC motor, a servo motor, a stepping servo motor, etc.

[0100] When the second driver 25 and the light strip 31 are controlled by the same controller, however, when the second driver 25 and the light strip 31 are working at the same time, the power supply and signal output by the second driver 25 will be disturbed, and the light emitted by the light strip 31 will also be abnormal, for example, the green light ring suddenly turns red, which greatly affects the display effect of the light. In addition, when powered on, the chip built into the light strip 31 will cache the program of the most recent power-on. Under normal circumstances, the light strip 31 is powered first, and the second driver 25 gives a signal. In this way, the light may display the light of the most recent power-on, resulting in display errors. In this embodiment, by using two controllers to independently control the second driver 25 and the light strip 31, the power supply interference and interference problems of the second driver 25 and the light strip 31 can be well solved, and the light color displayed by the light strip 31 can be made more accurate.

[0101] See also Fig.13 The embodiment of the present application also provides a robot 200, which includes a robot body 210 and the robotic arm 100 described in the embodiment of the present application, and the robotic arm 100 is arranged on the robot body 210.

[0102] Optionally, the robot body 210 may be, but is not limited to, a walking device or a walking chassis. In other words, the robot 200 is a walking robot 200, such as an inspection robot 200, a working robot 200, etc. It can be understood that in other embodiments, the robot 200 may be a non-walking robot 200.

[0103] It can be understood that the robot 200 described in this embodiment is merely a form of the robot 200 used by the robotic arm 100, and should not be understood as a limitation on the robot 200 provided in this application, nor should it be understood as a limitation on the robotic arm 100 provided in each embodiment of this application.

[0104] Mentioning "embodiment" and "implementation method" in this application means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of the phrases in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments. In addition, it should also be understood that the features, structures or characteristics described in the various embodiments of the present application can be arbitrarily combined to form another embodiment that does not deviate from the spirit and scope of the technical solution of the present application, if there is no contradiction between them.

[0105] Finally, it should be noted that the above implementation modes are only used to illustrate the technical solution of the present application and are not intended to limit it. Although the present application has been described in detail with reference to the above preferred implementation modes, a person of ordinary skill in the art should understand that the technical solution of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present application.

Claims

1. A robotic arm, characterized in that: include: A first joint, wherein the first joint comprises a first driving member and a power shaft connected to each other, and the first driving member is used to drive the power shaft to rotate; a second joint, the second joint being connected to the power shaft and rotating with the power shaft; as well as A warning component, wherein the warning component includes a light strip and a light guide plate, wherein the light strip is arranged around the periphery of the power shaft and is used to emit light to indicate the working status of the second joint, and the light guide plate includes a light guide portion, which is arranged around the periphery of the light strip, and the light guide plate is connected to the second joint.

2. The robotic arm according to claim 1, characterized in that: The light guide plate also includes a first connecting portion and a second connecting portion, and the first connecting portion and the second connecting portion are spaced apart on the surface of the light guide portion facing the power shaft, and the first connecting portion, the light guide portion and the second connecting portion enclose a receiving cavity, and the receiving cavity is used to set the light strip; the first connecting portion and the second connecting portion are connected to the power shaft at one end away from the light guide portion.

3. The robotic arm according to claim 2, characterized in that: The warning component also includes a first adhesive component, which is elastic and is arranged between the power shaft and the light strip to adhere the light strip to the power shaft; the light guide plate also includes a plurality of first protrusions and a plurality of second protrusions, the plurality of first protrusions are arranged at intervals on a side of the first connecting portion away from the light guide portion, and the plurality of second protrusions are arranged at intervals on a side of the second connecting portion away from the light guide portion; the plurality of first protrusions and the plurality of second protrusions are at least partially embedded in the first adhesive component to connect the warning component to the power shaft.

4. The robotic arm according to claim 3, characterized in that: The warning component further includes a second adhesive component, which is disposed in the accommodating cavity and located between the light strip and the light guide portion, and is used to bond the light strip to the light guide portion.

5. The robotic arm according to claim 1, characterized in that: The first joint comprises a first shell, the first shell is sleeved on the outer periphery of the first driving member, and a surface of the first shell facing away from the first driving member is at least partially flush with a surface of the light guide plate facing away from the light strip.

6. The robotic arm according to claim 1, characterized in that: The second joint includes a second shell, the second shell includes a first limiting portion, and the light guide plate also includes a second limiting portion, the second limiting portion is arranged on the surface of the light guide portion facing the power shaft, and the first limiting portion and the second limiting portion are limitedly matched to connect the light guide plate to the second joint.

7. The robotic arm according to claim 4, characterized in that: The light guide portion includes a first light guide sub-portion and a second light guide sub-portion, the first connecting portion includes a first connecting sub-portion and a second connecting sub-portion, the second connecting portion includes a third connecting sub-portion and a fourth connecting sub-portion, and the first light guide sub-portion and the second light guide sub-portion are arranged opposite to each other on the outer periphery of the power shaft; The first connecting sub-part and the third connecting sub-part are arranged at intervals on the surface of the first light-guiding sub-part facing the power shaft, the first connecting sub-part, the first light-guiding sub-part and the second connecting sub-part form a first accommodating sub-cavity, the first accommodating sub-cavity is used to arrange part of the light strip, and the ends of the first connecting sub-part and the second connecting sub-part facing away from the first light-guiding sub-part are connected to the power shaft; The second connecting sub-part and the fourth connecting sub-part are arranged at intervals on the surface of the second light-guiding sub-part facing the power shaft, the second connecting sub-part, the second light-guiding sub-part and the second connecting sub-part enclose a second accommodating sub-cavity, the second accommodating sub-cavity is used to arrange another part of the light strip, the second connecting sub-part and the second connecting sub-part are connected to the power shaft at one end away from the second light-guiding sub-part, wherein the accommodating cavity includes a first accommodating sub-cavity and a second accommodating sub-cavity; The light-guiding part also includes a first snap-in sub-part and a second snap-in sub-part, wherein the first snap-in sub-part is disposed at one end of the first light-guiding sub-part, and the second snap-in sub-part is disposed at one end of the second light-guiding sub-part, and the first snap-in sub-part is snap-fitted with the second snap-in sub-part to connect the first light-guiding sub-part with the second light-guiding sub-part.

8. The robotic arm according to any one of claims 1 to 7, characterized in that: The light strip includes a plurality of light-emitting units spaced apart around the power shaft, each of the light-emitting units includes a first light-emitting sub-unit, a second light-emitting sub-unit and a third light-emitting sub-unit, the first light-emitting sub-unit emits a first color light, the second light-emitting sub-unit emits a second color light, and the third light-emitting sub-unit emits a third color light, the first light-emitting sub-unit, the second light-emitting sub-unit and the third light-emitting sub-unit cooperate to adjust the color of the light emitted by the light-emitting unit, wherein the first color light, the first color light and the third color light are respectively one of red light, green light and blue light and are different from each other.

9. The robotic arm according to any one of claims 1 to 7, characterized in that: The second joint also includes a circuit board, a first controller, a second controller, a second drive and a wiring harness; the circuit board is electrically connected to the first controller and the second controller respectively, and the first controller is electrically connected to the second drive to control the second drive to work; the power shaft has a through hole, the second controller is electrically connected to one end of the wiring harness, and the other end of the wiring harness is electrically connected to the light strip after passing through the through hole, and the second controller is used to control the light strip to work.

10. A robot, characterized in that: include: Robot body; as well as The robotic arm according to any one of claims 1 to 9, wherein the robotic arm is arranged on the robot body.

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